[136] | 1 | /** \mainpage
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| 2 | *
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| 3 | ****************************************************************************
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| 4 | * Copyright (C) 2013 - 2014 Bosch Sensortec GmbH
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| 5 | *
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| 6 | * File : bno055.h
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| 7 | *
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| 8 | * Date : 2014/12/12
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| 9 | *
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| 10 | * Revision : 2.0.2 $
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| 11 | *
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| 12 | * Usage: Sensor Driver file for BNO055 sensor
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| 13 | *
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| 14 | * **************************************************************************
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| 15 | *
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| 16 | * Added Arduino M0/M0 Pro support
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| 17 | *
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| 18 | * Date: 07/27/2015
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| 19 | *
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| 20 | * Modified by: Arduino.org development Team.
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| 21 | *
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| 22 | ****************************************************************************
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| 23 | *
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| 24 | * \section License
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| 25 | *
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| 26 | * Redistribution and use in source and binary forms, with or without
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| 27 | * modification, are permitted provided that the following conditions are met:
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| 28 | *
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| 29 | * Redistributions of source code must retain the above copyright
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| 30 | * notice, this list of conditions and the following disclaimer.
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| 31 | *
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| 32 | * Redistributions in binary form must reproduce the above copyright
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| 33 | * notice, this list of conditions and the following disclaimer in the
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| 34 | * documentation and/or other materials provided with the distribution.
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| 35 | *
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| 36 | * Neither the name of the copyright holder nor the names of the
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| 37 | * contributors may be used to endorse or promote products derived from
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| 38 | * this software without specific prior written permission.
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| 39 | *
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| 40 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
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| 41 | * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
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| 42 | * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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| 43 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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| 44 | * DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER
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| 45 | * OR CONTRIBUTORS BE LIABLE FOR ANY
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| 46 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
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| 47 | * OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO,
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| 48 | * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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| 49 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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| 50 | * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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| 51 | * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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| 52 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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| 53 | * ANY WAY OUT OF THE USE OF THIS
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| 54 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
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| 55 | *
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| 56 | * The information provided is believed to be accurate and reliable.
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| 57 | * The copyright holder assumes no responsibility
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| 58 | * for the consequences of use
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| 59 | * of such information nor for any infringement of patents or
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| 60 | * other rights of third parties which may result from its use.
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| 61 | * No license is granted by implication or otherwise under any patent or
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| 62 | * patent rights of the copyright holder.
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| 63 | **************************************************************************/
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| 64 | /*! \file bno055.h
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| 65 | \brief BNO055 Sensor Driver Support Header File */
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| 66 |
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| 67 | #ifndef __BNO055_H__
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| 68 | #define __BNO055_H__
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| 69 | /****************************************************************/
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| 70 | /**\name DATA TYPES INCLUDES */
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| 71 | /************************************************************/
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| 72 | /*!
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| 73 | * @brief The following definition uses for define the data types
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| 74 | *
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| 75 | * @note While porting the API please consider the following
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| 76 | * @note Please check the version of C standard
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| 77 | * @note Are you using Linux platform
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| 78 | */
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| 79 |
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| 80 | /*!
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| 81 | * @brief For the Linux platform support
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| 82 | * Please use the types.h for your data types definitions
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| 83 | */
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| 84 | #ifdef __KERNEL__
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| 85 |
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| 86 | #include <linux/types.h>
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| 87 | /* singed integer type*/
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| 88 | typedef int8_t s_8;/**< used for signed 8bit */
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| 89 | typedef int16_t s_16;/**< used for signed 16bit */
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| 90 | typedef int32_t s_32;/**< used for signed 32bit */
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| 91 | typedef int64_t s_64;/**< used for signed 64bit */
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| 92 |
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| 93 | typedef u_int8_t u_8;/**< used for unsigned 8bit */
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| 94 | typedef u_int16_t u_16;/**< used for unsigned 16bit */
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| 95 | typedef u_int32_t u_32;/**< used for unsigned 32bit */
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| 96 | typedef u_int64_t u_64;/**< used for unsigned 64bit */
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| 97 |
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| 98 |
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| 99 |
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| 100 | #else /* ! __KERNEL__ */
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| 101 | /**********************************************************
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| 102 | * These definition uses for define the C
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| 103 | * standard version data types
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| 104 | ***********************************************************/
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| 105 | # if !defined(__STDC_VERSION__)
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| 106 |
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| 107 | /************************************************
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| 108 | * compiler is C11 C standard
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| 109 | ************************************************/
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| 110 | #if (__STDC_VERSION__ == 201112L)
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| 111 |
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| 112 | /************************************************/
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| 113 | #include <stdint.h>
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| 114 | /************************************************/
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| 115 |
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| 116 | /*unsigned integer types*/
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| 117 | typedef uint8_t u_8;/**< used for unsigned 8bit */
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| 118 | typedef uint16_t u_16;/**< used for unsigned 16bit */
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| 119 | typedef uint32_t u_32;/**< used for unsigned 32bit */
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| 120 | typedef uint64_t u_64;/**< used for unsigned 64bit */
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| 121 |
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| 122 | /*signed integer types*/
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| 123 | typedef int8_t s_8;/**< used for signed 8bit */
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| 124 | typedef int16_t s_16;/**< used for signed 16bit */
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| 125 | typedef int32_t s_32;/**< used for signed 32bit */
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| 126 | typedef int64_t s_64;/**< used for signed 64bit */
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| 127 | /************************************************
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| 128 | * compiler is C99 C standard
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| 129 | ************************************************/
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| 130 |
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| 131 | #elif (__STDC_VERSION__ == 199901L)
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| 132 |
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| 133 | /* stdint.h is a C99 supported c library.
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| 134 | which is used to fixed the integer size*/
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| 135 | /************************************************/
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| 136 | #include <stdint.h>
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| 137 | /************************************************/
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| 138 |
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| 139 | /*unsigned integer types*/
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| 140 | typedef uint8_t u_8;/**< used for unsigned 8bit */
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| 141 | typedef uint16_t u_16;/**< used for unsigned 16bit */
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| 142 | typedef uint32_t u_32;/**< used for unsigned 32bit */
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| 143 | typedef uint64_t u_64;/**< used for unsigned 64bit */
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| 144 |
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| 145 | /*signed integer types*/
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| 146 | typedef int8_t s_8;/**< used for signed 8bit */
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| 147 | typedef int16_t s_16;/**< used for signed 16bit */
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| 148 | typedef int32_t s_32;/**< used for signed 32bit */
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| 149 | typedef int64_t s_64;/**< used for signed 64bit */
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| 150 | /************************************************
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| 151 | * compiler is C89 or other C standard
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| 152 | ************************************************/
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| 153 |
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| 154 | #else /* !defined(__STDC_VERSION__) */
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| 155 | /*!
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| 156 | * @brief By default it is defined as 32 bit machine configuration
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| 157 | * define your data types based on your
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| 158 | * machine/compiler/controller configuration
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| 159 | */
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| 160 | #define MACHINE_32_BIT
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| 161 |
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| 162 | /*! @brief
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| 163 | * If your machine support 16 bit
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| 164 | * define the MACHINE_16_BIT
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| 165 | */
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| 166 | #ifdef MACHINE_16_BIT
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| 167 | #include <limits.h>
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| 168 | /*signed integer types*/
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| 169 | typedef signed char s_8;/**< used for signed 8bit */
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| 170 | typedef signed short int s_16;/**< used for signed 16bit */
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| 171 | typedef signed long int s_32;/**< used for signed 32bit */
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| 172 |
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| 173 | #if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL
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| 174 | typedef long int s_64;/**< used for signed 64bit */
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| 175 | typedef unsigned long int u_64;/**< used for unsigned 64bit */
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| 176 | #elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)
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| 177 | typedef long long int s_64;/**< used for signed 64bit */
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| 178 | typedef unsigned long long int u_64;/**< used for unsigned 64bit */
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| 179 | #else
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| 180 | #warning Either the correct data type for signed 64 bit integer \
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| 181 | could not be found, or 64 bit integers are not supported in your environment.
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| 182 | #warning If 64 bit integers are supported on your platform, \
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| 183 | please set s_64 manually.
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| 184 | #endif
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| 185 |
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| 186 | /*unsigned integer types*/
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| 187 | typedef unsigned char u_8;/**< used for unsigned 8bit */
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| 188 | typedef unsigned short int u_16;/**< used for unsigned 16bit */
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| 189 | typedef unsigned long int u_32;/**< used for unsigned 32bit */
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| 190 |
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| 191 | /* If your machine support 32 bit
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| 192 | define the MACHINE_32_BIT*/
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| 193 | #elif defined MACHINE_32_BIT
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| 194 | /*signed integer types*/
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| 195 | typedef signed char s_8;/**< used for signed 8bit */
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| 196 | typedef signed short int s_16;/**< used for signed 16bit */
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| 197 | typedef signed int s_32;/**< used for signed 32bit */
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| 198 | typedef signed long long int s_64;/**< used for signed 64bit */
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| 199 |
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| 200 | /*unsigned integer types*/
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| 201 | typedef unsigned char u_8;/**< used for unsigned 8bit */
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| 202 | typedef unsigned short int u_16;/**< used for unsigned 16bit */
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| 203 | typedef unsigned int u_32;/**< used for unsigned 32bit */
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| 204 | typedef unsigned long long int u_64;/**< used for unsigned 64bit */
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| 205 |
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| 206 | /* If your machine support 64 bit
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| 207 | define the MACHINE_64_BIT*/
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| 208 | #elif defined MACHINE_64_BIT
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| 209 | /*signed integer types*/
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| 210 | typedef signed char s_8;/**< used for signed 8bit */
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| 211 | typedef signed short int s_16;/**< used for signed 16bit */
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| 212 | typedef signed int s_32;/**< used for signed 32bit */
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| 213 | typedef signed long int s_64;/**< used for signed 64bit */
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| 214 |
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| 215 | /*unsigned integer types*/
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| 216 | typedef unsigned char u_8;/**< used for unsigned 8bit */
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| 217 | typedef unsigned short int u_16;/**< used for unsigned 16bit */
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| 218 | typedef unsigned int u_32;/**< used for unsigned 32bit */
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| 219 | typedef unsigned long int u_64;/**< used for unsigned 64bit */
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| 220 |
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| 221 | #else
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| 222 | #warning The data types defined above which not supported \
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| 223 | define the data types manually
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| 224 | #endif
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| 225 | #endif
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| 226 |
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| 227 | /*** This else will execute for the compilers
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| 228 | * which are not supported the C standards
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| 229 | * Like C89/C99/C11***/
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| 230 | #else
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| 231 | /*!
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| 232 | * @brief By default it is defined as 32 bit machine configuration
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| 233 | * define your data types based on your
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| 234 | * machine/compiler/controller configuration
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| 235 | */
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| 236 | #define MACHINE_32_BIT
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| 237 |
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| 238 | /* If your machine support 16 bit
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| 239 | define the MACHINE_16_BIT*/
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| 240 | #ifdef MACHINE_16_BIT
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| 241 | #include <limits.h>
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| 242 | /*signed integer types*/
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| 243 | typedef signed char s_8;/**< used for signed 8bit */
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| 244 | typedef signed short int s_16;/**< used for signed 16bit */
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| 245 | typedef signed long int s_32;/**< used for signed 32bit */
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| 246 |
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| 247 | #if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL
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| 248 | typedef long int s_64;/**< used for signed 64bit */
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| 249 | typedef unsigned long int u_64;/**< used for unsigned 64bit */
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| 250 | #elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)
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| 251 | typedef long long int s_64;/**< used for signed 64bit */
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| 252 | typedef unsigned long long int u_64;/**< used for unsigned 64bit */
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| 253 | #else
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| 254 | #warning Either the correct data type for signed 64 bit integer \
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| 255 | could not be found, or 64 bit integers are not supported in your environment.
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| 256 | #warning If 64 bit integers are supported on your platform, \
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| 257 | please set s_64 manually.
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| 258 | #endif
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| 259 |
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| 260 | /*unsigned integer types*/
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| 261 | typedef unsigned char u_8;/**< used for unsigned 8bit */
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| 262 | typedef unsigned short int u_16;/**< used for unsigned 16bit */
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| 263 | typedef unsigned long int u_32;/**< used for unsigned 32bit */
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| 264 |
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| 265 | /*! @brief If your machine support 32 bit
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| 266 | define the MACHINE_32_BIT*/
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| 267 | #elif defined MACHINE_32_BIT
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| 268 | /*signed integer types*/
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| 269 | typedef signed char s_8;/**< used for signed 8bit */
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| 270 | typedef signed short int s_16;/**< used for signed 16bit */
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| 271 | typedef signed int s_32;/**< used for signed 32bit */
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| 272 | typedef signed long long int s_64;/**< used for signed 64bit */
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| 273 |
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| 274 | /*unsigned integer types*/
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| 275 | typedef unsigned char u_8;/**< used for unsigned 8bit */
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| 276 | typedef unsigned short int u_16;/**< used for unsigned 16bit */
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| 277 | typedef unsigned int u_32;/**< used for unsigned 32bit */
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| 278 | typedef unsigned long long int u_64;/**< used for unsigned 64bit */
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| 279 |
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| 280 | /* If your machine support 64 bit
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| 281 | define the MACHINE_64_BIT*/
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| 282 | #elif defined MACHINE_64_BIT
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| 283 | /*signed integer types*/
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| 284 | typedef signed char s_8;/**< used for signed 8bit */
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| 285 | typedef signed short int s_16;/**< used for signed 16bit */
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| 286 | typedef signed int s_32;/**< used for signed 32bit */
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| 287 | typedef signed long int s_64;/**< used for signed 64bit */
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| 288 |
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| 289 | /*unsigned integer types*/
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| 290 | typedef unsigned char u_8;/**< used for unsigned 8bit */
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| 291 | typedef unsigned short int u_16;/**< used for unsigned 16bit */
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| 292 | typedef unsigned int u_32;/**< used for unsigned 32bit */
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| 293 | typedef unsigned long int u_64;/**< used for unsigned 64bit */
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| 294 |
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| 295 | #else
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| 296 | #warning The data types defined above which not supported \
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| 297 | define the data types manually
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| 298 | #endif
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| 299 | #endif
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| 300 | #endif
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| 301 | /***************************************************************/
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| 302 | /**\name BUS READ AND WRITE FUNCTIONS */
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| 303 | /***************************************************************/
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| 304 | #define BNO055_WR_FUNC_PTR s_8 (*bus_write)\
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| 305 | (u_8, u_8 , u_8 *, u_8)
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| 306 |
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| 307 | #define BNO055_BUS_WRITE_FUNC(dev_addr, reg_addr, reg_data, wr_len)\
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| 308 | bus_write(dev_addr, reg_addr, reg_data, wr_len)
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| 309 |
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| 310 | #define BNO055_RD_FUNC_PTR s_8 \
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| 311 | (*bus_read)(u_8, u_8 , u_8 *, u_8)
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| 312 |
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| 313 | #define BNO055_BUS_READ_FUNC(dev_addr, reg_addr, reg_data, r_len)\
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| 314 | bus_read(dev_addr, reg_addr, reg_data, r_len)
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| 315 |
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| 316 | #define BNO055_DELAY_RETURN_TYPE void
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| 317 |
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| 318 | #define BNO055_DELAY_PARAM_TYPES u_32
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| 319 |
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| 320 | #define BNO055_DELAY_FUNC(delay_in_msec)\
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| 321 | delay_func(delay_in_msec)
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| 322 |
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| 323 | /********************************************************/
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| 324 | /**\name I2C ADDRESS DEFINITION FOR BNO055 */
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| 325 | /********************************************************/
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| 326 | /* bno055 I2C Address */
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| 327 | #define BNO055_I2C_ADDR1 0x28
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| 328 | #define BNO055_I2C_ADDR2 0x29
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| 329 |
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| 330 | /***************************************************/
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| 331 | /**\name REGISTER ADDRESS DEFINITION */
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| 332 | /***************************************************/
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| 333 | /* Page id register definition*/
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| 334 | #define BNO055_PAGE_ID_ADDR 0X07
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| 335 |
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| 336 | /* PAGE0 REGISTER DEFINITION START*/
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| 337 | #define BNO055_CHIP_ID_ADDR 0x00
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| 338 | #define BNO055_ACCEL_REV_ID_ADDR 0x01
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| 339 | #define BNO055_MAG_REV_ID_ADDR 0x02
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| 340 | #define BNO055_GYRO_REV_ID_ADDR 0x03
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| 341 | #define BNO055_SW_REV_ID_LSB_ADDR 0x04
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| 342 | #define BNO055_SW_REV_ID_MSB_ADDR 0x05
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| 343 | #define BNO055_BL_REV_ID_ADDR 0X06
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| 344 |
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| 345 | /* Accel data register*/
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| 346 | #define BNO055_ACCEL_DATA_X_LSB_ADDR 0X08
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| 347 | #define BNO055_ACCEL_DATA_X_MSB_ADDR 0X09
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| 348 | #define BNO055_ACCEL_DATA_Y_LSB_ADDR 0X0A
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| 349 | #define BNO055_ACCEL_DATA_Y_MSB_ADDR 0X0B
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| 350 | #define BNO055_ACCEL_DATA_Z_LSB_ADDR 0X0C
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| 351 | #define BNO055_ACCEL_DATA_Z_MSB_ADDR 0X0D
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| 352 |
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| 353 | /*Mag data register*/
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| 354 | #define BNO055_MAG_DATA_X_LSB_ADDR 0X0E
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| 355 | #define BNO055_MAG_DATA_X_MSB_ADDR 0X0F
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| 356 | #define BNO055_MAG_DATA_Y_LSB_ADDR 0X10
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| 357 | #define BNO055_MAG_DATA_Y_MSB_ADDR 0X11
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| 358 | #define BNO055_MAG_DATA_Z_LSB_ADDR 0X12
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| 359 | #define BNO055_MAG_DATA_Z_MSB_ADDR 0X13
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| 360 |
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| 361 | /*Gyro data registers*/
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| 362 | #define BNO055_GYRO_DATA_X_LSB_ADDR 0X14
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| 363 | #define BNO055_GYRO_DATA_X_MSB_ADDR 0X15
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| 364 | #define BNO055_GYRO_DATA_Y_LSB_ADDR 0X16
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| 365 | #define BNO055_GYRO_DATA_Y_MSB_ADDR 0X17
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| 366 | #define BNO055_GYRO_DATA_Z_LSB_ADDR 0X18
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| 367 | #define BNO055_GYRO_DATA_Z_MSB_ADDR 0X19
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| 368 |
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| 369 | /*Euler data registers*/
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| 370 | #define BNO055_EULER_H_LSB_ADDR 0X1A
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| 371 | #define BNO055_EULER_H_MSB_ADDR 0X1B
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| 372 |
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| 373 | #define BNO055_EULER_R_LSB_ADDR 0X1C
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| 374 | #define BNO055_EULER_R_MSB_ADDR 0X1D
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| 375 |
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| 376 | #define BNO055_EULER_P_LSB_ADDR 0X1E
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| 377 | #define BNO055_EULER_P_MSB_ADDR 0X1F
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| 378 |
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| 379 | /*Quaternion data registers*/
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| 380 | #define BNO055_QUATERNION_DATA_W_LSB_ADDR 0X20
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| 381 | #define BNO055_QUATERNION_DATA_W_MSB_ADDR 0X21
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| 382 | #define BNO055_QUATERNION_DATA_X_LSB_ADDR 0X22
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| 383 | #define BNO055_QUATERNION_DATA_X_MSB_ADDR 0X23
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| 384 | #define BNO055_QUATERNION_DATA_Y_LSB_ADDR 0X24
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| 385 | #define BNO055_QUATERNION_DATA_Y_MSB_ADDR 0X25
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| 386 | #define BNO055_QUATERNION_DATA_Z_LSB_ADDR 0X26
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| 387 | #define BNO055_QUATERNION_DATA_Z_MSB_ADDR 0X27
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| 388 |
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| 389 | /* Linear acceleration data registers*/
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| 390 | #define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0X28
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| 391 | #define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0X29
|
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| 392 | #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0X2A
|
---|
| 393 | #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0X2B
|
---|
| 394 | #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0X2C
|
---|
| 395 | #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0X2D
|
---|
| 396 |
|
---|
| 397 | /*Gravity data registers*/
|
---|
| 398 | #define BNO055_GRAVITY_DATA_X_LSB_ADDR 0X2E
|
---|
| 399 | #define BNO055_GRAVITY_DATA_X_MSB_ADDR 0X2F
|
---|
| 400 | #define BNO055_GRAVITY_DATA_Y_LSB_ADDR 0X30
|
---|
| 401 | #define BNO055_GRAVITY_DATA_Y_MSB_ADDR 0X31
|
---|
| 402 | #define BNO055_GRAVITY_DATA_Z_LSB_ADDR 0X32
|
---|
| 403 | #define BNO055_GRAVITY_DATA_Z_MSB_ADDR 0X33
|
---|
| 404 |
|
---|
| 405 | /* Temperature data register*/
|
---|
| 406 | #define BNO055_TEMP_ADDR 0X34
|
---|
| 407 |
|
---|
| 408 | /* Status registers*/
|
---|
| 409 | #define BNO055_CALIB_STAT_ADDR 0X35
|
---|
| 410 | #define BNO055_SELFTEST_RESULT_ADDR 0X36
|
---|
| 411 | #define BNO055_INTR_STAT_ADDR 0X37
|
---|
| 412 | #define BNO055_SYS_CLK_STAT_ADDR 0X38
|
---|
| 413 | #define BNO055_SYS_STAT_ADDR 0X39
|
---|
| 414 | #define BNO055_SYS_ERR_ADDR 0X3A
|
---|
| 415 |
|
---|
| 416 | /* Unit selection register*/
|
---|
| 417 | #define BNO055_UNIT_SEL_ADDR 0X3B
|
---|
| 418 | #define BNO055_DATA_SELECT_ADDR 0X3C
|
---|
| 419 |
|
---|
| 420 | /* Mode registers*/
|
---|
| 421 | #define BNO055_OPR_MODE_ADDR 0X3D
|
---|
| 422 | #define BNO055_PWR_MODE_ADDR 0X3E
|
---|
| 423 |
|
---|
| 424 | #define BNO055_SYS_TRIGGER_ADDR 0X3F
|
---|
| 425 | #define BNO055_TEMP_SOURCE_ADDR 0X40
|
---|
| 426 | /* Axis remap registers*/
|
---|
| 427 | #define BNO055_AXIS_MAP_CONFIG_ADDR 0X41
|
---|
| 428 | #define BNO055_AXIS_MAP_SIGN_ADDR 0X42
|
---|
| 429 |
|
---|
| 430 | /* SIC registers*/
|
---|
| 431 | #define BNO055_SIC_MATRIX_0_LSB_ADDR 0X43
|
---|
| 432 | #define BNO055_SIC_MATRIX_0_MSB_ADDR 0X44
|
---|
| 433 | #define BNO055_SIC_MATRIX_1_LSB_ADDR 0X45
|
---|
| 434 | #define BNO055_SIC_MATRIX_1_MSB_ADDR 0X46
|
---|
| 435 | #define BNO055_SIC_MATRIX_2_LSB_ADDR 0X47
|
---|
| 436 | #define BNO055_SIC_MATRIX_2_MSB_ADDR 0X48
|
---|
| 437 | #define BNO055_SIC_MATRIX_3_LSB_ADDR 0X49
|
---|
| 438 | #define BNO055_SIC_MATRIX_3_MSB_ADDR 0X4A
|
---|
| 439 | #define BNO055_SIC_MATRIX_4_LSB_ADDR 0X4B
|
---|
| 440 | #define BNO055_SIC_MATRIX_4_MSB_ADDR 0X4C
|
---|
| 441 | #define BNO055_SIC_MATRIX_5_LSB_ADDR 0X4D
|
---|
| 442 | #define BNO055_SIC_MATRIX_5_MSB_ADDR 0X4E
|
---|
| 443 | #define BNO055_SIC_MATRIX_6_LSB_ADDR 0X4F
|
---|
| 444 | #define BNO055_SIC_MATRIX_6_MSB_ADDR 0X50
|
---|
| 445 | #define BNO055_SIC_MATRIX_7_LSB_ADDR 0X51
|
---|
| 446 | #define BNO055_SIC_MATRIX_7_MSB_ADDR 0X52
|
---|
| 447 | #define BNO055_SIC_MATRIX_8_LSB_ADDR 0X53
|
---|
| 448 | #define BNO055_SIC_MATRIX_8_MSB_ADDR 0X54
|
---|
| 449 |
|
---|
| 450 | /* Accelerometer Offset registers*/
|
---|
| 451 | #define ACCEL_OFFSET_X_LSB_ADDR 0X55
|
---|
| 452 | #define ACCEL_OFFSET_X_MSB_ADDR 0X56
|
---|
| 453 | #define ACCEL_OFFSET_Y_LSB_ADDR 0X57
|
---|
| 454 | #define ACCEL_OFFSET_Y_MSB_ADDR 0X58
|
---|
| 455 | #define ACCEL_OFFSET_Z_LSB_ADDR 0X59
|
---|
| 456 | #define ACCEL_OFFSET_Z_MSB_ADDR 0X5A
|
---|
| 457 |
|
---|
| 458 | /* Magnetometer Offset registers*/
|
---|
| 459 | #define MAG_OFFSET_X_LSB_ADDR 0X5B
|
---|
| 460 | #define MAG_OFFSET_X_MSB_ADDR 0X5C
|
---|
| 461 | #define MAG_OFFSET_Y_LSB_ADDR 0X5D
|
---|
| 462 | #define MAG_OFFSET_Y_MSB_ADDR 0X5E
|
---|
| 463 | #define MAG_OFFSET_Z_LSB_ADDR 0X5F
|
---|
| 464 | #define MAG_OFFSET_Z_MSB_ADDR 0X60
|
---|
| 465 |
|
---|
| 466 | /* Gyroscope Offset registers*/
|
---|
| 467 | #define GYRO_OFFSET_X_LSB_ADDR 0X61
|
---|
| 468 | #define GYRO_OFFSET_X_MSB_ADDR 0X62
|
---|
| 469 | #define GYRO_OFFSET_Y_LSB_ADDR 0X63
|
---|
| 470 | #define GYRO_OFFSET_Y_MSB_ADDR 0X64
|
---|
| 471 | #define GYRO_OFFSET_Z_LSB_ADDR 0X65
|
---|
| 472 | #define GYRO_OFFSET_Z_MSB_ADDR 0X66
|
---|
| 473 |
|
---|
| 474 | /* Radius registers*/
|
---|
| 475 | #define ACCEL_RADIUS_LSB_ADDR 0X67
|
---|
| 476 | #define ACCEL_RADIUS_MSB_ADDR 0X68
|
---|
| 477 | #define MAG_RADIUS_LSB_ADDR 0X69
|
---|
| 478 | #define MAG_RADIUS_MSB_ADDR 0X6A
|
---|
| 479 | /* PAGE0 REGISTERS DEFINITION END*/
|
---|
| 480 |
|
---|
| 481 | /* PAGE1 REGISTERS DEFINITION START*/
|
---|
| 482 | /* Configuration registers*/
|
---|
| 483 | #define ACCEL_CONFIG_ADDR 0X08
|
---|
| 484 | #define MAG_CONFIG_ADDR 0X09
|
---|
| 485 | #define GYRO_CONFIG_ADDR 0X0A
|
---|
| 486 | #define GYRO_MODE_CONFIG_ADDR 0X0B
|
---|
| 487 | #define ACCEL_SLEEP_CONFIG_ADDR 0X0C
|
---|
| 488 | #define GYRO_SLEEP_CONFIG_ADDR 0X0D
|
---|
| 489 | #define MAG_SLEEP_CONFIG_ADDR 0x0E
|
---|
| 490 |
|
---|
| 491 | /* Interrupt registers*/
|
---|
| 492 | #define INT_MASK_ADDR 0X0F
|
---|
| 493 | #define INT_ADDR 0X10
|
---|
| 494 | #define ACCEL_ANY_MOTION_THRES_ADDR 0X11
|
---|
| 495 | #define ACCEL_INTR_SETTINGS_ADDR 0X12
|
---|
| 496 | #define ACCEL_HIGH_G_DURN_ADDR 0X13
|
---|
| 497 | #define ACCEL_HIGH_G_THRES_ADDR 0X14
|
---|
| 498 | #define ACCEL_NO_MOTION_THRES_ADDR 0X15
|
---|
| 499 | #define ACCEL_NO_MOTION_SET_ADDR 0X16
|
---|
| 500 | #define GYRO_INTR_SETING_ADDR 0X17
|
---|
| 501 | #define GYRO_HIGHRATE_X_SET_ADDR 0X18
|
---|
| 502 | #define GYRO_DURN_X_ADDR 0X19
|
---|
| 503 | #define GYRO_HIGHRATE_Y_SET_ADDR 0X1A
|
---|
| 504 | #define GYRO_DURN_Y_ADDR 0X1B
|
---|
| 505 | #define GYRO_HIGHRATE_Z_SET_ADDR 0X1C
|
---|
| 506 | #define GYRO_DURN_Z_ADDR 0X1D
|
---|
| 507 | #define GYRO_ANY_MOTION_THRES_ADDR 0X1E
|
---|
| 508 | #define GYRO_ANY_MOTION_SET_ADDR 0X1F
|
---|
| 509 | /* PAGE1 REGISTERS DEFINITION END*/
|
---|
| 510 |
|
---|
| 511 |
|
---|
| 512 | #define BNO055_MDELAY_DATA_TYPE u_32
|
---|
| 513 |
|
---|
| 514 | /*< This refers BNO055 return type as s_8 */
|
---|
| 515 | #define BNO055_RETURN_FUNCTION_TYPE s_8
|
---|
| 516 |
|
---|
| 517 | /* Compile switch definition for Float and double*/
|
---|
| 518 | #define BNO055_FLOAT_ENABLE
|
---|
| 519 | #define BNO055_DOUBLE_ENABLE
|
---|
| 520 | /**************************************************************/
|
---|
| 521 | /**\name STRUCTURE DEFINITIONS */
|
---|
| 522 | /**************************************************************/
|
---|
| 523 | /*!
|
---|
| 524 | * @brief bno055 struct
|
---|
| 525 | */
|
---|
| 526 | struct bno055_t {
|
---|
| 527 | u_8 chip_id;/**< chip_id of bno055 */
|
---|
| 528 | u_16 sw_rev_id;/**< software revision id of bno055 */
|
---|
| 529 | u_8 page_id;/**< page_id of bno055 */
|
---|
| 530 | u_8 accel_rev_id;/**< accel revision id of bno055 */
|
---|
| 531 | u_8 mag_rev_id;/**< mag revision id of bno055 */
|
---|
| 532 | u_8 gyro_rev_id;/**< gyro revision id of bno055 */
|
---|
| 533 | u_8 bl_rev_id;/**< boot loader revision id of bno055 */
|
---|
| 534 | u_8 dev_addr;/**< i2c device address of bno055 */
|
---|
| 535 | BNO055_WR_FUNC_PTR;/**< bus write function pointer */
|
---|
| 536 | BNO055_RD_FUNC_PTR;/**<bus read function pointer */
|
---|
| 537 | void (*delay_msec)(BNO055_MDELAY_DATA_TYPE);/**< delay function pointer */
|
---|
| 538 | };
|
---|
| 539 | /*!
|
---|
| 540 | * @brief struct for accel data read from registers
|
---|
| 541 | */
|
---|
| 542 | struct bno055_accel_t {
|
---|
| 543 | s_16 x;/**< accel x data */
|
---|
| 544 | s_16 y;/**< accel y data */
|
---|
| 545 | s_16 z;/**< accel z data */
|
---|
| 546 | };
|
---|
| 547 | /*!
|
---|
| 548 | * @brief struct for Mag data read from registers
|
---|
| 549 | */
|
---|
| 550 | struct bno055_mag_t {
|
---|
| 551 | s_16 x;/**< mag x data */
|
---|
| 552 | s_16 y;/**< mag y data */
|
---|
| 553 | s_16 z;/**< mag z data */
|
---|
| 554 | };
|
---|
| 555 | /*!
|
---|
| 556 | * @brief struct for Gyro data read from registers
|
---|
| 557 | */
|
---|
| 558 | struct bno055_gyro_t {
|
---|
| 559 | s_16 x;/**< gyro x data */
|
---|
| 560 | s_16 y;/**< gyro y data */
|
---|
| 561 | s_16 z;/**< gyro z data */
|
---|
| 562 | };
|
---|
| 563 | /*!
|
---|
| 564 | * @brief struct for Euler data read from registers
|
---|
| 565 | */
|
---|
| 566 | struct bno055_euler_t {
|
---|
| 567 | s_16 h;/**< Euler h data */
|
---|
| 568 | s_16 r;/**< Euler r data */
|
---|
| 569 | s_16 p;/**< Euler p data */
|
---|
| 570 | };
|
---|
| 571 | /*!
|
---|
| 572 | * @brief struct for Quaternion data read from registers
|
---|
| 573 | */
|
---|
| 574 | struct bno055_quaternion_t {
|
---|
| 575 | s_16 w;/**< Quaternion w data */
|
---|
| 576 | s_16 x;/**< Quaternion x data */
|
---|
| 577 | s_16 y;/**< Quaternion y data */
|
---|
| 578 | s_16 z;/**< Quaternion z data */
|
---|
| 579 | };
|
---|
| 580 | /*!
|
---|
| 581 | * @brief struct for Linear Accel data read from registers
|
---|
| 582 | */
|
---|
| 583 | struct bno055_linear_accel_t {
|
---|
| 584 | s_16 x; /**< Linear Accel x data */
|
---|
| 585 | s_16 y; /**< Linear Accel y data */
|
---|
| 586 | s_16 z; /**< Linear Accel z data */
|
---|
| 587 | };
|
---|
| 588 | /*!
|
---|
| 589 | * @brief struct for Gravity data read from registers
|
---|
| 590 | */
|
---|
| 591 | struct bno055_gravity_t {
|
---|
| 592 | s_16 x;/**< Gravity x data */
|
---|
| 593 | s_16 y;/**< Gravity y data */
|
---|
| 594 | s_16 z;/**< Gravity z data */
|
---|
| 595 | };
|
---|
| 596 | #ifdef BNO055_DOUBLE_ENABLE
|
---|
| 597 | /*!
|
---|
| 598 | * @brief struct for Accel-output data of precision double
|
---|
| 599 | */
|
---|
| 600 | struct bno055_accel_double_t {
|
---|
| 601 | double x;/**< Accel x double data */
|
---|
| 602 | double y;/**< Accel y double data */
|
---|
| 603 | double z;/**< Accel z double data */
|
---|
| 604 | };
|
---|
| 605 | /*!
|
---|
| 606 | * @brief struct for Mag-output data of precision double
|
---|
| 607 | */
|
---|
| 608 | struct bno055_mag_double_t {
|
---|
| 609 | double x;/**< Mag x double data */
|
---|
| 610 | double y;/**< Mag y double data */
|
---|
| 611 | double z;/**< Mag z double data */
|
---|
| 612 | };
|
---|
| 613 | /*!
|
---|
| 614 | * @brief struct for Gyro-output data of precision double
|
---|
| 615 | */
|
---|
| 616 | struct bno055_gyro_double_t {
|
---|
| 617 | double x;/**< Gyro x double data */
|
---|
| 618 | double y;/**< Gyro y double data */
|
---|
| 619 | double z;/**< Gyro z double data */
|
---|
| 620 | };
|
---|
| 621 | /*!
|
---|
| 622 | * @brief struct for Euler-output data of precision double
|
---|
| 623 | */
|
---|
| 624 | struct bno055_euler_double_t {
|
---|
| 625 | double h;/**< Euler h double data */
|
---|
| 626 | double r;/**< Euler r double data */
|
---|
| 627 | double p;/**< Euler p double data */
|
---|
| 628 | };
|
---|
| 629 | /*!
|
---|
| 630 | * @brief struct for Linear Accel-output data of precision double
|
---|
| 631 | */
|
---|
| 632 | struct bno055_linear_accel_double_t {
|
---|
| 633 | double x;/**< linear accel x double data */
|
---|
| 634 | double y;/**< linear accel y double data */
|
---|
| 635 | double z;/**< linear accel z double data */
|
---|
| 636 | };
|
---|
| 637 | /*!
|
---|
| 638 | * @brief struct for Gravity-output data of precision double
|
---|
| 639 | */
|
---|
| 640 | struct bno055_gravity_double_t {
|
---|
| 641 | double x;/**< Gravity x double data */
|
---|
| 642 | double y;/**< Gravity y double data */
|
---|
| 643 | double z;/**< Gravity z double data */
|
---|
| 644 | };
|
---|
| 645 | #endif
|
---|
| 646 | #ifdef BNO055_FLOAT_ENABLE
|
---|
| 647 | /*!
|
---|
| 648 | * @brief struct for Accel-output data of precision float
|
---|
| 649 | */
|
---|
| 650 | struct bno055_accel_float_t {
|
---|
| 651 | float x;/**< accel x float data */
|
---|
| 652 | float y;/**< accel y float data */
|
---|
| 653 | float z;/**< accel z float data */
|
---|
| 654 | };
|
---|
| 655 | /*!
|
---|
| 656 | * @brief struct for Mag-output data of precision float
|
---|
| 657 | */
|
---|
| 658 | struct bno055_mag_float_t {
|
---|
| 659 | float x;/**< Mag x float data */
|
---|
| 660 | float y;/**< Mag y float data */
|
---|
| 661 | float z;/**< Mag z float data */
|
---|
| 662 | };
|
---|
| 663 | /*!
|
---|
| 664 | * @brief struct for Gyro-output data of precision float
|
---|
| 665 | */
|
---|
| 666 | struct bno055_gyro_float_t {
|
---|
| 667 | float x;/**< Gyro x float data */
|
---|
| 668 | float y;/**< Gyro y float data */
|
---|
| 669 | float z;/**< Gyro z float data */
|
---|
| 670 | };
|
---|
| 671 | /*!
|
---|
| 672 | * @brief struct for Euler-output data of precision float
|
---|
| 673 | */
|
---|
| 674 | struct bno055_euler_float_t {
|
---|
| 675 | float h;/**< Euler h float data */
|
---|
| 676 | float r;/**< Euler r float data */
|
---|
| 677 | float p;/**< Euler p float data */
|
---|
| 678 | };
|
---|
| 679 | /*!
|
---|
| 680 | * @brief struct for Linear accel-output data of precision float
|
---|
| 681 | */
|
---|
| 682 | struct bno055_linear_accel_float_t {
|
---|
| 683 | float x;/**< Linear accel x float data */
|
---|
| 684 | float y;/**< Linear accel y float data */
|
---|
| 685 | float z;/**< Linear accel z float data */
|
---|
| 686 | };
|
---|
| 687 | /*!
|
---|
| 688 | * @brief struct for Gravity-output data of precision float
|
---|
| 689 | */
|
---|
| 690 | struct bno055_gravity_float_t {
|
---|
| 691 | float x;/**< Gravity x float data */
|
---|
| 692 | float y;/**< Gravity y float data */
|
---|
| 693 | float z;/**< Gravity z float data */
|
---|
| 694 | };
|
---|
| 695 | #endif
|
---|
| 696 | /*!
|
---|
| 697 | * @brief struct for Accel offset
|
---|
| 698 | */
|
---|
| 699 | struct bno055_accel_offset_t {
|
---|
| 700 | s_16 x;/**< Accel offset x data */
|
---|
| 701 | s_16 y;/**< Accel offset y data */
|
---|
| 702 | s_16 z;/**< Accel offset z data */
|
---|
| 703 | s_16 r;/**< Accel radius r data */
|
---|
| 704 | };
|
---|
| 705 | /*!
|
---|
| 706 | * @brief struct for Gyro offset
|
---|
| 707 | */
|
---|
| 708 | struct bno055_gyro_offset_t {
|
---|
| 709 | s_16 x;/**< Gyro offset x data */
|
---|
| 710 | s_16 y;/**< Gyro offset y data */
|
---|
| 711 | s_16 z;/**< Gyro offset z data */
|
---|
| 712 | };
|
---|
| 713 | /*!
|
---|
| 714 | * @brief struct for Mag offset
|
---|
| 715 | */
|
---|
| 716 | struct bno055_mag_offset_t {
|
---|
| 717 | s_16 x;/**< Mag offset x data */
|
---|
| 718 | s_16 y;/**< Mag offset y data */
|
---|
| 719 | s_16 z;/**< Mag offset z data */
|
---|
| 720 | s_16 r;/**< Mag radius x data */
|
---|
| 721 | };
|
---|
| 722 | /*!
|
---|
| 723 | * @brief struct for soft iron calibration matrix
|
---|
| 724 | */
|
---|
| 725 | struct bno055_sic_matrix_t {
|
---|
| 726 | s_16 sic_0;/**< soft iron calibration matrix 0 data */
|
---|
| 727 | s_16 sic_1;/**< soft iron calibration matrix 1 data */
|
---|
| 728 | s_16 sic_2;/**< soft iron calibration matrix 2 data */
|
---|
| 729 | s_16 sic_3;/**< soft iron calibration matrix 3 data */
|
---|
| 730 | s_16 sic_4;/**< soft iron calibration matrix 4 data */
|
---|
| 731 | s_16 sic_5;/**< soft iron calibration matrix 5 data */
|
---|
| 732 | s_16 sic_6;/**< soft iron calibration matrix 6 data */
|
---|
| 733 | s_16 sic_7;/**< soft iron calibration matrix 7 data */
|
---|
| 734 | s_16 sic_8;/**< soft iron calibration matrix 8 data */
|
---|
| 735 | };
|
---|
| 736 | /***************************************************/
|
---|
| 737 | /**\name CONSTANT DEFINITIONS */
|
---|
| 738 | /***************************************************/
|
---|
| 739 | #define BNO055_ZERO_U8X ((u_8)0)
|
---|
| 740 | #define BNO055_ONE_U8X ((u_8)1)
|
---|
| 741 | #define BNO055_TWO_U8X ((u_8)2)
|
---|
| 742 | #define BNO055_FOUR_U8X ((u_8)4)
|
---|
| 743 | #define BNO055_FIVE_U8X ((u_8)5)
|
---|
| 744 | #define BNO055_SIX_U8X ((u_8)6)
|
---|
| 745 | #define BNO055_SEVEN_U8X ((u_8)7)
|
---|
| 746 | #define BNO055_ELEVEN_U8X ((u_8)11)
|
---|
| 747 | #define BNO055_SIXTEEN_U8X ((u_8)16)
|
---|
| 748 | #define BNO055_EIGHT_U8X ((u_8)8)
|
---|
| 749 | #define BNO055_TWENTY_U8X ((u_8)20)
|
---|
| 750 | #define BNO055_EIGHTEEN_U8X ((u_8)18)
|
---|
| 751 |
|
---|
| 752 |
|
---|
| 753 | #define BNO055_SHIFT_8_POSITION ((u_8)8)
|
---|
| 754 |
|
---|
| 755 |
|
---|
| 756 | /* BNO055 API error codes */
|
---|
| 757 | #define E_NULL_PTR ((s_8)-127)
|
---|
| 758 | #define E_BNO055_OUT_OF_RANGE ((s_8)-2)
|
---|
| 759 | #define SUCCESS ((u_8)0)
|
---|
| 760 | #define ERROR_BOSCH ((s_8)-1)
|
---|
| 761 |
|
---|
| 762 | /* Selection for bit enable and disable */
|
---|
| 763 | #define ENABLED 0x01
|
---|
| 764 | #define DISABLED 0x00
|
---|
| 765 |
|
---|
| 766 | /* Page ID */
|
---|
| 767 | #define PAGE_ZERO 0X00
|
---|
| 768 | #define PAGE_ONE 0X01
|
---|
| 769 |
|
---|
| 770 | /* Enable the temperature source */
|
---|
| 771 | #define ACCEL_TEMP_EN 0x00
|
---|
| 772 | #define GYRO_TEMP_EN 0x01
|
---|
| 773 | #define MCU_TEMP_EN 0x03
|
---|
| 774 |
|
---|
| 775 | /*Accel unit*/
|
---|
| 776 | #define ACCEL_UNIT_MSQ 0x00
|
---|
| 777 | #define ACCEL_UNIT_MG 0x01
|
---|
| 778 |
|
---|
| 779 | /*Gyro unit*/
|
---|
| 780 | #define GYRO_UNIT_DPS 0x00
|
---|
| 781 | #define GYRO_UNIT_RPS 0x01
|
---|
| 782 |
|
---|
| 783 | /* Euler unit*/
|
---|
| 784 | #define EULER_UNIT_DEG 0x00
|
---|
| 785 | #define EULER_UNIT_RAD 0x01
|
---|
| 786 |
|
---|
| 787 | /*Temperature unit*/
|
---|
| 788 | #define TEMP_UNIT_CELSIUS 0x00
|
---|
| 789 | #define TEMP_UNIT_FAHRENHEIT 0x01
|
---|
| 790 |
|
---|
| 791 | /*Accel division factor*/
|
---|
| 792 | #define ACCEL_DIV_MSQ 100.0
|
---|
| 793 | #define ACCEL_DIV_MG 1
|
---|
| 794 |
|
---|
| 795 | /*Mag division factor*/
|
---|
| 796 | #define MAG_DIV_UT 16.0
|
---|
| 797 |
|
---|
| 798 | /*Gyro division factor*/
|
---|
| 799 | #define GYRO_DIV_DPS 16.0
|
---|
| 800 | #define GYRO_DIV_RPS 900.0
|
---|
| 801 |
|
---|
| 802 | /*Euler division factor*/
|
---|
| 803 | #define EULER_DIV_DEG 16.0
|
---|
| 804 | #define EULER_DIV_RAD 900.0
|
---|
| 805 |
|
---|
| 806 | /*Linear accel division factor*/
|
---|
| 807 | #define LINEAR_ACCEL_DIV_MSQ 100.0
|
---|
| 808 |
|
---|
| 809 | /*Gravity accel division factor*/
|
---|
| 810 | #define GRAVITY_DIV_MSQ 100.0
|
---|
| 811 |
|
---|
| 812 | /* Temperature division factor*/
|
---|
| 813 | #define TEMP_DIV_FAHRENHEIT 0.5
|
---|
| 814 | #define TEMP_DIV_CELSIUS 1
|
---|
| 815 |
|
---|
| 816 | #define BNO055_SIX_HUNDRES_U8X 600
|
---|
| 817 |
|
---|
| 818 |
|
---|
| 819 |
|
---|
| 820 | /* Operation mode settings*/
|
---|
| 821 | #define OPERATION_MODE_CONFIG 0X00
|
---|
| 822 | #define OPERATION_MODE_ACCONLY 0X01
|
---|
| 823 | #define OPERATION_MODE_MAGONLY 0X02
|
---|
| 824 | #define OPERATION_MODE_GYRONLY 0X03
|
---|
| 825 | #define OPERATION_MODE_ACCMAG 0X04
|
---|
| 826 | #define OPERATION_MODE_ACCGYRO 0X05
|
---|
| 827 | #define OPERATION_MODE_MAGGYRO 0X06
|
---|
| 828 | #define OPERATION_MODE_AMG 0X07
|
---|
| 829 | #define OPERATION_MODE_IMUPLUS 0X08
|
---|
| 830 | #define OPERATION_MODE_COMPASS 0X09
|
---|
| 831 | #define OPERATION_MODE_M4G 0X0A
|
---|
| 832 | #define OPERATION_MODE_NDOF_FMC_OFF 0X0B
|
---|
| 833 | #define OPERATION_MODE_NDOF 0X0C
|
---|
| 834 |
|
---|
| 835 | /* Power mode*/
|
---|
| 836 | #define POWER_MODE_NORMAL 0X00
|
---|
| 837 | #define POWER_MODE_LOWPOWER 0X01
|
---|
| 838 | #define POWER_MODE_SUSPEND 0X02
|
---|
| 839 |
|
---|
| 840 | /* PAGE-1 definitions*/
|
---|
| 841 | /* Accel Range */
|
---|
| 842 |
|
---|
| 843 | #define ACCEL_RANGE_2G 0X00
|
---|
| 844 | #define ACCEL_RANGE_4G 0X01
|
---|
| 845 | #define ACCEL_RANGE_8G 0X02
|
---|
| 846 | #define ACCEL_RANGE_16G 0X03
|
---|
| 847 |
|
---|
| 848 | /* Accel Bandwidth*/
|
---|
| 849 | #define ACCEL_BW_7_81HZ 0x00
|
---|
| 850 | #define ACCEL_BW_15_63HZ 0x01
|
---|
| 851 | #define ACCEL_BW_31_25HZ 0x02
|
---|
| 852 | #define ACCEL_BW_62_5HZ 0X03
|
---|
| 853 | #define ACCEL_BW_125HZ 0X04
|
---|
| 854 | #define ACCEL_BW_250HZ 0X05
|
---|
| 855 | #define ACCEL_BW_500HZ 0X06
|
---|
| 856 | #define ACCEL_BW_1000HZ 0X07
|
---|
| 857 |
|
---|
| 858 | /* Accel Power mode*/
|
---|
| 859 | #define ACCEL_NORMAL 0X00
|
---|
| 860 | #define ACCEL_SUSPEND 0X01
|
---|
| 861 | #define ACCEL_LOWPOWER_1 0X02
|
---|
| 862 | #define ACCEL_STANDBY 0X03
|
---|
| 863 | #define ACCEL_LOWPOWER_2 0X04
|
---|
| 864 | #define ACCEL_DEEPSUSPEND 0X05
|
---|
| 865 |
|
---|
| 866 | /* Mag data output rate*/
|
---|
| 867 | #define MAG_DATA_OUTRATE_2HZ 0X00
|
---|
| 868 | #define MAG_DATA_OUTRATE_6HZ 0X01
|
---|
| 869 | #define MAG_DATA_OUTRATE_8HZ 0X02
|
---|
| 870 | #define MAG_DATA_OUTRATE_10HZ 0X03
|
---|
| 871 | #define MAG_DATA_OUTRATE_15HZ 0X04
|
---|
| 872 | #define MAG_DATA_OUTRATE_20HZ 0X05
|
---|
| 873 | #define MAG_DATA_OUTRATE_25HZ 0X06
|
---|
| 874 | #define MAG_DATA_OUTRATE_30HZ 0X07
|
---|
| 875 |
|
---|
| 876 | /* Mag Operation mode*/
|
---|
| 877 | #define MAG_OPERATION_MODE_LOWPOWER 0X00
|
---|
| 878 | #define MAG_OPERATION_MODE_REGULAR 0X01
|
---|
| 879 | #define MAG_OPERATION_MODE_ENHANCED_REGULAR 0X02
|
---|
| 880 | #define MAG_OPERATION_MODE_HIGH_ACCURACY 0X03
|
---|
| 881 |
|
---|
| 882 | /* Mag power mode*/
|
---|
| 883 | #define MAG_POWER_MODE_NORMAL 0X00
|
---|
| 884 | #define MAG_POWER_MODE_SLEEP 0X01
|
---|
| 885 | #define MAG_POWER_MODE_SUSPEND 0X02
|
---|
| 886 | #define MAG_POWER_MODE_FORCE_MODE 0X03
|
---|
| 887 |
|
---|
| 888 | /* Gyro range*/
|
---|
| 889 | #define GYRO_RANGE_2000DPS 0x00
|
---|
| 890 | #define GYRO_RANGE_1000DPS 0x01
|
---|
| 891 | #define GYRO_RANGE_500DPS 0x02
|
---|
| 892 | #define GYRO_RANGE_250DPS 0x03
|
---|
| 893 | #define GYRO_RANGE_125DPS 0x04
|
---|
| 894 |
|
---|
| 895 | /* Gyro Bandwidth*/
|
---|
| 896 | #define GYRO_BW_523HZ 0x00
|
---|
| 897 | #define GYRO_BW_230HZ 0x01
|
---|
| 898 | #define GYRO_BW_116HZ 0x02
|
---|
| 899 | #define GYRO_BW_47HZ 0x03
|
---|
| 900 | #define GYRO_BW_23HZ 0x04
|
---|
| 901 | #define GYRO_BW_12HZ 0x05
|
---|
| 902 | #define GYRO_BW_64HZ 0x06
|
---|
| 903 | #define GYRO_BW_32HZ 0x07
|
---|
| 904 |
|
---|
| 905 | /* Gyro power mode*/
|
---|
| 906 | #define GYRO_POWER_MODE_NORMAL 0X00
|
---|
| 907 | #define GYRO_POWER_MODE_FASTPOWERUP 0X01
|
---|
| 908 | #define GYRO_POWER_MODE_DEEPSUSPEND 0X02
|
---|
| 909 | #define GYRO_POWER_MODE_SUSPEND 0X03
|
---|
| 910 | #define GYRO_POWER_MODE_ADVANCE_POWERSAVE 0X04
|
---|
| 911 |
|
---|
| 912 | /* Accel Sleep Duration */
|
---|
| 913 | #define BNO055_ACCEL_SLEEP_DURN_0_5MS 0x05
|
---|
| 914 | /* sets sleep duration to 0.5 ms */
|
---|
| 915 | #define BNO055_ACCEL_SLEEP_DURN_1MS 0x06
|
---|
| 916 | /* sets sleep duration to 1 ms */
|
---|
| 917 | #define BNO055_ACCEL_SLEEP_DURN_2MS 0x07
|
---|
| 918 | /* sets sleep duration to 2 ms */
|
---|
| 919 | #define BNO055_ACCEL_SLEEP_DURN_4MS 0x08
|
---|
| 920 | /* sets sleep duration to 4 ms */
|
---|
| 921 | #define BNO055_ACCEL_SLEEP_DURN_6MS 0x09
|
---|
| 922 | /* sets sleep duration to 6 ms*/
|
---|
| 923 | #define BNO055_ACCEL_SLEEP_DURN_10MS 0x0A
|
---|
| 924 | /* sets sleep duration to 10 ms */
|
---|
| 925 | #define BNO055_ACCEL_SLEEP_DURN_25MS 0x0B
|
---|
| 926 | /* sets sleep duration to 25 ms */
|
---|
| 927 | #define BNO055_ACCEL_SLEEP_DURN_50MS 0x0C
|
---|
| 928 | /* sets sleep duration to 50 ms */
|
---|
| 929 | #define BNO055_ACCEL_SLEEP_DURN_100MS 0x0D
|
---|
| 930 | /* sets sleep duration to 100 ms */
|
---|
| 931 | #define BNO055_ACCEL_SLEEP_DURN_500MS 0x0E
|
---|
| 932 | /* sets sleep duration to 500 ms */
|
---|
| 933 | #define BNO055_ACCEL_SLEEP_DURN_1S 0x0F
|
---|
| 934 | /* sets sleep duration to 1 s */
|
---|
| 935 |
|
---|
| 936 | /* Gyro Auto sleep duration*/
|
---|
| 937 | #define BNO055_GYRO_No_AUTOSLPDUR 0x00
|
---|
| 938 | #define BNO055_GYRO_4MS_AUTOSLPDUR 0x01
|
---|
| 939 | #define BNO055_GYRO_5MS_AUTOSLPDUR 0x02
|
---|
| 940 | #define BNO055_GYRO_8MS_AUTOSLPDUR 0x03
|
---|
| 941 | #define BNO055_GYRO_10MS_AUTOSLPDUR 0x04
|
---|
| 942 | #define BNO055_GYRO_15MS_AUTOSLPDUR 0x05
|
---|
| 943 | #define BNO055_GYRO_20MS_AUTOSLPDUR 0x06
|
---|
| 944 | #define BNO055_GYRO_40MS_AUTOSLPDUR 0x07
|
---|
| 945 |
|
---|
| 946 | /* Accel Any/No motion axis selection*/
|
---|
| 947 | #define BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS 0
|
---|
| 948 | #define BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS 1
|
---|
| 949 | #define BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS 2
|
---|
| 950 |
|
---|
| 951 | /* Accel High g axis selection*/
|
---|
| 952 | #define BNO055_ACCEL_HIGH_G_X_AXIS 0
|
---|
| 953 | #define BNO055_ACCEL_HIGH_G_Y_AXIS 1
|
---|
| 954 | #define BNO055_ACCEL_HIGH_G_Z_AXIS 2
|
---|
| 955 |
|
---|
| 956 | /* Gyro Any motion axis selection*/
|
---|
| 957 | #define BNO055_GYRO_ANY_MOTION_X_AXIS 0
|
---|
| 958 | #define BNO055_GYRO_ANY_MOTION_Y_AXIS 1
|
---|
| 959 | #define BNO055_GYRO_ANY_MOTION_Z_AXIS 2
|
---|
| 960 |
|
---|
| 961 |
|
---|
| 962 | /* Gyro High rate axis selection*/
|
---|
| 963 | #define BNO055_GYRO_HIGHRATE_X_AXIS 0
|
---|
| 964 | #define BNO055_GYRO_HIGHRATE_Y_AXIS 1
|
---|
| 965 | #define BNO055_GYRO_HIGHRATE_Z_AXIS 2
|
---|
| 966 |
|
---|
| 967 | /* Axis remap values*/
|
---|
| 968 | #define REMAP_X_Y 0X21
|
---|
| 969 | #define REMAP_Y_Z 0X18
|
---|
| 970 | #define REMAP_Z_X 0X06
|
---|
| 971 | #define REMAP_X_Y_Z_TYPE0 0X12
|
---|
| 972 | #define REMAP_X_Y_Z_TYPE1 0X09
|
---|
| 973 | #define DEFAULT_AXIS 0X24
|
---|
| 974 |
|
---|
| 975 | /* Axis remap sign */
|
---|
| 976 | #define REMAP_AXIS_POSITIVE 0X00
|
---|
| 977 | #define REMAP_AXIS_NEGATIVE 0X01
|
---|
| 978 |
|
---|
| 979 | /* Gyro anymotion and high rate filter configuration */
|
---|
| 980 | #define FILTERED 0x00
|
---|
| 981 | #define UNFILTERED 0x01
|
---|
| 982 |
|
---|
| 983 | /* mask definitions*/
|
---|
| 984 | #define BNO055_SIC_HEX_0_0_F_F_DATA 0x00FF
|
---|
| 985 | /****************************************************/
|
---|
| 986 | /**\name ARRAY SIZE DEFINITIONS */
|
---|
| 987 | /***************************************************/
|
---|
| 988 | #define ARRAY_SIZE_TWO 2
|
---|
| 989 | #define ARRAY_SIZE_THREE 3
|
---|
| 990 | #define ARRAY_SIZE_SIX 6
|
---|
| 991 | #define ARRAY_SIZE_FIVE 5
|
---|
| 992 | #define ARRAY_SIZE_EIGHT 8
|
---|
| 993 | #define ARRAY_SIZE_TWELVE 12
|
---|
| 994 | #define ARRAY_SIZE_FOURTEEN 14
|
---|
| 995 | #define ARRAY_SIZE_EIGHTEEN 18
|
---|
| 996 | #define ARRAY_SIZE_TWENTY_SIX 26
|
---|
| 997 |
|
---|
| 998 | #define INDEX_ZERO 0
|
---|
| 999 | #define INDEX_ONE 1
|
---|
| 1000 | #define INDEX_TWO 2
|
---|
| 1001 | #define INDEX_THREE 3
|
---|
| 1002 | #define INDEX_FOUR 4
|
---|
| 1003 | #define INDEX_FIVE 5
|
---|
| 1004 | #define INDEX_SIX 6
|
---|
| 1005 | #define INDEX_SEVEN 7
|
---|
| 1006 | #define INDEX_EIGHT 8
|
---|
| 1007 | #define INDEX_NINE 9
|
---|
| 1008 | #define INDEX_TEN 10
|
---|
| 1009 | #define INDEX_ELEVEN 11
|
---|
| 1010 | #define INDEX_TWELVE 12
|
---|
| 1011 | #define INDEX_THIRTEEN 13
|
---|
| 1012 | #define INDEX_FOURTEEN 14
|
---|
| 1013 | #define INDEX_FIVETEEN 15
|
---|
| 1014 | #define INDEX_SIXTEEN 16
|
---|
| 1015 | #define INDEX_SEVENTEEN 17
|
---|
| 1016 | #define INDEX_EIGHTEEN 18
|
---|
| 1017 | #define INDEX_NINETEEN 19
|
---|
| 1018 | #define INDEX_TWENTY 20
|
---|
| 1019 | #define INDEX_TWENTY_ONE 21
|
---|
| 1020 | #define INDEX_TWENTY_TWO 22
|
---|
| 1021 | #define INDEX_TWENTY_THREE 23
|
---|
| 1022 | #define INDEX_TWENTY_FIVE 25
|
---|
| 1023 | /****************************************************/
|
---|
| 1024 | /**\name ARRAY PARAMETERS */
|
---|
| 1025 | /***************************************************/
|
---|
| 1026 | #define LSB_ZERO 0
|
---|
| 1027 | #define MSB_ONE 1
|
---|
| 1028 | #define LSB_TWO 2
|
---|
| 1029 | #define MSB_THREE 3
|
---|
| 1030 | #define LSB_FOUR 4
|
---|
| 1031 | #define MSB_FIVE 5
|
---|
| 1032 | #define LSB_SIX 6
|
---|
| 1033 | #define MSB_SEVEN 7
|
---|
| 1034 | /*********************************************************/
|
---|
| 1035 | /**\name PAGE0 DATA REGISTERS DEFINITION */
|
---|
| 1036 | /*********************************************************/
|
---|
| 1037 | /* Chip ID */
|
---|
| 1038 | #define BNO055_CHIP_ID__POS 0
|
---|
| 1039 | #define BNO055_CHIP_ID__MSK 0xFF
|
---|
| 1040 | #define BNO055_CHIP_ID__LEN 8
|
---|
| 1041 | #define BNO055_CHIP_ID__REG BNO055_CHIP_ID_ADDR
|
---|
| 1042 |
|
---|
| 1043 | /* Accel revision id*/
|
---|
| 1044 | #define BNO055_ACCEL_REV_ID__POS 0
|
---|
| 1045 | #define BNO055_ACCEL_REV_ID__MSK 0xFF
|
---|
| 1046 | #define BNO055_ACCEL_REV_ID__LEN 8
|
---|
| 1047 | #define BNO055_ACCEL_REV_ID__REG BNO055_ACCEL_REV_ID_ADDR
|
---|
| 1048 |
|
---|
| 1049 | /* Mag revision id*/
|
---|
| 1050 | #define BNO055_MAG_REV_ID__POS 0
|
---|
| 1051 | #define BNO055_MAG_REV_ID__MSK 0xFF
|
---|
| 1052 | #define BNO055_MAG_REV_ID__LEN 8
|
---|
| 1053 | #define BNO055_MAG_REV_ID__REG BNO055_MAG_REV_ID_ADDR
|
---|
| 1054 |
|
---|
| 1055 | /* Gyro revision id*/
|
---|
| 1056 | #define BNO055_GYRO_REV_ID__POS 0
|
---|
| 1057 | #define BNO055_GYRO_REV_ID__MSK 0xFF
|
---|
| 1058 | #define BNO055_GYRO_REV_ID__LEN 8
|
---|
| 1059 | #define BNO055_GYRO_REV_ID__REG BNO055_GYRO_REV_ID_ADDR
|
---|
| 1060 |
|
---|
| 1061 | /*Software revision id LSB*/
|
---|
| 1062 | #define BNO055_SW_REV_ID_LSB__POS 0
|
---|
| 1063 | #define BNO055_SW_REV_ID_LSB__MSK 0xFF
|
---|
| 1064 | #define BNO055_SW_REV_ID_LSB__LEN 8
|
---|
| 1065 | #define BNO055_SW_REV_ID_LSB__REG BNO055_SW_REV_ID_LSB_ADDR
|
---|
| 1066 |
|
---|
| 1067 | /*Software revision id MSB*/
|
---|
| 1068 | #define BNO055_SW_REV_ID_MSB__POS 0
|
---|
| 1069 | #define BNO055_SW_REV_ID_MSB__MSK 0xFF
|
---|
| 1070 | #define BNO055_SW_REV_ID_MSB__LEN 8
|
---|
| 1071 | #define BNO055_SW_REV_ID_MSB__REG BNO055_SW_REV_ID_MSB_ADDR
|
---|
| 1072 |
|
---|
| 1073 | /* BOOTLODER revision id*/
|
---|
| 1074 | #define BNO055_BL_REV_ID__POS 0
|
---|
| 1075 | #define BNO055_BL_REV_ID__MSK 0xFF
|
---|
| 1076 | #define BNO055_BL_REV_ID__LEN 8
|
---|
| 1077 | #define BNO055_BL_REV_ID__REG BNO055_BL_REV_ID_ADDR
|
---|
| 1078 |
|
---|
| 1079 | /*Page id*/
|
---|
| 1080 | #define BNO055_PAGE_ID__POS 0
|
---|
| 1081 | #define BNO055_PAGE_ID__MSK 0xFF
|
---|
| 1082 | #define BNO055_PAGE_ID__LEN 8
|
---|
| 1083 | #define BNO055_PAGE_ID__REG BNO055_PAGE_ID_ADDR
|
---|
| 1084 |
|
---|
| 1085 | /* Accel data X-LSB register*/
|
---|
| 1086 | #define BNO055_ACCEL_DATA_X_LSB_VALUEX__POS 0
|
---|
| 1087 | #define BNO055_ACCEL_DATA_X_LSB_VALUEX__MSK 0xFF
|
---|
| 1088 | #define BNO055_ACCEL_DATA_X_LSB_VALUEX__LEN 8
|
---|
| 1089 | #define BNO055_ACCEL_DATA_X_LSB_VALUEX__REG \
|
---|
| 1090 | BNO055_ACCEL_DATA_X_LSB_ADDR
|
---|
| 1091 |
|
---|
| 1092 | /* Accel data X-MSB register*/
|
---|
| 1093 | #define BNO055_ACCEL_DATA_X_MSB_VALUEX__POS 0
|
---|
| 1094 | #define BNO055_ACCEL_DATA_X_MSB_VALUEX__MSK 0xFF
|
---|
| 1095 | #define BNO055_ACCEL_DATA_X_MSB_VALUEX__LEN 8
|
---|
| 1096 | #define BNO055_ACCEL_DATA_X_MSB_VALUEX__REG \
|
---|
| 1097 | BNO055_ACCEL_DATA_X_MSB_ADDR
|
---|
| 1098 |
|
---|
| 1099 | /* Accel data Y-LSB register*/
|
---|
| 1100 | #define BNO055_ACCEL_DATA_Y_LSB_VALUEY__POS 0
|
---|
| 1101 | #define BNO055_ACCEL_DATA_Y_LSB_VALUEY__MSK 0xFF
|
---|
| 1102 | #define BNO055_ACCEL_DATA_Y_LSB_VALUEY__LEN 8
|
---|
| 1103 | #define BNO055_ACCEL_DATA_Y_LSB_VALUEY__REG \
|
---|
| 1104 | BNO055_ACCEL_DATA_Y_LSB_ADDR
|
---|
| 1105 |
|
---|
| 1106 | /* Accel data Y-MSB register*/
|
---|
| 1107 | #define BNO055_ACCEL_DATA_Y_MSB_VALUEY__POS 0
|
---|
| 1108 | #define BNO055_ACCEL_DATA_Y_MSB_VALUEY__MSK 0xFF
|
---|
| 1109 | #define BNO055_ACCEL_DATA_Y_MSB_VALUEY__LEN 8
|
---|
| 1110 | #define BNO055_ACCEL_DATA_Y_MSB_VALUEY__REG \
|
---|
| 1111 | BNO055_ACCEL_DATA_Y_MSB_ADDR
|
---|
| 1112 |
|
---|
| 1113 | /* Accel data Z-LSB register*/
|
---|
| 1114 | #define BNO055_ACCEL_DATA_Z_LSB_VALUEZ__POS 0
|
---|
| 1115 | #define BNO055_ACCEL_DATA_Z_LSB_VALUEZ__MSK 0xFF
|
---|
| 1116 | #define BNO055_ACCEL_DATA_Z_LSB_VALUEZ__LEN 8
|
---|
| 1117 | #define BNO055_ACCEL_DATA_Z_LSB_VALUEZ__REG \
|
---|
| 1118 | BNO055_ACCEL_DATA_Z_LSB_ADDR
|
---|
| 1119 |
|
---|
| 1120 | /* Accel data Z-MSB register*/
|
---|
| 1121 | #define BNO055_ACCEL_DATA_Z_MSB_VALUEZ__POS 0
|
---|
| 1122 | #define BNO055_ACCEL_DATA_Z_MSB_VALUEZ__MSK 0xFF
|
---|
| 1123 | #define BNO055_ACCEL_DATA_Z_MSB_VALUEZ__LEN 8
|
---|
| 1124 | #define BNO055_ACCEL_DATA_Z_MSB_VALUEZ__REG \
|
---|
| 1125 | BNO055_ACCEL_DATA_Z_MSB_ADDR
|
---|
| 1126 |
|
---|
| 1127 | /* Mag data X-LSB register*/
|
---|
| 1128 | #define BNO055_MAG_DATA_X_LSB_VALUEX__POS 0
|
---|
| 1129 | #define BNO055_MAG_DATA_X_LSB_VALUEX__MSK 0xFF
|
---|
| 1130 | #define BNO055_MAG_DATA_X_LSB_VALUEX__LEN 8
|
---|
| 1131 | #define BNO055_MAG_DATA_X_LSB_VALUEX__REG \
|
---|
| 1132 | BNO055_MAG_DATA_X_LSB_ADDR
|
---|
| 1133 |
|
---|
| 1134 | /* Mag data X-MSB register*/
|
---|
| 1135 | #define BNO055_MAG_DATA_X_MSB_VALUEX__POS 0
|
---|
| 1136 | #define BNO055_MAG_DATA_X_MSB_VALUEX__MSK 0xFF
|
---|
| 1137 | #define BNO055_MAG_DATA_X_MSB_VALUEX__LEN 8
|
---|
| 1138 | #define BNO055_MAG_DATA_X_MSB_VALUEX__REG BNO055_MAG_DATA_X_MSB_ADDR
|
---|
| 1139 |
|
---|
| 1140 | /* Mag data Y-LSB register*/
|
---|
| 1141 | #define BNO055_MAG_DATA_Y_LSB_VALUEY__POS 0
|
---|
| 1142 | #define BNO055_MAG_DATA_Y_LSB_VALUEY__MSK 0xFF
|
---|
| 1143 | #define BNO055_MAG_DATA_Y_LSB_VALUEY__LEN 8
|
---|
| 1144 | #define BNO055_MAG_DATA_Y_LSB_VALUEY__REG BNO055_MAG_DATA_Y_LSB_ADDR
|
---|
| 1145 |
|
---|
| 1146 | /* Mag data Y-MSB register*/
|
---|
| 1147 | #define BNO055_MAG_DATA_Y_MSB_VALUEY__POS 0
|
---|
| 1148 | #define BNO055_MAG_DATA_Y_MSB_VALUEY__MSK 0xFF
|
---|
| 1149 | #define BNO055_MAG_DATA_Y_MSB_VALUEY__LEN 8
|
---|
| 1150 | #define BNO055_MAG_DATA_Y_MSB_VALUEY__REG BNO055_MAG_DATA_Y_MSB_ADDR
|
---|
| 1151 |
|
---|
| 1152 | /* Mag data Z-LSB register*/
|
---|
| 1153 | #define BNO055_MAG_DATA_Z_LSB_VALUEZ__POS 0
|
---|
| 1154 | #define BNO055_MAG_DATA_Z_LSB_VALUEZ__MSK 0xFF
|
---|
| 1155 | #define BNO055_MAG_DATA_Z_LSB_VALUEZ__LEN 8
|
---|
| 1156 | #define BNO055_MAG_DATA_Z_LSB_VALUEZ__REG BNO055_MAG_DATA_Z_LSB_ADDR
|
---|
| 1157 |
|
---|
| 1158 | /* Mag data Z-MSB register*/
|
---|
| 1159 | #define BNO055_MAG_DATA_Z_MSB_VALUEZ__POS 0
|
---|
| 1160 | #define BNO055_MAG_DATA_Z_MSB_VALUEZ__MSK 0xFF
|
---|
| 1161 | #define BNO055_MAG_DATA_Z_MSB_VALUEZ__LEN 8
|
---|
| 1162 | #define BNO055_MAG_DATA_Z_MSB_VALUEZ__REG BNO055_MAG_DATA_Z_MSB_ADDR
|
---|
| 1163 |
|
---|
| 1164 | /* Gyro data X-LSB register*/
|
---|
| 1165 | #define BNO055_GYRO_DATA_X_LSB_VALUEX__POS 0
|
---|
| 1166 | #define BNO055_GYRO_DATA_X_LSB_VALUEX__MSK 0xFF
|
---|
| 1167 | #define BNO055_GYRO_DATA_X_LSB_VALUEX__LEN 8
|
---|
| 1168 | #define BNO055_GYRO_DATA_X_LSB_VALUEX__REG BNO055_GYRO_DATA_X_LSB_ADDR
|
---|
| 1169 |
|
---|
| 1170 | /* Gyro data X-MSB register*/
|
---|
| 1171 | #define BNO055_GYRO_DATA_X_MSB_VALUEX__POS 0
|
---|
| 1172 | #define BNO055_GYRO_DATA_X_MSB_VALUEX__MSK 0xFF
|
---|
| 1173 | #define BNO055_GYRO_DATA_X_MSB_VALUEX__LEN 8
|
---|
| 1174 | #define BNO055_GYRO_DATA_X_MSB_VALUEX__REG BNO055_GYRO_DATA_X_MSB_ADDR
|
---|
| 1175 |
|
---|
| 1176 | /* Gyro data Y-LSB register*/
|
---|
| 1177 | #define BNO055_GYRO_DATA_Y_LSB_VALUEY__POS 0
|
---|
| 1178 | #define BNO055_GYRO_DATA_Y_LSB_VALUEY__MSK 0xFF
|
---|
| 1179 | #define BNO055_GYRO_DATA_Y_LSB_VALUEY__LEN 8
|
---|
| 1180 | #define BNO055_GYRO_DATA_Y_LSB_VALUEY__REG BNO055_GYRO_DATA_Y_LSB_ADDR
|
---|
| 1181 |
|
---|
| 1182 | /* Gyro data Y-MSB register*/
|
---|
| 1183 | #define BNO055_GYRO_DATA_Y_MSB_VALUEY__POS 0
|
---|
| 1184 | #define BNO055_GYRO_DATA_Y_MSB_VALUEY__MSK 0xFF
|
---|
| 1185 | #define BNO055_GYRO_DATA_Y_MSB_VALUEY__LEN 8
|
---|
| 1186 | #define BNO055_GYRO_DATA_Y_MSB_VALUEY__REG BNO055_GYRO_DATA_Y_MSB_ADDR
|
---|
| 1187 |
|
---|
| 1188 | /* Gyro data Z-LSB register*/
|
---|
| 1189 | #define BNO055_GYRO_DATA_Z_LSB_VALUEZ__POS 0
|
---|
| 1190 | #define BNO055_GYRO_DATA_Z_LSB_VALUEZ__MSK 0xFF
|
---|
| 1191 | #define BNO055_GYRO_DATA_Z_LSB_VALUEZ__LEN 8
|
---|
| 1192 | #define BNO055_GYRO_DATA_Z_LSB_VALUEZ__REG BNO055_GYRO_DATA_Z_LSB_ADDR
|
---|
| 1193 |
|
---|
| 1194 | /* Gyro data Z-MSB register*/
|
---|
| 1195 | #define BNO055_GYRO_DATA_Z_MSB_VALUEZ__POS 0
|
---|
| 1196 | #define BNO055_GYRO_DATA_Z_MSB_VALUEZ__MSK 0xFF
|
---|
| 1197 | #define BNO055_GYRO_DATA_Z_MSB_VALUEZ__LEN 8
|
---|
| 1198 | #define BNO055_GYRO_DATA_Z_MSB_VALUEZ__REG BNO055_GYRO_DATA_Z_MSB_ADDR
|
---|
| 1199 |
|
---|
| 1200 | /* Euler data HEADING-LSB register*/
|
---|
| 1201 | #define BNO055_EULER_H_LSB_VALUEH__POS 0
|
---|
| 1202 | #define BNO055_EULER_H_LSB_VALUEH__MSK 0xFF
|
---|
| 1203 | #define BNO055_EULER_H_LSB_VALUEH__LEN 8
|
---|
| 1204 | #define BNO055_EULER_H_LSB_VALUEH__REG BNO055_EULER_H_LSB_ADDR
|
---|
| 1205 |
|
---|
| 1206 | /* Euler data HEADING-MSB register*/
|
---|
| 1207 | #define BNO055_EULER_H_MSB_VALUEH__POS 0
|
---|
| 1208 | #define BNO055_EULER_H_MSB_VALUEH__MSK 0xFF
|
---|
| 1209 | #define BNO055_EULER_H_MSB_VALUEH__LEN 8
|
---|
| 1210 | #define BNO055_EULER_H_MSB_VALUEH__REG BNO055_EULER_H_MSB_ADDR
|
---|
| 1211 |
|
---|
| 1212 | /* Euler data ROLL-LSB register*/
|
---|
| 1213 | #define BNO055_EULER_R_LSB_VALUER__POS 0
|
---|
| 1214 | #define BNO055_EULER_R_LSB_VALUER__MSK 0xFF
|
---|
| 1215 | #define BNO055_EULER_R_LSB_VALUER__LEN 8
|
---|
| 1216 | #define BNO055_EULER_R_LSB_VALUER__REG BNO055_EULER_R_LSB_ADDR
|
---|
| 1217 |
|
---|
| 1218 | /* Euler data ROLL-MSB register*/
|
---|
| 1219 | #define BNO055_EULER_R_MSB_VALUER__POS 0
|
---|
| 1220 | #define BNO055_EULER_R_MSB_VALUER__MSK 0xFF
|
---|
| 1221 | #define BNO055_EULER_R_MSB_VALUER__LEN 8
|
---|
| 1222 | #define BNO055_EULER_R_MSB_VALUER__REG BNO055_EULER_R_MSB_ADDR
|
---|
| 1223 |
|
---|
| 1224 | /* Euler data PITCH-LSB register*/
|
---|
| 1225 | #define BNO055_EULER_P_LSB_VALUEP__POS 0
|
---|
| 1226 | #define BNO055_EULER_P_LSB_VALUEP__MSK 0xFF
|
---|
| 1227 | #define BNO055_EULER_P_LSB_VALUEP__LEN 8
|
---|
| 1228 | #define BNO055_EULER_P_LSB_VALUEP__REG BNO055_EULER_P_LSB_ADDR
|
---|
| 1229 |
|
---|
| 1230 | /* Euler data HEADING-MSB register*/
|
---|
| 1231 | #define BNO055_EULER_P_MSB_VALUEP__POS 0
|
---|
| 1232 | #define BNO055_EULER_P_MSB_VALUEP__MSK 0xFF
|
---|
| 1233 | #define BNO055_EULER_P_MSB_VALUEP__LEN 8
|
---|
| 1234 | #define BNO055_EULER_P_MSB_VALUEP__REG BNO055_EULER_P_MSB_ADDR
|
---|
| 1235 |
|
---|
| 1236 | /* Quaternion data W-LSB register*/
|
---|
| 1237 | #define BNO055_QUATERNION_DATA_W_LSB_VALUEW__POS 0
|
---|
| 1238 | #define BNO055_QUATERNION_DATA_W_LSB_VALUEW__MSK 0xFF
|
---|
| 1239 | #define BNO055_QUATERNION_DATA_W_LSB_VALUEW__LEN 8
|
---|
| 1240 | #define BNO055_QUATERNION_DATA_W_LSB_VALUEW__REG \
|
---|
| 1241 | BNO055_QUATERNION_DATA_W_LSB_ADDR
|
---|
| 1242 |
|
---|
| 1243 | /* Quaternion data W-MSB register*/
|
---|
| 1244 | #define BNO055_QUATERNION_DATA_W_MSB_VALUEW__POS 0
|
---|
| 1245 | #define BNO055_QUATERNION_DATA_W_MSB_VALUEW__MSK 0xFF
|
---|
| 1246 | #define BNO055_QUATERNION_DATA_W_MSB_VALUEW__LEN 8
|
---|
| 1247 | #define BNO055_QUATERNION_DATA_W_MSB_VALUEW__REG \
|
---|
| 1248 | BNO055_QUATERNION_DATA_W_MSB_ADDR
|
---|
| 1249 |
|
---|
| 1250 | /* Quaternion data X-LSB register*/
|
---|
| 1251 | #define BNO055_QUATERNION_DATA_X_LSB_VALUEX__POS 0
|
---|
| 1252 | #define BNO055_QUATERNION_DATA_X_LSB_VALUEX__MSK 0xFF
|
---|
| 1253 | #define BNO055_QUATERNION_DATA_X_LSB_VALUEX__LEN 8
|
---|
| 1254 | #define BNO055_QUATERNION_DATA_X_LSB_VALUEX__REG \
|
---|
| 1255 | BNO055_QUATERNION_DATA_X_LSB_ADDR
|
---|
| 1256 |
|
---|
| 1257 | /* Quaternion data X-MSB register*/
|
---|
| 1258 | #define BNO055_QUATERNION_DATA_X_MSB_VALUEX__POS 0
|
---|
| 1259 | #define BNO055_QUATERNION_DATA_X_MSB_VALUEX__MSK 0xFF
|
---|
| 1260 | #define BNO055_QUATERNION_DATA_X_MSB_VALUEX__LEN 8
|
---|
| 1261 | #define BNO055_QUATERNION_DATA_X_MSB_VALUEX__REG \
|
---|
| 1262 | BNO055_QUATERNION_DATA_X_MSB_ADDR
|
---|
| 1263 |
|
---|
| 1264 | /* Quaternion data Y-LSB register*/
|
---|
| 1265 | #define BNO055_QUATERNION_DATA_Y_LSB_VALUEY__POS 0
|
---|
| 1266 | #define BNO055_QUATERNION_DATA_Y_LSB_VALUEY__MSK 0xFF
|
---|
| 1267 | #define BNO055_QUATERNION_DATA_Y_LSB_VALUEY__LEN 8
|
---|
| 1268 | #define BNO055_QUATERNION_DATA_Y_LSB_VALUEY__REG \
|
---|
| 1269 | BNO055_QUATERNION_DATA_Y_LSB_ADDR
|
---|
| 1270 |
|
---|
| 1271 | /* Quaternion data Y-MSB register*/
|
---|
| 1272 | #define BNO055_QUATERNION_DATA_Y_MSB_VALUEY__POS 0
|
---|
| 1273 | #define BNO055_QUATERNION_DATA_Y_MSB_VALUEY__MSK 0xFF
|
---|
| 1274 | #define BNO055_QUATERNION_DATA_Y_MSB_VALUEY__LEN 8
|
---|
| 1275 | #define BNO055_QUATERNION_DATA_Y_MSB_VALUEY__REG \
|
---|
| 1276 | NO055_QUATERNION_DATA_Y_MSB_ADDR
|
---|
| 1277 |
|
---|
| 1278 | /* Quaternion data Z-LSB register*/
|
---|
| 1279 | #define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ__POS 0
|
---|
| 1280 | #define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ__MSK 0xFF
|
---|
| 1281 | #define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ__LEN 8
|
---|
| 1282 | #define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ__REG \
|
---|
| 1283 | BNO055_QUATERNION_DATA_Z_LSB_ADDR
|
---|
| 1284 |
|
---|
| 1285 | /* Quaternion data Z-MSB register*/
|
---|
| 1286 | #define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ__POS 0
|
---|
| 1287 | #define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ__MSK 0xFF
|
---|
| 1288 | #define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ__LEN 8
|
---|
| 1289 | #define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ__REG \
|
---|
| 1290 | BNO055_QUATERNION_DATA_Z_MSB_ADDR
|
---|
| 1291 |
|
---|
| 1292 | /* Linear acceleration data X-LSB register*/
|
---|
| 1293 | #define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX__POS 0
|
---|
| 1294 | #define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX__MSK 0xFF
|
---|
| 1295 | #define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX__LEN 8
|
---|
| 1296 | #define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX__REG \
|
---|
| 1297 | BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR
|
---|
| 1298 |
|
---|
| 1299 | /* Linear acceleration data X-MSB register*/
|
---|
| 1300 | #define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX__POS 0
|
---|
| 1301 | #define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX__MSK 0xFF
|
---|
| 1302 | #define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX__LEN 8
|
---|
| 1303 | #define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX__REG \
|
---|
| 1304 | BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR
|
---|
| 1305 |
|
---|
| 1306 | /* Linear acceleration data Y-LSB register*/
|
---|
| 1307 | #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY__POS 0
|
---|
| 1308 | #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY__MSK 0xFF
|
---|
| 1309 | #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY__LEN 8
|
---|
| 1310 | #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY__REG \
|
---|
| 1311 | BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR
|
---|
| 1312 |
|
---|
| 1313 | /* Linear acceleration data Y-MSB register*/
|
---|
| 1314 | #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY__POS 0
|
---|
| 1315 | #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY__MSK 0xFF
|
---|
| 1316 | #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY__LEN 8
|
---|
| 1317 | #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY__REG \
|
---|
| 1318 | BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR
|
---|
| 1319 |
|
---|
| 1320 | /* Linear acceleration data Z-LSB register*/
|
---|
| 1321 | #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ__POS 0
|
---|
| 1322 | #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ__MSK 0xFF
|
---|
| 1323 | #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ__LEN 8
|
---|
| 1324 | #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ__REG \
|
---|
| 1325 | BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR
|
---|
| 1326 |
|
---|
| 1327 | /* Linear acceleration data Z-MSB register*/
|
---|
| 1328 | #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ__POS 0
|
---|
| 1329 | #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ__MSK 0xFF
|
---|
| 1330 | #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ__LEN 8
|
---|
| 1331 | #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ__REG \
|
---|
| 1332 | BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR
|
---|
| 1333 |
|
---|
| 1334 | /* Gravity data X-LSB register*/
|
---|
| 1335 | #define BNO055_GRAVITY_DATA_X_LSB_VALUEX__POS 0
|
---|
| 1336 | #define BNO055_GRAVITY_DATA_X_LSB_VALUEX__MSK 0xFF
|
---|
| 1337 | #define BNO055_GRAVITY_DATA_X_LSB_VALUEX__LEN 8
|
---|
| 1338 | #define BNO055_GRAVITY_DATA_X_LSB_VALUEX__REG \
|
---|
| 1339 | BNO055_GRAVITY_DATA_X_LSB_ADDR
|
---|
| 1340 |
|
---|
| 1341 | /* Gravity data X-MSB register*/
|
---|
| 1342 | #define BNO055_GRAVITY_DATA_X_MSB_VALUEX__POS 0
|
---|
| 1343 | #define BNO055_GRAVITY_DATA_X_MSB_VALUEX__MSK 0xFF
|
---|
| 1344 | #define BNO055_GRAVITY_DATA_X_MSB_VALUEX__LEN 8
|
---|
| 1345 | #define BNO055_GRAVITY_DATA_X_MSB_VALUEX__REG \
|
---|
| 1346 | BNO055_GRAVITY_DATA_X_MSB_ADDR
|
---|
| 1347 |
|
---|
| 1348 | /* Gravity data Y-LSB register*/
|
---|
| 1349 | #define BNO055_GRAVITY_DATA_Y_LSB_VALUEY__POS 0
|
---|
| 1350 | #define BNO055_GRAVITY_DATA_Y_LSB_VALUEY__MSK 0xFF
|
---|
| 1351 | #define BNO055_GRAVITY_DATA_Y_LSB_VALUEY__LEN 8
|
---|
| 1352 | #define BNO055_GRAVITY_DATA_Y_LSB_VALUEY__REG \
|
---|
| 1353 | BNO055_GRAVITY_DATA_Y_LSB_ADDR
|
---|
| 1354 |
|
---|
| 1355 | /* Gravity data Y-MSB register*/
|
---|
| 1356 | #define BNO055_GRAVITY_DATA_Y_MSB_VALUEY__POS 0
|
---|
| 1357 | #define BNO055_GRAVITY_DATA_Y_MSB_VALUEY__MSK 0xFF
|
---|
| 1358 | #define BNO055_GRAVITY_DATA_Y_MSB_VALUEY__LEN 8
|
---|
| 1359 | #define BNO055_GRAVITY_DATA_Y_MSB_VALUEY__REG \
|
---|
| 1360 | BNO055_GRAVITY_DATA_Y_MSB_ADDR
|
---|
| 1361 |
|
---|
| 1362 | /* Gravity data Z-LSB register*/
|
---|
| 1363 | #define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ__POS 0
|
---|
| 1364 | #define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ__MSK 0xFF
|
---|
| 1365 | #define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ__LEN 8
|
---|
| 1366 | #define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ__REG \
|
---|
| 1367 | BNO055_GRAVITY_DATA_Z_LSB_ADDR
|
---|
| 1368 |
|
---|
| 1369 | /* Gravity data Z-MSB register*/
|
---|
| 1370 | #define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ__POS 0
|
---|
| 1371 | #define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ__MSK 0xFF
|
---|
| 1372 | #define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ__LEN 8
|
---|
| 1373 | #define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ__REG \
|
---|
| 1374 | BNO055_GRAVITY_DATA_Z_MSB_ADDR
|
---|
| 1375 |
|
---|
| 1376 | /* Temperature register*/
|
---|
| 1377 | #define BNO055_TEMP__POS 0
|
---|
| 1378 | #define BNO055_TEMP__MSK 0xFF
|
---|
| 1379 | #define BNO055_TEMP__LEN 8
|
---|
| 1380 | #define BNO055_TEMP__REG BNO055_TEMP_ADDR
|
---|
| 1381 |
|
---|
| 1382 | /*Mag_Calib status register*/
|
---|
| 1383 | #define BNO055_MAG_CALIB_STAT__POS 0
|
---|
| 1384 | #define BNO055_MAG_CALIB_STAT__MSK 0X03
|
---|
| 1385 | #define BNO055_MAG_CALIB_STAT__LEN 2
|
---|
| 1386 | #define BNO055_MAG_CALIB_STAT__REG BNO055_CALIB_STAT_ADDR
|
---|
| 1387 |
|
---|
| 1388 | /*Acc_Calib status register*/
|
---|
| 1389 | #define BNO055_ACCEL_CALIB_STAT__POS 2
|
---|
| 1390 | #define BNO055_ACCEL_CALIB_STAT__MSK 0X0C
|
---|
| 1391 | #define BNO055_ACCEL_CALIB_STAT__LEN 2
|
---|
| 1392 | #define BNO055_ACCEL_CALIB_STAT__REG BNO055_CALIB_STAT_ADDR
|
---|
| 1393 |
|
---|
| 1394 | /*Gyro_Calib status register*/
|
---|
| 1395 | #define BNO055_GYRO_CALIB_STAT__POS 4
|
---|
| 1396 | #define BNO055_GYRO_CALIB_STAT__MSK 0X30
|
---|
| 1397 | #define BNO055_GYRO_CALIB_STAT__LEN 2
|
---|
| 1398 | #define BNO055_GYRO_CALIB_STAT__REG BNO055_CALIB_STAT_ADDR
|
---|
| 1399 |
|
---|
| 1400 | /*Sys_Calib status register*/
|
---|
| 1401 | #define BNO055_SYS_CALIB_STAT__POS 6
|
---|
| 1402 | #define BNO055_SYS_CALIB_STAT__MSK 0XC0
|
---|
| 1403 | #define BNO055_SYS_CALIB_STAT__LEN 2
|
---|
| 1404 | #define BNO055_SYS_CALIB_STAT__REG BNO055_CALIB_STAT_ADDR
|
---|
| 1405 |
|
---|
| 1406 | /*ST_ACCEL register*/
|
---|
| 1407 | #define BNO055_SELFTEST_ACCEL__POS 0
|
---|
| 1408 | #define BNO055_SELFTEST_ACCEL__MSK 0X01
|
---|
| 1409 | #define BNO055_SELFTEST_ACCEL__LEN 1
|
---|
| 1410 | #define BNO055_SELFTEST_ACCEL__REG BNO055_SELFTEST_RESULT_ADDR
|
---|
| 1411 |
|
---|
| 1412 | /*ST_MAG register*/
|
---|
| 1413 | #define BNO055_SELFTEST_MAG__POS 1
|
---|
| 1414 | #define BNO055_SELFTEST_MAG__MSK 0X02
|
---|
| 1415 | #define BNO055_SELFTEST_MAG__LEN 1
|
---|
| 1416 | #define BNO055_SELFTEST_MAG__REG BNO055_SELFTEST_RESULT_ADDR
|
---|
| 1417 |
|
---|
| 1418 | /*ST_GYRO register*/
|
---|
| 1419 | #define BNO055_SELFTEST_GYRO__POS 2
|
---|
| 1420 | #define BNO055_SELFTEST_GYRO__MSK 0X04
|
---|
| 1421 | #define BNO055_SELFTEST_GYRO__LEN 1
|
---|
| 1422 | #define BNO055_SELFTEST_GYRO__REG BNO055_SELFTEST_RESULT_ADDR
|
---|
| 1423 |
|
---|
| 1424 | /*ST_MCU register*/
|
---|
| 1425 | #define BNO055_SELFTEST_MCU__POS 3
|
---|
| 1426 | #define BNO055_SELFTEST_MCU__MSK 0X08
|
---|
| 1427 | #define BNO055_SELFTEST_MCU__LEN 1
|
---|
| 1428 | #define BNO055_SELFTEST_MCU__REG BNO055_SELFTEST_RESULT_ADDR
|
---|
| 1429 |
|
---|
| 1430 | /*Interrupt status registers*/
|
---|
| 1431 | #define BNO055_INTR_STAT_GYRO_ANY_MOTION__POS 2
|
---|
| 1432 | #define BNO055_INTR_STAT_GYRO_ANY_MOTION__MSK 0X04
|
---|
| 1433 | #define BNO055_INTR_STAT_GYRO_ANY_MOTION__LEN 1
|
---|
| 1434 | #define BNO055_INTR_STAT_GYRO_ANY_MOTION__REG BNO055_INTR_STAT_ADDR
|
---|
| 1435 |
|
---|
| 1436 | #define BNO055_INTR_STAT_GYRO_HIGHRATE__POS 3
|
---|
| 1437 | #define BNO055_INTR_STAT_GYRO_HIGHRATE__MSK 0X08
|
---|
| 1438 | #define BNO055_INTR_STAT_GYRO_HIGHRATE__LEN 1
|
---|
| 1439 | #define BNO055_INTR_STAT_GYRO_HIGHRATE__REG BNO055_INTR_STAT_ADDR
|
---|
| 1440 |
|
---|
| 1441 | #define BNO055_INTR_STAT_ACCEL_HIGH_G__POS 5
|
---|
| 1442 | #define BNO055_INTR_STAT_ACCEL_HIGH_G__MSK 0X20
|
---|
| 1443 | #define BNO055_INTR_STAT_ACCEL_HIGH_G__LEN 1
|
---|
| 1444 | #define BNO055_INTR_STAT_ACCEL_HIGH_G__REG BNO055_INTR_STAT_ADDR
|
---|
| 1445 |
|
---|
| 1446 | #define BNO055_INTR_STAT_ACCEL_ANY_MOTION__POS 6
|
---|
| 1447 | #define BNO055_INTR_STAT_ACCEL_ANY_MOTION__MSK 0X40
|
---|
| 1448 | #define BNO055_INTR_STAT_ACCEL_ANY_MOTION__LEN 1
|
---|
| 1449 | #define BNO055_INTR_STAT_ACCEL_ANY_MOTION__REG BNO055_INTR_STAT_ADDR
|
---|
| 1450 |
|
---|
| 1451 | #define BNO055_INTR_STAT_ACCEL_NO_MOTION__POS 7
|
---|
| 1452 | #define BNO055_INTR_STAT_ACCEL_NO_MOTION__MSK 0X80
|
---|
| 1453 | #define BNO055_INTR_STAT_ACCEL_NO_MOTION__LEN 1
|
---|
| 1454 | #define BNO055_INTR_STAT_ACCEL_NO_MOTION__REG BNO055_INTR_STAT_ADDR
|
---|
| 1455 |
|
---|
| 1456 | /* system clock status register*/
|
---|
| 1457 | #define BNO055_SYS_MAIN_CLK__POS 0
|
---|
| 1458 | #define BNO055_SYS_MAIN_CLK__MSK 0X10
|
---|
| 1459 | #define BNO055_SYS_MAIN_CLK__LEN 1
|
---|
| 1460 | #define BNO055_SYS_MAIN_CLK__REG BNO055_SYS_CLK_STAT_ADDR
|
---|
| 1461 |
|
---|
| 1462 | /* System registers*/
|
---|
| 1463 | #define BNO055_SYS_STAT_CODE__POS 0
|
---|
| 1464 | #define BNO055_SYS_STAT_CODE__MSK 0XFF
|
---|
| 1465 | #define BNO055_SYS_STAT_CODE__LEN 8
|
---|
| 1466 | #define BNO055_SYS_STAT_CODE__REG BNO055_SYS_STAT_ADDR
|
---|
| 1467 |
|
---|
| 1468 | #define BNO055_SYS_ERROR_CODE__POS 0
|
---|
| 1469 | #define BNO055_SYS_ERROR_CODE__MSK 0XFF
|
---|
| 1470 | #define BNO055_SYS_ERROR_CODE__LEN 8
|
---|
| 1471 | #define BNO055_SYS_ERROR_CODE__REG BNO055_SYS_ERR_ADDR
|
---|
| 1472 |
|
---|
| 1473 | /* Accel_Unit register*/
|
---|
| 1474 | #define BNO055_ACCEL_UNIT__POS 0
|
---|
| 1475 | #define BNO055_ACCEL_UNIT__MSK 0X01
|
---|
| 1476 | #define BNO055_ACCEL_UNIT__LEN 1
|
---|
| 1477 | #define BNO055_ACCEL_UNIT__REG BNO055_UNIT_SEL_ADDR
|
---|
| 1478 |
|
---|
| 1479 | /* Gyro_Unit register*/
|
---|
| 1480 | #define BNO055_GYRO_UNIT__POS 1
|
---|
| 1481 | #define BNO055_GYRO_UNIT__MSK 0X02
|
---|
| 1482 | #define BNO055_GYRO_UNIT__LEN 1
|
---|
| 1483 | #define BNO055_GYRO_UNIT__REG BNO055_UNIT_SEL_ADDR
|
---|
| 1484 |
|
---|
| 1485 | /* Euler_Unit register*/
|
---|
| 1486 | #define BNO055_EULER_UNIT__POS 2
|
---|
| 1487 | #define BNO055_EULER_UNIT__MSK 0X04
|
---|
| 1488 | #define BNO055_EULER_UNIT__LEN 1
|
---|
| 1489 | #define BNO055_EULER_UNIT__REG BNO055_UNIT_SEL_ADDR
|
---|
| 1490 |
|
---|
| 1491 | /* Tilt_Unit register*/
|
---|
| 1492 | #define BNO055_TILT_UNIT__POS 3
|
---|
| 1493 | #define BNO055_TILT_UNIT__MSK 0X08
|
---|
| 1494 | #define BNO055_TILT_UNIT__LEN 1
|
---|
| 1495 | #define BNO055_TILT_UNIT__REG BNO055_UNIT_SEL_ADDR
|
---|
| 1496 |
|
---|
| 1497 | /* Temperature_Unit register*/
|
---|
| 1498 | #define BNO055_TEMP_UNIT__POS 4
|
---|
| 1499 | #define BNO055_TEMP_UNIT__MSK 0X10
|
---|
| 1500 | #define BNO055_TEMP_UNIT__LEN 1
|
---|
| 1501 | #define BNO055_TEMP_UNIT__REG BNO055_UNIT_SEL_ADDR
|
---|
| 1502 |
|
---|
| 1503 | /* ORI android-windows register*/
|
---|
| 1504 | #define BNO055_DATA_OUTPUT_FORMAT__POS 7
|
---|
| 1505 | #define BNO055_DATA_OUTPUT_FORMAT__MSK 0X80
|
---|
| 1506 | #define BNO055_DATA_OUTPUT_FORMAT__LEN 1
|
---|
| 1507 | #define BNO055_DATA_OUTPUT_FORMAT__REG BNO055_UNIT_SEL_ADDR
|
---|
| 1508 | /*Operation Mode data register*/
|
---|
| 1509 | #define BNO055_OPERATION_MODE__POS 0
|
---|
| 1510 | #define BNO055_OPERATION_MODE__MSK 0X0F
|
---|
| 1511 | #define BNO055_OPERATION_MODE__LEN 4
|
---|
| 1512 | #define BNO055_OPERATION_MODE__REG BNO055_OPR_MODE_ADDR
|
---|
| 1513 | /* Power Mode register*/
|
---|
| 1514 | #define BNO055_POWER_MODE__POS 0
|
---|
| 1515 | #define BNO055_POWER_MODE__MSK 0X03
|
---|
| 1516 | #define BNO055_POWER_MODE__LEN 2
|
---|
| 1517 | #define BNO055_POWER_MODE__REG BNO055_PWR_MODE_ADDR
|
---|
| 1518 |
|
---|
| 1519 | /*Self Test register*/
|
---|
| 1520 | #define BNO055_SELFTEST__POS 0
|
---|
| 1521 | #define BNO055_SELFTEST__MSK 0X01
|
---|
| 1522 | #define BNO055_SELFTEST__LEN 1
|
---|
| 1523 | #define BNO055_SELFTEST__REG BNO055_SYS_TRIGGER_ADDR
|
---|
| 1524 |
|
---|
| 1525 | /* RST_SYS register*/
|
---|
| 1526 | #define BNO055_SYS_RST__POS 5
|
---|
| 1527 | #define BNO055_SYS_RST__MSK 0X20
|
---|
| 1528 | #define BNO055_SYS_RST__LEN 1
|
---|
| 1529 | #define BNO055_SYS_RST__REG BNO055_SYS_TRIGGER_ADDR
|
---|
| 1530 |
|
---|
| 1531 | /* RST_INT register*/
|
---|
| 1532 | #define BNO055_INTR_RST__POS 6
|
---|
| 1533 | #define BNO055_INTR_RST__MSK 0X40
|
---|
| 1534 | #define BNO055_INTR_RST__LEN 1
|
---|
| 1535 | #define BNO055_INTR_RST__REG BNO055_SYS_TRIGGER_ADDR
|
---|
| 1536 |
|
---|
| 1537 | /* CLK_SRC register*/
|
---|
| 1538 | #define BNO055_CLK_SRC__POS 7
|
---|
| 1539 | #define BNO055_CLK_SRC__MSK 0X80
|
---|
| 1540 | #define BNO055_CLK_SRC__LEN 1
|
---|
| 1541 | #define BNO055_CLK_SRC__REG BNO055_SYS_TRIGGER_ADDR
|
---|
| 1542 |
|
---|
| 1543 | /* Temp source register*/
|
---|
| 1544 | #define BNO055_TEMP_SOURCE__POS 0
|
---|
| 1545 | #define BNO055_TEMP_SOURCE__MSK 0X03
|
---|
| 1546 | #define BNO055_TEMP_SOURCE__LEN 2
|
---|
| 1547 | #define BNO055_TEMP_SOURCE__REG BNO055_TEMP_SOURCE_ADDR
|
---|
| 1548 |
|
---|
| 1549 | /* Axis remap value register*/
|
---|
| 1550 | #define BNO055_REMAP_AXIS_VALUE__POS 0
|
---|
| 1551 | #define BNO055_REMAP_AXIS_VALUE__MSK 0X3F
|
---|
| 1552 | #define BNO055_REMAP_AXIS_VALUE__LEN 6
|
---|
| 1553 | #define BNO055_REMAP_AXIS_VALUE__REG BNO055_AXIS_MAP_CONFIG_ADDR
|
---|
| 1554 |
|
---|
| 1555 | /* Axis sign value register*/
|
---|
| 1556 | #define BNO055_REMAP_Z_SIGN__POS 0
|
---|
| 1557 | #define BNO055_REMAP_Z_SIGN__MSK 0X01
|
---|
| 1558 | #define BNO055_REMAP_Z_SIGN__LEN 1
|
---|
| 1559 | #define BNO055_REMAP_Z_SIGN__REG BNO055_AXIS_MAP_SIGN_ADDR
|
---|
| 1560 |
|
---|
| 1561 | #define BNO055_REMAP_Y_SIGN__POS 1
|
---|
| 1562 | #define BNO055_REMAP_Y_SIGN__MSK 0X02
|
---|
| 1563 | #define BNO055_REMAP_Y_SIGN__LEN 1
|
---|
| 1564 | #define BNO055_REMAP_Y_SIGN__REG BNO055_AXIS_MAP_SIGN_ADDR
|
---|
| 1565 |
|
---|
| 1566 | #define BNO055_REMAP_X_SIGN__POS 2
|
---|
| 1567 | #define BNO055_REMAP_X_SIGN__MSK 0X04
|
---|
| 1568 | #define BNO055_REMAP_X_SIGN__LEN 1
|
---|
| 1569 | #define BNO055_REMAP_X_SIGN__REG BNO055_AXIS_MAP_SIGN_ADDR
|
---|
| 1570 |
|
---|
| 1571 | /* Soft Iron Calibration matrix register*/
|
---|
| 1572 | #define BNO055_SIC_MATRIX_0_LSB__POS 0
|
---|
| 1573 | #define BNO055_SIC_MATRIX_0_LSB__MSK 0XFF
|
---|
| 1574 | #define BNO055_SIC_MATRIX_0_LSB__LEN 8
|
---|
| 1575 | #define BNO055_SIC_MATRIX_0_LSB__REG BNO055_SIC_MATRIX_0_LSB_ADDR
|
---|
| 1576 |
|
---|
| 1577 | #define BNO055_SIC_MATRIX_0_MSB__POS 0
|
---|
| 1578 | #define BNO055_SIC_MATRIX_0_MSB__MSK 0XFF
|
---|
| 1579 | #define BNO055_SIC_MATRIX_0_MSB__LEN 8
|
---|
| 1580 | #define BNO055_SIC_MATRIX_0_MSB__REG BNO055_SIC_MATRIX_0_MSB_ADDR
|
---|
| 1581 |
|
---|
| 1582 | #define BNO055_SIC_MATRIX_1_LSB__POS 0
|
---|
| 1583 | #define BNO055_SIC_MATRIX_1_LSB__MSK 0XFF
|
---|
| 1584 | #define BNO055_SIC_MATRIX_1_LSB__LEN 8
|
---|
| 1585 | #define BNO055_SIC_MATRIX_1_LSB__REG BNO055_SIC_MATRIX_1_LSB_ADDR
|
---|
| 1586 |
|
---|
| 1587 | #define BNO055_SIC_MATRIX_1_MSB__POS 0
|
---|
| 1588 | #define BNO055_SIC_MATRIX_1_MSB__MSK 0XFF
|
---|
| 1589 | #define BNO055_SIC_MATRIX_1_MSB__LEN 8
|
---|
| 1590 | #define BNO055_SIC_MATRIX_1_MSB__REG BNO055_SIC_MATRIX_1_MSB_ADDR
|
---|
| 1591 |
|
---|
| 1592 | #define BNO055_SIC_MATRIX_2_LSB__POS 0
|
---|
| 1593 | #define BNO055_SIC_MATRIX_2_LSB__MSK 0XFF
|
---|
| 1594 | #define BNO055_SIC_MATRIX_2_LSB__LEN 8
|
---|
| 1595 | #define BNO055_SIC_MATRIX_2_LSB__REG BNO055_SIC_MATRIX_2_LSB_ADDR
|
---|
| 1596 |
|
---|
| 1597 | #define BNO055_SIC_MATRIX_2_MSB__POS 0
|
---|
| 1598 | #define BNO055_SIC_MATRIX_2_MSB__MSK 0XFF
|
---|
| 1599 | #define BNO055_SIC_MATRIX_2_MSB__LEN 8
|
---|
| 1600 | #define BNO055_SIC_MATRIX_2_MSB__REG BNO055_SIC_MATRIX_2_MSB_ADDR
|
---|
| 1601 |
|
---|
| 1602 | #define BNO055_SIC_MATRIX_3_LSB__POS 0
|
---|
| 1603 | #define BNO055_SIC_MATRIX_3_LSB__MSK 0XFF
|
---|
| 1604 | #define BNO055_SIC_MATRIX_3_LSB__LEN 8
|
---|
| 1605 | #define BNO055_SIC_MATRIX_3_LSB__REG BNO055_SIC_MATRIX_3_LSB_ADDR
|
---|
| 1606 |
|
---|
| 1607 | #define BNO055_SIC_MATRIX_3_MSB__POS 0
|
---|
| 1608 | #define BNO055_SIC_MATRIX_3_MSB__MSK 0XFF
|
---|
| 1609 | #define BNO055_SIC_MATRIX_3_MSB__LEN 8
|
---|
| 1610 | #define BNO055_SIC_MATRIX_3_MSB__REG BNO055_SIC_MATRIX_3_MSB_ADDR
|
---|
| 1611 |
|
---|
| 1612 | #define BNO055_SIC_MATRIX_4_LSB__POS 0
|
---|
| 1613 | #define BNO055_SIC_MATRIX_4_LSB__MSK 0XFF
|
---|
| 1614 | #define BNO055_SIC_MATRIX_4_LSB__LEN 8
|
---|
| 1615 | #define BNO055_SIC_MATRIX_4_LSB__REG BNO055_SIC_MATRIX_4_LSB_ADDR
|
---|
| 1616 |
|
---|
| 1617 | #define BNO055_SIC_MATRIX_4_MSB__POS 0
|
---|
| 1618 | #define BNO055_SIC_MATRIX_4_MSB__MSK 0XFF
|
---|
| 1619 | #define BNO055_SIC_MATRIX_4_MSB__LEN 8
|
---|
| 1620 | #define BNO055_SIC_MATRIX_4_MSB__REG BNO055_SIC_MATRIX_4_MSB_ADDR
|
---|
| 1621 |
|
---|
| 1622 | #define BNO055_SIC_MATRIX_5_LSB__POS 0
|
---|
| 1623 | #define BNO055_SIC_MATRIX_5_LSB__MSK 0XFF
|
---|
| 1624 | #define BNO055_SIC_MATRIX_5_LSB__LEN 8
|
---|
| 1625 | #define BNO055_SIC_MATRIX_5_LSB__REG BNO055_SIC_MATRIX_5_LSB_ADDR
|
---|
| 1626 |
|
---|
| 1627 | #define BNO055_SIC_MATRIX_5_MSB__POS 0
|
---|
| 1628 | #define BNO055_SIC_MATRIX_5_MSB__MSK 0XFF
|
---|
| 1629 | #define BNO055_SIC_MATRIX_5_MSB__LEN 8
|
---|
| 1630 | #define BNO055_SIC_MATRIX_5_MSB__REG BNO055_SIC_MATRIX_5_MSB_ADDR
|
---|
| 1631 |
|
---|
| 1632 | #define BNO055_SIC_MATRIX_6_LSB__POS 0
|
---|
| 1633 | #define BNO055_SIC_MATRIX_6_LSB__MSK 0XFF
|
---|
| 1634 | #define BNO055_SIC_MATRIX_6_LSB__LEN 8
|
---|
| 1635 | #define BNO055_SIC_MATRIX_6_LSB__REG BNO055_SIC_MATRIX_6_LSB_ADDR
|
---|
| 1636 |
|
---|
| 1637 | #define BNO055_SIC_MATRIX_6_MSB__POS 0
|
---|
| 1638 | #define BNO055_SIC_MATRIX_6_MSB__MSK 0XFF
|
---|
| 1639 | #define BNO055_SIC_MATRIX_6_MSB__LEN 8
|
---|
| 1640 | #define BNO055_SIC_MATRIX_6_MSB__REG BNO055_SIC_MATRIX_6_MSB_ADDR
|
---|
| 1641 |
|
---|
| 1642 | #define BNO055_SIC_MATRIX_7_LSB__POS 0
|
---|
| 1643 | #define BNO055_SIC_MATRIX_7_LSB__MSK 0XFF
|
---|
| 1644 | #define BNO055_SIC_MATRIX_7_LSB__LEN 8
|
---|
| 1645 | #define BNO055_SIC_MATRIX_7_LSB__REG BNO055_SIC_MATRIX_7_LSB_ADDR
|
---|
| 1646 |
|
---|
| 1647 | #define BNO055_SIC_MATRIX_7_MSB__POS 0
|
---|
| 1648 | #define BNO055_SIC_MATRIX_7_MSB__MSK 0XFF
|
---|
| 1649 | #define BNO055_SIC_MATRIX_7_MSB__LEN 8
|
---|
| 1650 | #define BNO055_SIC_MATRIX_7_MSB__REG BNO055_SIC_MATRIX_7_MSB_ADDR
|
---|
| 1651 |
|
---|
| 1652 | #define BNO055_SIC_MATRIX_8_LSB__POS 0
|
---|
| 1653 | #define BNO055_SIC_MATRIX_8_LSB__MSK 0XFF
|
---|
| 1654 | #define BNO055_SIC_MATRIX_8_LSB__LEN 8
|
---|
| 1655 | #define BNO055_SIC_MATRIX_8_LSB__REG BNO055_SIC_MATRIX_8_LSB_ADDR
|
---|
| 1656 |
|
---|
| 1657 | #define BNO055_SIC_MATRIX_8_MSB__POS 0
|
---|
| 1658 | #define BNO055_SIC_MATRIX_8_MSB__MSK 0XFF
|
---|
| 1659 | #define BNO055_SIC_MATRIX_8_MSB__LEN 8
|
---|
| 1660 | #define BNO055_SIC_MATRIX_8_MSB__REG BNO055_SIC_MATRIX_8_MSB_ADDR
|
---|
| 1661 |
|
---|
| 1662 | /*Accel Offset registers*/
|
---|
| 1663 | #define BNO055_ACCEL_OFFSET_X_LSB__POS 0
|
---|
| 1664 | #define BNO055_ACCEL_OFFSET_X_LSB__MSK 0XFF
|
---|
| 1665 | #define BNO055_ACCEL_OFFSET_X_LSB__LEN 8
|
---|
| 1666 | #define BNO055_ACCEL_OFFSET_X_LSB__REG ACCEL_OFFSET_X_LSB_ADDR
|
---|
| 1667 |
|
---|
| 1668 | #define BNO055_ACCEL_OFFSET_X_MSB__POS 0
|
---|
| 1669 | #define BNO055_ACCEL_OFFSET_X_MSB__MSK 0XFF
|
---|
| 1670 | #define BNO055_ACCEL_OFFSET_X_MSB__LEN 8
|
---|
| 1671 | #define BNO055_ACCEL_OFFSET_X_MSB__REG ACCEL_OFFSET_X_MSB_ADDR
|
---|
| 1672 |
|
---|
| 1673 | #define BNO055_ACCEL_OFFSET_Y_LSB__POS 0
|
---|
| 1674 | #define BNO055_ACCEL_OFFSET_Y_LSB__MSK 0XFF
|
---|
| 1675 | #define BNO055_ACCEL_OFFSET_Y_LSB__LEN 8
|
---|
| 1676 | #define BNO055_ACCEL_OFFSET_Y_LSB__REG ACCEL_OFFSET_Y_LSB_ADDR
|
---|
| 1677 |
|
---|
| 1678 | #define BNO055_ACCEL_OFFSET_Y_MSB__POS 0
|
---|
| 1679 | #define BNO055_ACCEL_OFFSET_Y_MSB__MSK 0XFF
|
---|
| 1680 | #define BNO055_ACCEL_OFFSET_Y_MSB__LEN 8
|
---|
| 1681 | #define BNO055_ACCEL_OFFSET_Y_MSB__REG ACCEL_OFFSET_Y_MSB_ADDR
|
---|
| 1682 |
|
---|
| 1683 | #define BNO055_ACCEL_OFFSET_Z_LSB__POS 0
|
---|
| 1684 | #define BNO055_ACCEL_OFFSET_Z_LSB__MSK 0XFF
|
---|
| 1685 | #define BNO055_ACCEL_OFFSET_Z_LSB__LEN 8
|
---|
| 1686 | #define BNO055_ACCEL_OFFSET_Z_LSB__REG ACCEL_OFFSET_Z_LSB_ADDR
|
---|
| 1687 |
|
---|
| 1688 | #define BNO055_ACCEL_OFFSET_Z_MSB__POS 0
|
---|
| 1689 | #define BNO055_ACCEL_OFFSET_Z_MSB__MSK 0XFF
|
---|
| 1690 | #define BNO055_ACCEL_OFFSET_Z_MSB__LEN 8
|
---|
| 1691 | #define BNO055_ACCEL_OFFSET_Z_MSB__REG ACCEL_OFFSET_Z_MSB_ADDR
|
---|
| 1692 |
|
---|
| 1693 | /*Mag Offset registers*/
|
---|
| 1694 | #define BNO055_MAG_OFFSET_X_LSB__POS 0
|
---|
| 1695 | #define BNO055_MAG_OFFSET_X_LSB__MSK 0XFF
|
---|
| 1696 | #define BNO055_MAG_OFFSET_X_LSB__LEN 8
|
---|
| 1697 | #define BNO055_MAG_OFFSET_X_LSB__REG MAG_OFFSET_X_LSB_ADDR
|
---|
| 1698 |
|
---|
| 1699 | #define BNO055_MAG_OFFSET_X_MSB__POS 0
|
---|
| 1700 | #define BNO055_MAG_OFFSET_X_MSB__MSK 0XFF
|
---|
| 1701 | #define BNO055_MAG_OFFSET_X_MSB__LEN 8
|
---|
| 1702 | #define BNO055_MAG_OFFSET_X_MSB__REG MAG_OFFSET_X_MSB_ADDR
|
---|
| 1703 |
|
---|
| 1704 | #define BNO055_MAG_OFFSET_Y_LSB__POS 0
|
---|
| 1705 | #define BNO055_MAG_OFFSET_Y_LSB__MSK 0XFF
|
---|
| 1706 | #define BNO055_MAG_OFFSET_Y_LSB__LEN 8
|
---|
| 1707 | #define BNO055_MAG_OFFSET_Y_LSB__REG MAG_OFFSET_Y_LSB_ADDR
|
---|
| 1708 |
|
---|
| 1709 | #define BNO055_MAG_OFFSET_Y_MSB__POS 0
|
---|
| 1710 | #define BNO055_MAG_OFFSET_Y_MSB__MSK 0XFF
|
---|
| 1711 | #define BNO055_MAG_OFFSET_Y_MSB__LEN 8
|
---|
| 1712 | #define BNO055_MAG_OFFSET_Y_MSB__REG MAG_OFFSET_Y_MSB_ADDR
|
---|
| 1713 |
|
---|
| 1714 | #define BNO055_MAG_OFFSET_Z_LSB__POS 0
|
---|
| 1715 | #define BNO055_MAG_OFFSET_Z_LSB__MSK 0XFF
|
---|
| 1716 | #define BNO055_MAG_OFFSET_Z_LSB__LEN 8
|
---|
| 1717 | #define BNO055_MAG_OFFSET_Z_LSB__REG MAG_OFFSET_Z_LSB_ADDR
|
---|
| 1718 |
|
---|
| 1719 | #define BNO055_MAG_OFFSET_Z_MSB__POS 0
|
---|
| 1720 | #define BNO055_MAG_OFFSET_Z_MSB__MSK 0XFF
|
---|
| 1721 | #define BNO055_MAG_OFFSET_Z_MSB__LEN 8
|
---|
| 1722 | #define BNO055_MAG_OFFSET_Z_MSB__REG MAG_OFFSET_Z_MSB_ADDR
|
---|
| 1723 |
|
---|
| 1724 | /* Gyro Offset registers*/
|
---|
| 1725 | #define BNO055_GYRO_OFFSET_X_LSB__POS 0
|
---|
| 1726 | #define BNO055_GYRO_OFFSET_X_LSB__MSK 0XFF
|
---|
| 1727 | #define BNO055_GYRO_OFFSET_X_LSB__LEN 8
|
---|
| 1728 | #define BNO055_GYRO_OFFSET_X_LSB__REG GYRO_OFFSET_X_LSB_ADDR
|
---|
| 1729 |
|
---|
| 1730 | #define BNO055_GYRO_OFFSET_X_MSB__POS 0
|
---|
| 1731 | #define BNO055_GYRO_OFFSET_X_MSB__MSK 0XFF
|
---|
| 1732 | #define BNO055_GYRO_OFFSET_X_MSB__LEN 8
|
---|
| 1733 | #define BNO055_GYRO_OFFSET_X_MSB__REG GYRO_OFFSET_X_MSB_ADDR
|
---|
| 1734 |
|
---|
| 1735 | #define BNO055_GYRO_OFFSET_Y_LSB__POS 0
|
---|
| 1736 | #define BNO055_GYRO_OFFSET_Y_LSB__MSK 0XFF
|
---|
| 1737 | #define BNO055_GYRO_OFFSET_Y_LSB__LEN 8
|
---|
| 1738 | #define BNO055_GYRO_OFFSET_Y_LSB__REG GYRO_OFFSET_Y_LSB_ADDR
|
---|
| 1739 |
|
---|
| 1740 | #define BNO055_GYRO_OFFSET_Y_MSB__POS 0
|
---|
| 1741 | #define BNO055_GYRO_OFFSET_Y_MSB__MSK 0XFF
|
---|
| 1742 | #define BNO055_GYRO_OFFSET_Y_MSB__LEN 8
|
---|
| 1743 | #define BNO055_GYRO_OFFSET_Y_MSB__REG GYRO_OFFSET_Y_MSB_ADDR
|
---|
| 1744 |
|
---|
| 1745 | #define BNO055_GYRO_OFFSET_Z_LSB__POS 0
|
---|
| 1746 | #define BNO055_GYRO_OFFSET_Z_LSB__MSK 0XFF
|
---|
| 1747 | #define BNO055_GYRO_OFFSET_Z_LSB__LEN 8
|
---|
| 1748 | #define BNO055_GYRO_OFFSET_Z_LSB__REG GYRO_OFFSET_Z_LSB_ADDR
|
---|
| 1749 |
|
---|
| 1750 | #define BNO055_GYRO_OFFSET_Z_MSB__POS 0
|
---|
| 1751 | #define BNO055_GYRO_OFFSET_Z_MSB__MSK 0XFF
|
---|
| 1752 | #define BNO055_GYRO_OFFSET_Z_MSB__LEN 8
|
---|
| 1753 | #define BNO055_GYRO_OFFSET_Z_MSB__REG GYRO_OFFSET_Z_MSB_ADDR
|
---|
| 1754 |
|
---|
| 1755 | /* Radius register definition*/
|
---|
| 1756 | #define BNO055_ACCEL_RADIUS_LSB__POS 0
|
---|
| 1757 | #define BNO055_ACCEL_RADIUS_LSB__MSK 0XFF
|
---|
| 1758 | #define BNO055_ACCEL_RADIUS_LSB__LEN 8
|
---|
| 1759 | #define BNO055_ACCEL_RADIUS_LSB__REG ACCEL_RADIUS_LSB_ADDR
|
---|
| 1760 |
|
---|
| 1761 | #define BNO055_ACCEL_RADIUS_MSB__POS 0
|
---|
| 1762 | #define BNO055_ACCEL_RADIUS_MSB__MSK 0XFF
|
---|
| 1763 | #define BNO055_ACCEL_RADIUS_MSB__LEN 8
|
---|
| 1764 | #define BNO055_ACCEL_RADIUS_MSB__REG ACCEL_RADIUS_MSB_ADDR
|
---|
| 1765 |
|
---|
| 1766 | #define BNO055_MAG_RADIUS_LSB__POS 0
|
---|
| 1767 | #define BNO055_MAG_RADIUS_LSB__MSK 0XFF
|
---|
| 1768 | #define BNO055_MAG_RADIUS_LSB__LEN 8
|
---|
| 1769 | #define BNO055_MAG_RADIUS_LSB__REG MAG_RADIUS_LSB_ADDR
|
---|
| 1770 |
|
---|
| 1771 | #define BNO055_MAG_RADIUS_MSB__POS 0
|
---|
| 1772 | #define BNO055_MAG_RADIUS_MSB__MSK 0XFF
|
---|
| 1773 | #define BNO055_MAG_RADIUS_MSB__LEN 8
|
---|
| 1774 | #define BNO055_MAG_RADIUS_MSB__REG MAG_RADIUS_MSB_ADDR
|
---|
| 1775 |
|
---|
| 1776 | /* PAGE0 DATA REGISTERS DEFINITION END*/
|
---|
| 1777 | /*************************************************/
|
---|
| 1778 | /**\name PAGE1 DATA REGISTERS DEFINITION */
|
---|
| 1779 | /*************************************************/
|
---|
| 1780 | /* Configuration registers*/
|
---|
| 1781 | /* Accel range configuration register*/
|
---|
| 1782 | #define BNO055_ACCEL_RANGE__POS 0
|
---|
| 1783 | #define BNO055_ACCEL_RANGE__MSK 0X03
|
---|
| 1784 | #define BNO055_ACCEL_RANGE__LEN 2
|
---|
| 1785 | #define BNO055_ACCEL_RANGE__REG ACCEL_CONFIG_ADDR
|
---|
| 1786 |
|
---|
| 1787 | /* Accel bandwidth configuration register*/
|
---|
| 1788 | #define BNO055_ACCEL_BW__POS 2
|
---|
| 1789 | #define BNO055_ACCEL_BW__MSK 0X1C
|
---|
| 1790 | #define BNO055_ACCEL_BW__LEN 3
|
---|
| 1791 | #define BNO055_ACCEL_BW__REG ACCEL_CONFIG_ADDR
|
---|
| 1792 |
|
---|
| 1793 | /* Accel power mode configuration register*/
|
---|
| 1794 | #define BNO055_ACCEL_POWER_MODE__POS 5
|
---|
| 1795 | #define BNO055_ACCEL_POWER_MODE__MSK 0XE0
|
---|
| 1796 | #define BNO055_ACCEL_POWER_MODE__LEN 3
|
---|
| 1797 | #define BNO055_ACCEL_POWER_MODE__REG ACCEL_CONFIG_ADDR
|
---|
| 1798 |
|
---|
| 1799 | /* Mag data output rate configuration register*/
|
---|
| 1800 | #define BNO055_MAG_DATA_OUTPUT_RATE__POS 0
|
---|
| 1801 | #define BNO055_MAG_DATA_OUTPUT_RATE__MSK 0X07
|
---|
| 1802 | #define BNO055_MAG_DATA_OUTPUT_RATE__LEN 3
|
---|
| 1803 | #define BNO055_MAG_DATA_OUTPUT_RATE__REG MAG_CONFIG_ADDR
|
---|
| 1804 |
|
---|
| 1805 | /* Mag operation mode configuration register*/
|
---|
| 1806 | #define BNO055_MAG_OPERATION_MODE__POS 3
|
---|
| 1807 | #define BNO055_MAG_OPERATION_MODE__MSK 0X18
|
---|
| 1808 | #define BNO055_MAG_OPERATION_MODE__LEN 2
|
---|
| 1809 | #define BNO055_MAG_OPERATION_MODE__REG MAG_CONFIG_ADDR
|
---|
| 1810 |
|
---|
| 1811 | /* Mag power mode configuration register*/
|
---|
| 1812 | #define BNO055_MAG_POWER_MODE__POS 5
|
---|
| 1813 | #define BNO055_MAG_POWER_MODE__MSK 0X60
|
---|
| 1814 | #define BNO055_MAG_POWER_MODE__LEN 2
|
---|
| 1815 | #define BNO055_MAG_POWER_MODE__REG MAG_CONFIG_ADDR
|
---|
| 1816 |
|
---|
| 1817 | /* Gyro range configuration register*/
|
---|
| 1818 | #define BNO055_GYRO_RANGE__POS 0
|
---|
| 1819 | #define BNO055_GYRO_RANGE__MSK 0X07
|
---|
| 1820 | #define BNO055_GYRO_RANGE__LEN 3
|
---|
| 1821 | #define BNO055_GYRO_RANGE__REG GYRO_CONFIG_ADDR
|
---|
| 1822 |
|
---|
| 1823 | /* Gyro bandwidth configuration register*/
|
---|
| 1824 | #define BNO055_GYRO_BW__POS 3
|
---|
| 1825 | #define BNO055_GYRO_BW__MSK 0X38
|
---|
| 1826 | #define BNO055_GYRO_BW__LEN 3
|
---|
| 1827 | #define BNO055_GYRO_BW__REG GYRO_CONFIG_ADDR
|
---|
| 1828 |
|
---|
| 1829 | /* Gyro power mode configuration register*/
|
---|
| 1830 | #define BNO055_GYRO_POWER_MODE__POS 0
|
---|
| 1831 | #define BNO055_GYRO_POWER_MODE__MSK 0X07
|
---|
| 1832 | #define BNO055_GYRO_POWER_MODE__LEN 3
|
---|
| 1833 | #define BNO055_GYRO_POWER_MODE__REG GYRO_MODE_CONFIG_ADDR
|
---|
| 1834 |
|
---|
| 1835 | /* Sleep configuration registers*/
|
---|
| 1836 | /* Accel sleep mode configuration register*/
|
---|
| 1837 | #define BNO055_ACCEL_SLEEP_MODE__POS 0
|
---|
| 1838 | #define BNO055_ACCEL_SLEEP_MODE__MSK 0X01
|
---|
| 1839 | #define BNO055_ACCEL_SLEEP_MODE__LEN 1
|
---|
| 1840 | #define BNO055_ACCEL_SLEEP_MODE__REG ACCEL_SLEEP_CONFIG_ADDR
|
---|
| 1841 |
|
---|
| 1842 | /* Accel sleep duration configuration register*/
|
---|
| 1843 | #define BNO055_ACCEL_SLEEP_DURN__POS 1
|
---|
| 1844 | #define BNO055_ACCEL_SLEEP_DURN__MSK 0X1E
|
---|
| 1845 | #define BNO055_ACCEL_SLEEP_DURN__LEN 4
|
---|
| 1846 | #define BNO055_ACCEL_SLEEP_DURN__REG ACCEL_SLEEP_CONFIG_ADDR
|
---|
| 1847 |
|
---|
| 1848 | /* Gyro sleep duration configuration register*/
|
---|
| 1849 | #define BNO055_GYRO_SLEEP_DURN__POS 0
|
---|
| 1850 | #define BNO055_GYRO_SLEEP_DURN__MSK 0X07
|
---|
| 1851 | #define BNO055_GYRO_SLEEP_DURN__LEN 3
|
---|
| 1852 | #define BNO055_GYRO_SLEEP_DURN__REG GYRO_SLEEP_CONFIG_ADDR
|
---|
| 1853 |
|
---|
| 1854 | /* Gyro auto sleep duration configuration register*/
|
---|
| 1855 | #define BNO055_GYRO_AUTO_SLEEP_DURN__POS 3
|
---|
| 1856 | #define BNO055_GYRO_AUTO_SLEEP_DURN__MSK 0X38
|
---|
| 1857 | #define BNO055_GYRO_AUTO_SLEEP_DURN__LEN 3
|
---|
| 1858 | #define BNO055_GYRO_AUTO_SLEEP_DURN__REG GYRO_SLEEP_CONFIG_ADDR
|
---|
| 1859 |
|
---|
| 1860 | /* Mag sleep mode configuration register*/
|
---|
| 1861 | #define BNO055_MAG_SLEEP_MODE__POS 0
|
---|
| 1862 | #define BNO055_MAG_SLEEP_MODE__MSK 0X01
|
---|
| 1863 | #define BNO055_MAG_SLEEP_MODE__LEN 1
|
---|
| 1864 | #define BNO055_MAG_SLEEP_MODE__REG MAG_SLEEP_CONFIG_ADDR
|
---|
| 1865 |
|
---|
| 1866 | /* Mag sleep duration configuration register*/
|
---|
| 1867 | #define BNO055_MAG_SLEEP_DURN__POS 1
|
---|
| 1868 | #define BNO055_MAG_SLEEP_DURN__MSK 0X1E
|
---|
| 1869 | #define BNO055_MAG_SLEEP_DURN__LEN 4
|
---|
| 1870 | #define BNO055_MAG_SLEEP_DURN__REG MAG_SLEEP_CONFIG_ADDR
|
---|
| 1871 |
|
---|
| 1872 | /* Interrupt registers*/
|
---|
| 1873 | /* Gyro any motion interrupt msk register*/
|
---|
| 1874 | #define BNO055_GYRO_ANY_MOTION_INTR_MASK__POS 2
|
---|
| 1875 | #define BNO055_GYRO_ANY_MOTION_INTR_MASK__MSK 0X04
|
---|
| 1876 | #define BNO055_GYRO_ANY_MOTION_INTR_MASK__LEN 1
|
---|
| 1877 | #define BNO055_GYRO_ANY_MOTION_INTR_MASK__REG INT_MASK_ADDR
|
---|
| 1878 |
|
---|
| 1879 | /* Gyro high rate interrupt msk register*/
|
---|
| 1880 | #define BNO055_GYRO_HIGHRATE_INTR_MASK__POS 3
|
---|
| 1881 | #define BNO055_GYRO_HIGHRATE_INTR_MASK__MSK 0X08
|
---|
| 1882 | #define BNO055_GYRO_HIGHRATE_INTR_MASK__LEN 1
|
---|
| 1883 | #define BNO055_GYRO_HIGHRATE_INTR_MASK__REG INT_MASK_ADDR
|
---|
| 1884 |
|
---|
| 1885 | /* Accel high g interrupt msk register*/
|
---|
| 1886 | #define BNO055_ACCEL_HIGH_G_INTR_MASK__POS 5
|
---|
| 1887 | #define BNO055_ACCEL_HIGH_G_INTR_MASK__MSK 0X20
|
---|
| 1888 | #define BNO055_ACCEL_HIGH_G_INTR_MASK__LEN 1
|
---|
| 1889 | #define BNO055_ACCEL_HIGH_G_INTR_MASK__REG INT_MASK_ADDR
|
---|
| 1890 |
|
---|
| 1891 | /* Accel any motion interrupt msk register*/
|
---|
| 1892 | #define BNO055_ACCEL_ANY_MOTION_INTR_MASK__POS 6
|
---|
| 1893 | #define BNO055_ACCEL_ANY_MOTION_INTR_MASK__MSK 0X40
|
---|
| 1894 | #define BNO055_ACCEL_ANY_MOTION_INTR_MASK__LEN 1
|
---|
| 1895 | #define BNO055_ACCEL_ANY_MOTION_INTR_MASK__REG INT_MASK_ADDR
|
---|
| 1896 |
|
---|
| 1897 | /* Accel any motion interrupt msk register*/
|
---|
| 1898 | #define BNO055_ACCEL_NO_MOTION_INTR_MASK__POS 7
|
---|
| 1899 | #define BNO055_ACCEL_NO_MOTION_INTR_MASK__MSK 0X80
|
---|
| 1900 | #define BNO055_ACCEL_NO_MOTION_INTR_MASK__LEN 1
|
---|
| 1901 | #define BNO055_ACCEL_NO_MOTION_INTR_MASK__REG INT_MASK_ADDR
|
---|
| 1902 |
|
---|
| 1903 | /* Gyro any motion interrupt register*/
|
---|
| 1904 | #define BNO055_GYRO_ANY_MOTION_INTR__POS 2
|
---|
| 1905 | #define BNO055_GYRO_ANY_MOTION_INTR__MSK 0X04
|
---|
| 1906 | #define BNO055_GYRO_ANY_MOTION_INTR__LEN 1
|
---|
| 1907 | #define BNO055_GYRO_ANY_MOTION_INTR__REG INT_ADDR
|
---|
| 1908 |
|
---|
| 1909 | /* Gyro high rate interrupt register*/
|
---|
| 1910 | #define BNO055_GYRO_HIGHRATE_INTR__POS 3
|
---|
| 1911 | #define BNO055_GYRO_HIGHRATE_INTR__MSK 0X08
|
---|
| 1912 | #define BNO055_GYRO_HIGHRATE_INTR__LEN 1
|
---|
| 1913 | #define BNO055_GYRO_HIGHRATE_INTR__REG INT_ADDR
|
---|
| 1914 |
|
---|
| 1915 | /* Accel high g interrupt register*/
|
---|
| 1916 | #define BNO055_ACCEL_HIGH_G_INTR__POS 5
|
---|
| 1917 | #define BNO055_ACCEL_HIGH_G_INTR__MSK 0X20
|
---|
| 1918 | #define BNO055_ACCEL_HIGH_G_INTR__LEN 1
|
---|
| 1919 | #define BNO055_ACCEL_HIGH_G_INTR__REG INT_ADDR
|
---|
| 1920 |
|
---|
| 1921 | /* Accel any motion interrupt register*/
|
---|
| 1922 | #define BNO055_ACCEL_ANY_MOTION_INTR__POS 6
|
---|
| 1923 | #define BNO055_ACCEL_ANY_MOTION_INTR__MSK 0X40
|
---|
| 1924 | #define BNO055_ACCEL_ANY_MOTION_INTR__LEN 1
|
---|
| 1925 | #define BNO055_ACCEL_ANY_MOTION_INTR__REG INT_ADDR
|
---|
| 1926 |
|
---|
| 1927 | /*Accel any motion interrupt register*/
|
---|
| 1928 | #define BNO055_ACCEL_NO_MOTION_INTR__POS 7
|
---|
| 1929 | #define BNO055_ACCEL_NO_MOTION_INTR__MSK 0X80
|
---|
| 1930 | #define BNO055_ACCEL_NO_MOTION_INTR__LEN 1
|
---|
| 1931 | #define BNO055_ACCEL_NO_MOTION_INTR__REG INT_ADDR
|
---|
| 1932 |
|
---|
| 1933 | /*Accel any motion threshold setting*/
|
---|
| 1934 | #define BNO055_ACCEL_ANY_MOTION_THRES__POS 0
|
---|
| 1935 | #define BNO055_ACCEL_ANY_MOTION_THRES__MSK 0XFF
|
---|
| 1936 | #define BNO055_ACCEL_ANY_MOTION_THRES__LEN 8
|
---|
| 1937 | #define BNO055_ACCEL_ANY_MOTION_THRES__REG ACCEL_ANY_MOTION_THRES_ADDR
|
---|
| 1938 |
|
---|
| 1939 | /*Accel interrupt setting register*/
|
---|
| 1940 | #define BNO055_ACCEL_ANY_MOTION_DURN_SET__POS 0
|
---|
| 1941 | #define BNO055_ACCEL_ANY_MOTION_DURN_SET__MSK 0X03
|
---|
| 1942 | #define BNO055_ACCEL_ANY_MOTION_DURN_SET__LEN 2
|
---|
| 1943 | #define BNO055_ACCEL_ANY_MOTION_DURN_SET__REG ACCEL_INTR_SETTINGS_ADDR
|
---|
| 1944 |
|
---|
| 1945 | /* Accel AM/NM axis selection register*/
|
---|
| 1946 | #define BNO055_ACCEL_ANY_MOTION_X_AXIS__POS 2
|
---|
| 1947 | #define BNO055_ACCEL_ANY_MOTION_X_AXIS__MSK 0X04
|
---|
| 1948 | #define BNO055_ACCEL_ANY_MOTION_X_AXIS__LEN 1
|
---|
| 1949 | #define BNO055_ACCEL_ANY_MOTION_X_AXIS__REG ACCEL_INTR_SETTINGS_ADDR
|
---|
| 1950 |
|
---|
| 1951 | #define BNO055_ACCEL_ANY_MOTION_Y_AXIS__POS 3
|
---|
| 1952 | #define BNO055_ACCEL_ANY_MOTION_Y_AXIS__MSK 0X08
|
---|
| 1953 | #define BNO055_ACCEL_ANY_MOTION_Y_AXIS__LEN 1
|
---|
| 1954 | #define BNO055_ACCEL_ANY_MOTION_Y_AXIS__REG ACCEL_INTR_SETTINGS_ADDR
|
---|
| 1955 |
|
---|
| 1956 | #define BNO055_ACCEL_ANY_MOTION_Z_AXIS__POS 4
|
---|
| 1957 | #define BNO055_ACCEL_ANY_MOTION_Z_AXIS__MSK 0X10
|
---|
| 1958 | #define BNO055_ACCEL_ANY_MOTION_Z_AXIS__LEN 1
|
---|
| 1959 | #define BNO055_ACCEL_ANY_MOTION_Z_AXIS__REG ACCEL_INTR_SETTINGS_ADDR
|
---|
| 1960 |
|
---|
| 1961 | /* Accel high g axis selection register*/
|
---|
| 1962 | #define BNO055_ACCEL_HIGH_G_X_AXIS__POS 5
|
---|
| 1963 | #define BNO055_ACCEL_HIGH_G_X_AXIS__MSK 0X20
|
---|
| 1964 | #define BNO055_ACCEL_HIGH_G_X_AXIS__LEN 1
|
---|
| 1965 | #define BNO055_ACCEL_HIGH_G_X_AXIS__REG ACCEL_INTR_SETTINGS_ADDR
|
---|
| 1966 |
|
---|
| 1967 | #define BNO055_ACCEL_HIGH_G_Y_AXIS__POS 6
|
---|
| 1968 | #define BNO055_ACCEL_HIGH_G_Y_AXIS__MSK 0X40
|
---|
| 1969 | #define BNO055_ACCEL_HIGH_G_Y_AXIS__LEN 1
|
---|
| 1970 | #define BNO055_ACCEL_HIGH_G_Y_AXIS__REG ACCEL_INTR_SETTINGS_ADDR
|
---|
| 1971 |
|
---|
| 1972 | #define BNO055_ACCEL_HIGH_G_Z_AXIS__POS 7
|
---|
| 1973 | #define BNO055_ACCEL_HIGH_G_Z_AXIS__MSK 0X80
|
---|
| 1974 | #define BNO055_ACCEL_HIGH_G_Z_AXIS__LEN 1
|
---|
| 1975 | #define BNO055_ACCEL_HIGH_G_Z_AXIS__REG ACCEL_INTR_SETTINGS_ADDR
|
---|
| 1976 |
|
---|
| 1977 | /* Accel High g duration setting register*/
|
---|
| 1978 | #define BNO055_ACCEL_HIGH_G_DURN__POS 0
|
---|
| 1979 | #define BNO055_ACCEL_HIGH_G_DURN__MSK 0XFF
|
---|
| 1980 | #define BNO055_ACCEL_HIGH_G_DURN__LEN 8
|
---|
| 1981 | #define BNO055_ACCEL_HIGH_G_DURN__REG ACCEL_HIGH_G_DURN_ADDR
|
---|
| 1982 |
|
---|
| 1983 | /* Accel High g threshold setting register*/
|
---|
| 1984 | #define BNO055_ACCEL_HIGH_G_THRES__POS 0
|
---|
| 1985 | #define BNO055_ACCEL_HIGH_G_THRES__MSK 0XFF
|
---|
| 1986 | #define BNO055_ACCEL_HIGH_G_THRES__LEN 8
|
---|
| 1987 | #define BNO055_ACCEL_HIGH_G_THRES__REG ACCEL_HIGH_G_THRES_ADDR
|
---|
| 1988 |
|
---|
| 1989 | /* Accel no/slow motion threshold setting*/
|
---|
| 1990 | #define BNO055_ACCEL_SLOW_NO_MOTION_THRES__POS 0
|
---|
| 1991 | #define BNO055_ACCEL_SLOW_NO_MOTION_THRES__MSK 0XFF
|
---|
| 1992 | #define BNO055_ACCEL_SLOW_NO_MOTION_THRES__LEN 8
|
---|
| 1993 | #define BNO055_ACCEL_SLOW_NO_MOTION_THRES__REG \
|
---|
| 1994 | ACCEL_NO_MOTION_THRES_ADDR
|
---|
| 1995 |
|
---|
| 1996 | /* Accel no/slow motion enable setting*/
|
---|
| 1997 | #define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE__POS 0
|
---|
| 1998 | #define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE__MSK 0X01
|
---|
| 1999 | #define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE__LEN 1
|
---|
| 2000 | #define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE__REG ACCEL_NO_MOTION_SET_ADDR
|
---|
| 2001 |
|
---|
| 2002 | /* Accel no/slow motion duration setting*/
|
---|
| 2003 | #define BNO055_ACCEL_SLOW_NO_MOTION_DURN__POS 1
|
---|
| 2004 | #define BNO055_ACCEL_SLOW_NO_MOTION_DURN__MSK 0X7E
|
---|
| 2005 | #define BNO055_ACCEL_SLOW_NO_MOTION_DURN__LEN 6
|
---|
| 2006 | #define BNO055_ACCEL_SLOW_NO_MOTION_DURN__REG ACCEL_NO_MOTION_SET_ADDR
|
---|
| 2007 |
|
---|
| 2008 | /*Gyro interrupt setting register*/
|
---|
| 2009 | /*Gyro any motion axis setting*/
|
---|
| 2010 | #define BNO055_GYRO_ANY_MOTION_X_AXIS__POS 0
|
---|
| 2011 | #define BNO055_GYRO_ANY_MOTION_X_AXIS__MSK 0X01
|
---|
| 2012 | #define BNO055_GYRO_ANY_MOTION_X_AXIS__LEN 1
|
---|
| 2013 | #define BNO055_GYRO_ANY_MOTION_X_AXIS__REG GYRO_INTR_SETING_ADDR
|
---|
| 2014 |
|
---|
| 2015 | #define BNO055_GYRO_ANY_MOTION_Y_AXIS__POS 1
|
---|
| 2016 | #define BNO055_GYRO_ANY_MOTION_Y_AXIS__MSK 0X02
|
---|
| 2017 | #define BNO055_GYRO_ANY_MOTION_Y_AXIS__LEN 1
|
---|
| 2018 | #define BNO055_GYRO_ANY_MOTION_Y_AXIS__REG GYRO_INTR_SETING_ADDR
|
---|
| 2019 |
|
---|
| 2020 | #define BNO055_GYRO_ANY_MOTION_Z_AXIS__POS 2
|
---|
| 2021 | #define BNO055_GYRO_ANY_MOTION_Z_AXIS__MSK 0X04
|
---|
| 2022 | #define BNO055_GYRO_ANY_MOTION_Z_AXIS__LEN 1
|
---|
| 2023 | #define BNO055_GYRO_ANY_MOTION_Z_AXIS__REG GYRO_INTR_SETING_ADDR
|
---|
| 2024 |
|
---|
| 2025 | /*Gyro high rate axis setting*/
|
---|
| 2026 | #define BNO055_GYRO_HIGHRATE_X_AXIS__POS 3
|
---|
| 2027 | #define BNO055_GYRO_HIGHRATE_X_AXIS__MSK 0X08
|
---|
| 2028 | #define BNO055_GYRO_HIGHRATE_X_AXIS__LEN 1
|
---|
| 2029 | #define BNO055_GYRO_HIGHRATE_X_AXIS__REG GYRO_INTR_SETING_ADDR
|
---|
| 2030 |
|
---|
| 2031 | #define BNO055_GYRO_HIGHRATE_Y_AXIS__POS 4
|
---|
| 2032 | #define BNO055_GYRO_HIGHRATE_Y_AXIS__MSK 0X10
|
---|
| 2033 | #define BNO055_GYRO_HIGHRATE_Y_AXIS__LEN 1
|
---|
| 2034 | #define BNO055_GYRO_HIGHRATE_Y_AXIS__REG GYRO_INTR_SETING_ADDR
|
---|
| 2035 |
|
---|
| 2036 | #define BNO055_GYRO_HIGHRATE_Z_AXIS__POS 5
|
---|
| 2037 | #define BNO055_GYRO_HIGHRATE_Z_AXIS__MSK 0X20
|
---|
| 2038 | #define BNO055_GYRO_HIGHRATE_Z_AXIS__LEN 1
|
---|
| 2039 | #define BNO055_GYRO_HIGHRATE_Z_AXIS__REG GYRO_INTR_SETING_ADDR
|
---|
| 2040 |
|
---|
| 2041 | /* Gyro filter setting*/
|
---|
| 2042 | #define BNO055_GYRO_ANY_MOTION_FILTER__POS 6
|
---|
| 2043 | #define BNO055_GYRO_ANY_MOTION_FILTER__MSK 0X40
|
---|
| 2044 | #define BNO055_GYRO_ANY_MOTION_FILTER__LEN 1
|
---|
| 2045 | #define BNO055_GYRO_ANY_MOTION_FILTER__REG GYRO_INTR_SETING_ADDR
|
---|
| 2046 |
|
---|
| 2047 | #define BNO055_GYRO_HIGHRATE_FILTER__POS 7
|
---|
| 2048 | #define BNO055_GYRO_HIGHRATE_FILTER__MSK 0X80
|
---|
| 2049 | #define BNO055_GYRO_HIGHRATE_FILTER__LEN 1
|
---|
| 2050 | #define BNO055_GYRO_HIGHRATE_FILTER__REG GYRO_INTR_SETING_ADDR
|
---|
| 2051 |
|
---|
| 2052 | /* Gyro high rate X axis settings*/
|
---|
| 2053 | #define BNO055_GYRO_HIGHRATE_X_THRES__POS 0
|
---|
| 2054 | #define BNO055_GYRO_HIGHRATE_X_THRES__MSK 0X1F
|
---|
| 2055 | #define BNO055_GYRO_HIGHRATE_X_THRES__LEN 5
|
---|
| 2056 | #define BNO055_GYRO_HIGHRATE_X_THRES__REG GYRO_HIGHRATE_X_SET_ADDR
|
---|
| 2057 |
|
---|
| 2058 | #define BNO055_GYRO_HIGHRATE_X_HYST__POS 5
|
---|
| 2059 | #define BNO055_GYRO_HIGHRATE_X_HYST__MSK 0X60
|
---|
| 2060 | #define BNO055_GYRO_HIGHRATE_X_HYST__LEN 2
|
---|
| 2061 | #define BNO055_GYRO_HIGHRATE_X_HYST__REG GYRO_HIGHRATE_X_SET_ADDR
|
---|
| 2062 |
|
---|
| 2063 | #define BNO055_GYRO_HIGHRATE_X_DURN__POS 0
|
---|
| 2064 | #define BNO055_GYRO_HIGHRATE_X_DURN__MSK 0XFF
|
---|
| 2065 | #define BNO055_GYRO_HIGHRATE_X_DURN__LEN 8
|
---|
| 2066 | #define BNO055_GYRO_HIGHRATE_X_DURN__REG GYRO_DURN_X_ADDR
|
---|
| 2067 |
|
---|
| 2068 | /* Gyro high rate Y axis settings*/
|
---|
| 2069 | #define BNO055_GYRO_HIGHRATE_Y_THRES__POS 0
|
---|
| 2070 | #define BNO055_GYRO_HIGHRATE_Y_THRES__MSK 0X1F
|
---|
| 2071 | #define BNO055_GYRO_HIGHRATE_Y_THRES__LEN 5
|
---|
| 2072 | #define BNO055_GYRO_HIGHRATE_Y_THRES__REG GYRO_HIGHRATE_Y_SET_ADDR
|
---|
| 2073 |
|
---|
| 2074 | #define BNO055_GYRO_HIGHRATE_Y_HYST__POS 5
|
---|
| 2075 | #define BNO055_GYRO_HIGHRATE_Y_HYST__MSK 0X60
|
---|
| 2076 | #define BNO055_GYRO_HIGHRATE_Y_HYST__LEN 2
|
---|
| 2077 | #define BNO055_GYRO_HIGHRATE_Y_HYST__REG GYRO_HIGHRATE_Y_SET_ADDR
|
---|
| 2078 |
|
---|
| 2079 | #define BNO055_GYRO_HIGHRATE_Y_DURN__POS 0
|
---|
| 2080 | #define BNO055_GYRO_HIGHRATE_Y_DURN__MSK 0XFF
|
---|
| 2081 | #define BNO055_GYRO_HIGHRATE_Y_DURN__LEN 8
|
---|
| 2082 | #define BNO055_GYRO_HIGHRATE_Y_DURN__REG GYRO_DURN_Y_ADDR
|
---|
| 2083 |
|
---|
| 2084 | /* Gyro high rate Z axis settings*/
|
---|
| 2085 | #define BNO055_GYRO_HIGHRATE_Z_THRES__POS 0
|
---|
| 2086 | #define BNO055_GYRO_HIGHRATE_Z_THRES__MSK 0X1F
|
---|
| 2087 | #define BNO055_GYRO_HIGHRATE_Z_THRES__LEN 5
|
---|
| 2088 | #define BNO055_GYRO_HIGHRATE_Z_THRES__REG GYRO_HIGHRATE_Z_SET_ADDR
|
---|
| 2089 |
|
---|
| 2090 | #define BNO055_GYRO_HIGHRATE_Z_HYST__POS 5
|
---|
| 2091 | #define BNO055_GYRO_HIGHRATE_Z_HYST__MSK 0X60
|
---|
| 2092 | #define BNO055_GYRO_HIGHRATE_Z_HYST__LEN 2
|
---|
| 2093 | #define BNO055_GYRO_HIGHRATE_Z_HYST__REG GYRO_HIGHRATE_Z_SET_ADDR
|
---|
| 2094 |
|
---|
| 2095 | #define BNO055_GYRO_HIGHRATE_Z_DURN__POS 0
|
---|
| 2096 | #define BNO055_GYRO_HIGHRATE_Z_DURN__MSK 0XFF
|
---|
| 2097 | #define BNO055_GYRO_HIGHRATE_Z_DURN__LEN 8
|
---|
| 2098 | #define BNO055_GYRO_HIGHRATE_Z_DURN__REG GYRO_DURN_Z_ADDR
|
---|
| 2099 |
|
---|
| 2100 | /*Gyro any motion threshold setting*/
|
---|
| 2101 | #define BNO055_GYRO_ANY_MOTION_THRES__POS 0
|
---|
| 2102 | #define BNO055_GYRO_ANY_MOTION_THRES__MSK 0X7F
|
---|
| 2103 | #define BNO055_GYRO_ANY_MOTION_THRES__LEN 7
|
---|
| 2104 | #define BNO055_GYRO_ANY_MOTION_THRES__REG \
|
---|
| 2105 | GYRO_ANY_MOTION_THRES_ADDR
|
---|
| 2106 |
|
---|
| 2107 | /* Gyro any motion slope sample setting*/
|
---|
| 2108 | #define BNO055_GYRO_SLOPE_SAMPLES__POS 0
|
---|
| 2109 | #define BNO055_GYRO_SLOPE_SAMPLES__MSK 0X03
|
---|
| 2110 | #define BNO055_GYRO_SLOPE_SAMPLES__LEN 2
|
---|
| 2111 | #define BNO055_GYRO_SLOPE_SAMPLES__REG GYRO_ANY_MOTION_SET_ADDR
|
---|
| 2112 |
|
---|
| 2113 | /* Gyro awake duration setting*/
|
---|
| 2114 | #define BNO055_GYRO_AWAKE_DURN__POS 2
|
---|
| 2115 | #define BNO055_GYRO_AWAKE_DURN__MSK 0X0C
|
---|
| 2116 | #define BNO055_GYRO_AWAKE_DURN__LEN 2
|
---|
| 2117 | #define BNO055_GYRO_AWAKE_DURN__REG GYRO_ANY_MOTION_SET_ADDR
|
---|
| 2118 |
|
---|
| 2119 | /* PAGE1 DATA REGISTERS DEFINITION END*/
|
---|
| 2120 | /*************************************************/
|
---|
| 2121 | /**\name GET AND SET BITSLICE FUNCTIONS */
|
---|
| 2122 | /*************************************************/
|
---|
| 2123 | #define BNO055_GET_BITSLICE(regvar, bitname)\
|
---|
| 2124 | ((regvar & bitname##__MSK) >> bitname##__POS)
|
---|
| 2125 |
|
---|
| 2126 |
|
---|
| 2127 | #define BNO055_SET_BITSLICE(regvar, bitname, val)\
|
---|
| 2128 | ((regvar & ~bitname##__MSK) | ((val<<bitname##__POS)&bitname##__MSK))
|
---|
| 2129 | /*************************************************/
|
---|
| 2130 | /**\name FUNCTION DECLARATION */
|
---|
| 2131 | /*************************************************/
|
---|
| 2132 | /**************************************************/
|
---|
| 2133 | /**\name INITIALIZATION AND REVISION ID FUNCTIONS */
|
---|
| 2134 | /**************************************************/
|
---|
| 2135 | /*!
|
---|
| 2136 | * @brief
|
---|
| 2137 | * This function is used for initialize
|
---|
| 2138 | * bus read, bus write function pointers,device
|
---|
| 2139 | * address,accel revision id, gyro revision id
|
---|
| 2140 | * mag revision id, software revision id, boot loader
|
---|
| 2141 | * revision id and page id
|
---|
| 2142 | *
|
---|
| 2143 | * @param bno055 - structure pointer
|
---|
| 2144 | *
|
---|
| 2145 | *
|
---|
| 2146 | * @return results of bus communication function
|
---|
| 2147 | * @retval 0 -> Success
|
---|
| 2148 | * @retval 1 -> Error
|
---|
| 2149 | *
|
---|
| 2150 | * @note While changing the parameter of the bno055_t
|
---|
| 2151 | * consider the following point:
|
---|
| 2152 | * Changing the reference value of the parameter
|
---|
| 2153 | * will changes the local copy or local reference
|
---|
| 2154 | * make sure your changes will not
|
---|
| 2155 | * affect the reference value of the parameter
|
---|
| 2156 | * (Better case don't change the reference value of the parameter)
|
---|
| 2157 | */
|
---|
| 2158 | BNO055_RETURN_FUNCTION_TYPE bno055_init(struct bno055_t *bno055);
|
---|
| 2159 | /*!
|
---|
| 2160 | * @brief
|
---|
| 2161 | * This API gives data to the given register and
|
---|
| 2162 | * the data is written in the corresponding register address
|
---|
| 2163 | *
|
---|
| 2164 | * @param v_addr_u_8 : Address of the register
|
---|
| 2165 | * @param p_data_u_8 : Data to be written to the register
|
---|
| 2166 | * @param v_len_u_8 : Length of the Data
|
---|
| 2167 | *
|
---|
| 2168 | * @return results of bus communication function
|
---|
| 2169 | * @retval 0 -> Success
|
---|
| 2170 | * @retval 1 -> Error
|
---|
| 2171 | *
|
---|
| 2172 | *
|
---|
| 2173 | */
|
---|
| 2174 | BNO055_RETURN_FUNCTION_TYPE bno055_write_register(u_8 v_addr_u_8,
|
---|
| 2175 | u_8 *p_data_u_8, u_8 v_len_u_8);
|
---|
| 2176 | /*!
|
---|
| 2177 | * @brief This API reads the data from
|
---|
| 2178 | * the given register address
|
---|
| 2179 | *
|
---|
| 2180 | * @param v_addr_u_8 : Address of the register
|
---|
| 2181 | * @param p_data_u_8 : address of the variable,
|
---|
| 2182 | * read value will be kept
|
---|
| 2183 | * @param v_len_u_8 : Length of the data
|
---|
| 2184 | *
|
---|
| 2185 | *
|
---|
| 2186 | * @return results of bus communication function
|
---|
| 2187 | * @retval 0 -> Success
|
---|
| 2188 | * @retval 1 -> Error
|
---|
| 2189 | *
|
---|
| 2190 | */
|
---|
| 2191 | BNO055_RETURN_FUNCTION_TYPE bno055_read_register(u_8 v_addr_u_8,
|
---|
| 2192 | u_8 *p_data_u_8, u_8 v_len_u_8);
|
---|
| 2193 | /*!
|
---|
| 2194 | * @brief This API reads chip id
|
---|
| 2195 | * from register 0x00 it is a byte of data
|
---|
| 2196 | *
|
---|
| 2197 | *
|
---|
| 2198 | * @param v_chip_id_u_8 : The chip id value 0xA0
|
---|
| 2199 | *
|
---|
| 2200 | * @return results of bus communication function
|
---|
| 2201 | * @retval 0 -> Success
|
---|
| 2202 | * @retval 1 -> Error
|
---|
| 2203 | */
|
---|
| 2204 | BNO055_RETURN_FUNCTION_TYPE bno055_read_chip_id(u_8 *v_chip_id_u_8);
|
---|
| 2205 | /*!
|
---|
| 2206 | * @brief This API reads software revision id
|
---|
| 2207 | * from register 0x04 and 0x05 it is a two byte of data
|
---|
| 2208 | *
|
---|
| 2209 | * @param v_sw_id_u_8 : The SW revision id
|
---|
| 2210 | *
|
---|
| 2211 | * @return results of bus communication function
|
---|
| 2212 | * @retval 0 -> Success
|
---|
| 2213 | * @retval 1 -> Error
|
---|
| 2214 | *
|
---|
| 2215 | *
|
---|
| 2216 | */
|
---|
| 2217 | BNO055_RETURN_FUNCTION_TYPE bno055_read_sw_rev_id(u_16 *v_sw_id_u_8);
|
---|
| 2218 | /*!
|
---|
| 2219 | * @brief This API reads page id
|
---|
| 2220 | * from register 0x07 it is a byte of data
|
---|
| 2221 | *
|
---|
| 2222 | *
|
---|
| 2223 | * @param v_page_id_u_8 : The value of page id
|
---|
| 2224 | *
|
---|
| 2225 | * PAGE_ZERO -> 0x00
|
---|
| 2226 | * PAGE_ONE -> 0x01
|
---|
| 2227 | *
|
---|
| 2228 | * @return results of bus communication function
|
---|
| 2229 | * @retval 0 -> Success
|
---|
| 2230 | * @retval 1 -> Error
|
---|
| 2231 | *
|
---|
| 2232 | *
|
---|
| 2233 | */
|
---|
| 2234 | BNO055_RETURN_FUNCTION_TYPE bno055_read_page_id(u_8 *v_page_id_u_8);
|
---|
| 2235 | /*!
|
---|
| 2236 | * @brief This API used to write
|
---|
| 2237 | * the page id register 0x07
|
---|
| 2238 | *
|
---|
| 2239 | * @param v_page_id_u_8 : The value of page id
|
---|
| 2240 | *
|
---|
| 2241 | * PAGE_ZERO -> 0x00
|
---|
| 2242 | * PAGE_ONE -> 0x01
|
---|
| 2243 | *
|
---|
| 2244 | * @return results of bus communication function
|
---|
| 2245 | * @retval 0 -> Success
|
---|
| 2246 | * @retval 1 -> Error
|
---|
| 2247 | *
|
---|
| 2248 | *
|
---|
| 2249 | */
|
---|
| 2250 | BNO055_RETURN_FUNCTION_TYPE bno055_write_page_id(u_8 v_page_id_u_8);
|
---|
| 2251 | /*!
|
---|
| 2252 | * @brief This API reads accel revision id
|
---|
| 2253 | * from register 0x01 it is a byte of value
|
---|
| 2254 | *
|
---|
| 2255 | * @param v_accel_rev_id_u_8 : The accel revision id 0xFB
|
---|
| 2256 | *
|
---|
| 2257 | * @return results of bus communication function
|
---|
| 2258 | * @retval 0 -> Success
|
---|
| 2259 | * @retval 1 -> Error
|
---|
| 2260 | *
|
---|
| 2261 | *
|
---|
| 2262 | */
|
---|
| 2263 | BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_rev_id(
|
---|
| 2264 | u_8 *v_accel_rev_id_u_8);
|
---|
| 2265 | /*!
|
---|
| 2266 | * @brief This API reads mag revision id
|
---|
| 2267 | * from register 0x02 it is a byte of value
|
---|
| 2268 | *
|
---|
| 2269 | * @param v_mag_rev_id_u_8 : The mag revision id 0x32
|
---|
| 2270 | *
|
---|
| 2271 | * @return results of bus communication function
|
---|
| 2272 | * @retval 0 -> Success
|
---|
| 2273 | * @retval 1 -> Error
|
---|
| 2274 | *
|
---|
| 2275 | *
|
---|
| 2276 | */
|
---|
| 2277 | BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_rev_id(
|
---|
| 2278 | u_8 *v_mag_rev_id_u_8);
|
---|
| 2279 | /*!
|
---|
| 2280 | * @brief This API reads gyro revision id
|
---|
| 2281 | * from register 0x03 it is a byte of value
|
---|
| 2282 | *
|
---|
| 2283 | * @param v_gyro_rev_id_u_8 : The gyro revision id 0xF0
|
---|
| 2284 | *
|
---|
| 2285 | *
|
---|
| 2286 | *
|
---|
| 2287 | * @return results of bus communication function
|
---|
| 2288 | * @retval 0 -> Success
|
---|
| 2289 | * @retval 1 -> Error
|
---|
| 2290 | *
|
---|
| 2291 | *
|
---|
| 2292 | */
|
---|
| 2293 | BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_rev_id(
|
---|
| 2294 | u_8 *v_gyro_rev_id_u_8);
|
---|
| 2295 | /*!
|
---|
| 2296 | * @brief This API used to read boot loader revision id
|
---|
| 2297 | * from register 0x06 it is a byte of value
|
---|
| 2298 | *
|
---|
| 2299 | * @param v_bl_rev_id_u_8 : The boot loader revision id
|
---|
| 2300 | *
|
---|
| 2301 | *
|
---|
| 2302 | * @return results of bus communication function
|
---|
| 2303 | * @retval 0 -> Success
|
---|
| 2304 | * @retval 1 -> Error
|
---|
| 2305 | *
|
---|
| 2306 | *
|
---|
| 2307 | */
|
---|
| 2308 | BNO055_RETURN_FUNCTION_TYPE bno055_read_bl_rev_id(
|
---|
| 2309 | u_8 *v_bl_rev_id_u_8);
|
---|
| 2310 | /**************************************************/
|
---|
| 2311 | /**\name ACCEL DATA READ FUNCTIONS */
|
---|
| 2312 | /**************************************************/
|
---|
| 2313 | /*!
|
---|
| 2314 | * @brief This API reads acceleration data X values
|
---|
| 2315 | * from register 0x08 and 0x09 it is a two byte data
|
---|
| 2316 | *
|
---|
| 2317 | *
|
---|
| 2318 | *
|
---|
| 2319 | *
|
---|
| 2320 | * @param v_accel_x_s_16 : The X raw data
|
---|
| 2321 | *
|
---|
| 2322 | *
|
---|
| 2323 | *
|
---|
| 2324 | * @return results of bus communication function
|
---|
| 2325 | * @retval 0 -> Success
|
---|
| 2326 | * @retval 1 -> Error
|
---|
| 2327 | *
|
---|
| 2328 | *
|
---|
| 2329 | */
|
---|
| 2330 | BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_x(s_16 *v_accel_x_s_16);
|
---|
| 2331 | /*!
|
---|
| 2332 | * @brief This API reads acceleration data Y values
|
---|
| 2333 | * from register 0x0A and 0x0B it is a two byte data
|
---|
| 2334 | *
|
---|
| 2335 | *
|
---|
| 2336 | *
|
---|
| 2337 | *
|
---|
| 2338 | * @param v_accel_y_s_16 : The Y raw data
|
---|
| 2339 | *
|
---|
| 2340 | *
|
---|
| 2341 | *
|
---|
| 2342 | * @return results of bus communication function
|
---|
| 2343 | * @retval 0 -> Success
|
---|
| 2344 | * @retval 1 -> Error
|
---|
| 2345 | *
|
---|
| 2346 | *
|
---|
| 2347 | */
|
---|
| 2348 | BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_y(s_16 *v_accel_y_s_16);
|
---|
| 2349 | /*!
|
---|
| 2350 | * @brief This API reads acceleration data z values
|
---|
| 2351 | * from register 0x0C and 0x0D it is a two byte data
|
---|
| 2352 | *
|
---|
| 2353 | *
|
---|
| 2354 | *
|
---|
| 2355 | *
|
---|
| 2356 | * @param v_accel_z_s_16 : The z raw data
|
---|
| 2357 | *
|
---|
| 2358 | *
|
---|
| 2359 | *
|
---|
| 2360 | * @return results of bus communication function
|
---|
| 2361 | * @retval 0 -> Success
|
---|
| 2362 | * @retval 1 -> Error
|
---|
| 2363 | *
|
---|
| 2364 | *
|
---|
| 2365 | */
|
---|
| 2366 | BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_z(s_16 *v_accel_z_s_16);
|
---|
| 2367 | /*!
|
---|
| 2368 | * @brief This API reads acceleration data xyz values
|
---|
| 2369 | * from register 0x08 to 0x0D it is a six byte data
|
---|
| 2370 | *
|
---|
| 2371 | *
|
---|
| 2372 | * @param accel : The value of accel xyz data
|
---|
| 2373 | *
|
---|
| 2374 | * Parameter | result
|
---|
| 2375 | * --------- | -----------------
|
---|
| 2376 | * x | The accel x data
|
---|
| 2377 | * y | The accel y data
|
---|
| 2378 | * z | The accel z data
|
---|
| 2379 | *
|
---|
| 2380 | *
|
---|
| 2381 | *
|
---|
| 2382 | * @return results of bus communication function
|
---|
| 2383 | * @retval 0 -> Success
|
---|
| 2384 | * @retval 1 -> Error
|
---|
| 2385 | *
|
---|
| 2386 | */
|
---|
| 2387 | BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_xyz(
|
---|
| 2388 | struct bno055_accel_t *accel);
|
---|
| 2389 | /**************************************************/
|
---|
| 2390 | /**\name MAG DATA READ FUNCTIONS */
|
---|
| 2391 | /**************************************************/
|
---|
| 2392 | /*!
|
---|
| 2393 | * @brief This API reads mag data x values
|
---|
| 2394 | * from register 0x0E and 0x0F it is a two byte data
|
---|
| 2395 | *
|
---|
| 2396 | *
|
---|
| 2397 | *
|
---|
| 2398 | *
|
---|
| 2399 | * @param v_mag_x_s_16 : The x raw data
|
---|
| 2400 | *
|
---|
| 2401 | *
|
---|
| 2402 | *
|
---|
| 2403 | * @return results of bus communication function
|
---|
| 2404 | * @retval 0 -> Success
|
---|
| 2405 | * @retval 1 -> Error
|
---|
| 2406 | *
|
---|
| 2407 | *
|
---|
| 2408 | *
|
---|
| 2409 | */
|
---|
| 2410 | BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_x(s_16 *v_mag_x_s_16);
|
---|
| 2411 | /*!
|
---|
| 2412 | * @brief This API reads mag data y values
|
---|
| 2413 | * from register 0x10 and 0x11 it is a two byte data
|
---|
| 2414 | *
|
---|
| 2415 | *
|
---|
| 2416 | *
|
---|
| 2417 | *
|
---|
| 2418 | * @param v_mag_y_s_16 : The y raw data
|
---|
| 2419 | *
|
---|
| 2420 | *
|
---|
| 2421 | *
|
---|
| 2422 | * @return results of bus communication function
|
---|
| 2423 | * @retval 0 -> Success
|
---|
| 2424 | * @retval 1 -> Error
|
---|
| 2425 | *
|
---|
| 2426 | *
|
---|
| 2427 | */
|
---|
| 2428 | BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_y(s_16 *v_mag_y_s_16);
|
---|
| 2429 | /*!
|
---|
| 2430 | * @brief This API reads mag data z values
|
---|
| 2431 | * from register 0x12 and 0x13 it is a two byte data
|
---|
| 2432 | *
|
---|
| 2433 | *
|
---|
| 2434 | *
|
---|
| 2435 | *
|
---|
| 2436 | * @param v_mag_z_s_16 : The z raw data
|
---|
| 2437 | *
|
---|
| 2438 | *
|
---|
| 2439 | *
|
---|
| 2440 | * @return results of bus communication function
|
---|
| 2441 | * @retval 0 -> Success
|
---|
| 2442 | * @retval 1 -> Error
|
---|
| 2443 | *
|
---|
| 2444 | *
|
---|
| 2445 | *
|
---|
| 2446 | */
|
---|
| 2447 | BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_z(s_16 *v_mag_z_s_16);
|
---|
| 2448 | /*!
|
---|
| 2449 | * @brief This API reads mag data xyz values
|
---|
| 2450 | * from register 0x0E to 0x13 it is a six byte data
|
---|
| 2451 | *
|
---|
| 2452 | *
|
---|
| 2453 | * @param mag : The mag xyz values
|
---|
| 2454 | *
|
---|
| 2455 | * Parameter | result
|
---|
| 2456 | * --------- | -----------------
|
---|
| 2457 | * x | The mag x data
|
---|
| 2458 | * y | The mag y data
|
---|
| 2459 | * z | The mag z data
|
---|
| 2460 | *
|
---|
| 2461 | *
|
---|
| 2462 | *
|
---|
| 2463 | * @return results of bus communication function
|
---|
| 2464 | * @retval 0 -> Success
|
---|
| 2465 | * @retval 1 -> Error
|
---|
| 2466 | *
|
---|
| 2467 | */
|
---|
| 2468 | BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_xyz(struct bno055_mag_t *mag);
|
---|
| 2469 | /**************************************************/
|
---|
| 2470 | /**\name GYRO DATA READ FUNCTIONS */
|
---|
| 2471 | /**************************************************/
|
---|
| 2472 | /*!
|
---|
| 2473 | * @brief This API reads gyro data x values
|
---|
| 2474 | * from register 0x14 and 0x15 it is a two byte data
|
---|
| 2475 | *
|
---|
| 2476 | *
|
---|
| 2477 | *
|
---|
| 2478 | *
|
---|
| 2479 | * @param v_gyro_x_s_16 : The x raw data
|
---|
| 2480 | *
|
---|
| 2481 | *
|
---|
| 2482 | *
|
---|
| 2483 | * @return results of bus communication function
|
---|
| 2484 | * @retval 0 -> Success
|
---|
| 2485 | * @retval 1 -> Error
|
---|
| 2486 | *
|
---|
| 2487 | *
|
---|
| 2488 | */
|
---|
| 2489 | BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_x(s_16 *v_gyro_x_s_16);
|
---|
| 2490 | /*!
|
---|
| 2491 | * @brief This API reads gyro data y values
|
---|
| 2492 | * from register 0x16 and 0x17 it is a two byte data
|
---|
| 2493 | *
|
---|
| 2494 | *
|
---|
| 2495 | *
|
---|
| 2496 | *
|
---|
| 2497 | * @param v_gyro_y_s_16 : The y raw data
|
---|
| 2498 | *
|
---|
| 2499 | *
|
---|
| 2500 | *
|
---|
| 2501 | * @return results of bus communication function
|
---|
| 2502 | * @retval 0 -> Success
|
---|
| 2503 | * @retval 1 -> Error
|
---|
| 2504 | *
|
---|
| 2505 | *
|
---|
| 2506 | */
|
---|
| 2507 | BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_y(s_16 *v_gyro_y_s_16);
|
---|
| 2508 | /*!
|
---|
| 2509 | * @brief This API reads gyro data z values
|
---|
| 2510 | * from register 0x18 and 0x19 it is a two byte data
|
---|
| 2511 | *
|
---|
| 2512 | * @param v_gyro_z_s_16 : The z raw data
|
---|
| 2513 | *
|
---|
| 2514 | * @return results of bus communication function
|
---|
| 2515 | * @retval 0 -> Success
|
---|
| 2516 | * @retval 1 -> Error
|
---|
| 2517 | *
|
---|
| 2518 | *
|
---|
| 2519 | */
|
---|
| 2520 | BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_z(s_16 *v_gyro_z_s_16);
|
---|
| 2521 | /*!
|
---|
| 2522 | * @brief This API reads gyro data xyz values
|
---|
| 2523 | * from register 0x14 to 0x19 it is a six byte data
|
---|
| 2524 | *
|
---|
| 2525 | *
|
---|
| 2526 | * @param gyro : The value of gyro xyz data's
|
---|
| 2527 | *
|
---|
| 2528 | * Parameter | result
|
---|
| 2529 | * --------- | -----------------
|
---|
| 2530 | * x | The gyro x data
|
---|
| 2531 | * y | The gyro y data
|
---|
| 2532 | * z | The gyro z data
|
---|
| 2533 | *
|
---|
| 2534 | *
|
---|
| 2535 | *
|
---|
| 2536 | * @return results of bus communication function
|
---|
| 2537 | * @retval 0 -> Success
|
---|
| 2538 | * @retval 1 -> Error
|
---|
| 2539 | *
|
---|
| 2540 | */
|
---|
| 2541 | BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_xyz(struct bno055_gyro_t *gyro);
|
---|
| 2542 | /**************************************************/
|
---|
| 2543 | /**\name EULER DATA READ FUNCTIONS */
|
---|
| 2544 | /**************************************************/
|
---|
| 2545 | /*!
|
---|
| 2546 | * @brief This API reads gyro data z values
|
---|
| 2547 | * from register 0x1A and 0x1B it is a two byte data
|
---|
| 2548 | *
|
---|
| 2549 | * @param v_euler_h_s_16 : The raw h data
|
---|
| 2550 | *
|
---|
| 2551 | * @return results of bus communication function
|
---|
| 2552 | * @retval 0 -> Success
|
---|
| 2553 | * @retval 1 -> Error
|
---|
| 2554 | *
|
---|
| 2555 | */
|
---|
| 2556 | BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_h(s_16 *v_euler_h_s_16);
|
---|
| 2557 | /*!
|
---|
| 2558 | * @brief This API reads Euler data r values
|
---|
| 2559 | * from register 0x1C and 0x1D it is a two byte data
|
---|
| 2560 | *
|
---|
| 2561 | * @param v_euler_r_s_16 : The raw r data
|
---|
| 2562 | *
|
---|
| 2563 | * @return results of bus communication function
|
---|
| 2564 | * @retval 0 -> Success
|
---|
| 2565 | * @retval 1 -> Error
|
---|
| 2566 | *
|
---|
| 2567 | */
|
---|
| 2568 | BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_r(s_16 *v_euler_r_s_16);
|
---|
| 2569 | /*!
|
---|
| 2570 | * @brief This API reads Euler data p values
|
---|
| 2571 | * from register 0x1E and 0x1F it is a two byte data
|
---|
| 2572 | *
|
---|
| 2573 | * @param v_euler_p_s_16 : The raw p data
|
---|
| 2574 | *
|
---|
| 2575 | * @return results of bus communication function
|
---|
| 2576 | * @retval 0 -> Success
|
---|
| 2577 | * @retval 1 -> Error
|
---|
| 2578 | *
|
---|
| 2579 | *
|
---|
| 2580 | */
|
---|
| 2581 | BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_p(s_16 *v_euler_p_s_16);
|
---|
| 2582 | /*!
|
---|
| 2583 | * @brief This API reads Euler data hrp values
|
---|
| 2584 | * from register 0x1A to 0x1F it is a six byte data
|
---|
| 2585 | *
|
---|
| 2586 | *
|
---|
| 2587 | * @param euler : The Euler hrp data's
|
---|
| 2588 | *
|
---|
| 2589 | * Parameter | result
|
---|
| 2590 | * --------- | -----------------
|
---|
| 2591 | * h | The Euler h data
|
---|
| 2592 | * r | The Euler r data
|
---|
| 2593 | * p | The Euler p data
|
---|
| 2594 | *
|
---|
| 2595 | *
|
---|
| 2596 | * @return results of bus communication function
|
---|
| 2597 | * @retval 0 -> Success
|
---|
| 2598 | * @retval 1 -> Error
|
---|
| 2599 | *
|
---|
| 2600 | */
|
---|
| 2601 | BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_hrp(
|
---|
| 2602 | struct bno055_euler_t *euler);
|
---|
| 2603 | /**************************************************/
|
---|
| 2604 | /**\name QUATERNION DATA READ FUNCTIONS */
|
---|
| 2605 | /**************************************************/
|
---|
| 2606 | /*!
|
---|
| 2607 | * @brief This API reads quaternion data w values
|
---|
| 2608 | * from register 0x20 and 0x21 it is a two byte data
|
---|
| 2609 | *
|
---|
| 2610 | * @param v_quaternion_w_s_16 : The raw w data
|
---|
| 2611 | *
|
---|
| 2612 | * @return results of bus communication function
|
---|
| 2613 | * @retval 0 -> Success
|
---|
| 2614 | * @retval 1 -> Error
|
---|
| 2615 | *
|
---|
| 2616 | *
|
---|
| 2617 | */
|
---|
| 2618 | BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_w(
|
---|
| 2619 | s_16 *v_quaternion_w_s_16);
|
---|
| 2620 | /*!
|
---|
| 2621 | * @brief This API reads quaternion data x values
|
---|
| 2622 | * from register 0x22 and 0x23 it is a two byte data
|
---|
| 2623 | *
|
---|
| 2624 | * @param v_quaternion_x_s_16 : The raw x data
|
---|
| 2625 | *
|
---|
| 2626 | * @return results of bus communication function
|
---|
| 2627 | * @retval 0 -> Success
|
---|
| 2628 | * @retval 1 -> Error
|
---|
| 2629 | *
|
---|
| 2630 | *
|
---|
| 2631 | */
|
---|
| 2632 | BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_x(
|
---|
| 2633 | s_16 *v_quaternion_x_s_16);
|
---|
| 2634 | /*!
|
---|
| 2635 | * @brief This API reads quaternion data y values
|
---|
| 2636 | * from register 0x24 and 0x25 it is a two byte data
|
---|
| 2637 | *
|
---|
| 2638 | * @param v_quaternion_y_s_16 : The raw y data
|
---|
| 2639 | *
|
---|
| 2640 | * @return results of bus communication function
|
---|
| 2641 | * @retval 0 -> Success
|
---|
| 2642 | * @retval 1 -> Error
|
---|
| 2643 | *
|
---|
| 2644 | *
|
---|
| 2645 | */
|
---|
| 2646 | BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_y(
|
---|
| 2647 | s_16 *v_quaternion_y_s_16);
|
---|
| 2648 | /*!
|
---|
| 2649 | * @brief This API reads quaternion data z values
|
---|
| 2650 | * from register 0x26 and 0x27 it is a two byte data
|
---|
| 2651 | *
|
---|
| 2652 | * @param v_quaternion_z_s_16 : The raw z data
|
---|
| 2653 | *
|
---|
| 2654 | * @return results of bus communication function
|
---|
| 2655 | * @retval 0 -> Success
|
---|
| 2656 | * @retval 1 -> Error
|
---|
| 2657 | *
|
---|
| 2658 | *
|
---|
| 2659 | */
|
---|
| 2660 | BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_z(
|
---|
| 2661 | s_16 *v_quaternion_z_s_16);
|
---|
| 2662 | /*!
|
---|
| 2663 | * @brief This API reads Quaternion data wxyz values
|
---|
| 2664 | * from register 0x20 to 0x27 it is a six byte data
|
---|
| 2665 | *
|
---|
| 2666 | *
|
---|
| 2667 | * @param quaternion : The value of quaternion wxyz data's
|
---|
| 2668 | *
|
---|
| 2669 | * Parameter | result
|
---|
| 2670 | * --------- | -----------------
|
---|
| 2671 | * w | The quaternion w data
|
---|
| 2672 | * x | The quaternion x data
|
---|
| 2673 | * y | The quaternion y data
|
---|
| 2674 | * z | The quaternion z data
|
---|
| 2675 | *
|
---|
| 2676 | *
|
---|
| 2677 | *
|
---|
| 2678 | * @return results of bus communication function
|
---|
| 2679 | * @retval 0 -> Success
|
---|
| 2680 | * @retval 1 -> Error
|
---|
| 2681 | *
|
---|
| 2682 | */
|
---|
| 2683 | BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_wxyz(
|
---|
| 2684 | struct bno055_quaternion_t *quaternion);
|
---|
| 2685 | /**************************************************/
|
---|
| 2686 | /**\name LINEAR ACCEL DATA READ FUNCTIONS */
|
---|
| 2687 | /**************************************************/
|
---|
| 2688 | /*!
|
---|
| 2689 | * @brief This API reads Linear accel data x values
|
---|
| 2690 | * from register 0x29 and 0x2A it is a two byte data
|
---|
| 2691 | *
|
---|
| 2692 | * @param v_linear_accel_x_s_16 : The raw x data
|
---|
| 2693 | *
|
---|
| 2694 | * @return results of bus communication function
|
---|
| 2695 | * @retval 0 -> Success
|
---|
| 2696 | * @retval 1 -> Error
|
---|
| 2697 | *
|
---|
| 2698 | *
|
---|
| 2699 | */
|
---|
| 2700 | BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_x(
|
---|
| 2701 | s_16 *v_linear_accel_x_s_16);
|
---|
| 2702 | /*!
|
---|
| 2703 | * @brief This API reads Linear accel data x values
|
---|
| 2704 | * from register 0x2B and 0x2C it is a two byte data
|
---|
| 2705 | *
|
---|
| 2706 | * @param v_linear_accel_y_s_16 : The raw y data
|
---|
| 2707 | *
|
---|
| 2708 | * @return results of bus communication function
|
---|
| 2709 | * @retval 0 -> Success
|
---|
| 2710 | * @retval 1 -> Error
|
---|
| 2711 | *
|
---|
| 2712 | *
|
---|
| 2713 | */
|
---|
| 2714 | BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_y(
|
---|
| 2715 | s_16 *v_linear_accel_y_s_16);
|
---|
| 2716 | /*!
|
---|
| 2717 | * @brief This API reads Linear accel data x values
|
---|
| 2718 | * from register 0x2C and 0x2D it is a two byte data
|
---|
| 2719 | *
|
---|
| 2720 | * @param v_linear_accel_z_s_16 : The raw z data
|
---|
| 2721 | *
|
---|
| 2722 | * @return results of bus communication function
|
---|
| 2723 | * @retval 0 -> Success
|
---|
| 2724 | * @retval 1 -> Error
|
---|
| 2725 | *
|
---|
| 2726 | *
|
---|
| 2727 | */
|
---|
| 2728 | BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_z(
|
---|
| 2729 | s_16 *v_linear_accel_z_s_16);
|
---|
| 2730 | /*!
|
---|
| 2731 | * @brief This API reads Linear accel data xyz values
|
---|
| 2732 | * from register 0x28 to 0x2D it is a six byte data
|
---|
| 2733 | *
|
---|
| 2734 | *
|
---|
| 2735 | * @param linear_accel : The value of linear accel xyz data's
|
---|
| 2736 | *
|
---|
| 2737 | * Parameter | result
|
---|
| 2738 | * --------- | -----------------
|
---|
| 2739 | * x | The linear accel x data
|
---|
| 2740 | * y | The linear accel y data
|
---|
| 2741 | * z | The linear accel z data
|
---|
| 2742 | *
|
---|
| 2743 | *
|
---|
| 2744 | * @return results of bus communication function
|
---|
| 2745 | * @retval 0 -> Success
|
---|
| 2746 | * @retval 1 -> Error
|
---|
| 2747 | */
|
---|
| 2748 | BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_xyz(
|
---|
| 2749 | struct bno055_linear_accel_t *linear_accel);
|
---|
| 2750 | /**************************************************/
|
---|
| 2751 | /**\name GRAVITY DATA READ FUNCTIONS */
|
---|
| 2752 | /**************************************************/
|
---|
| 2753 | /*!
|
---|
| 2754 | * @brief This API reads gravity data x values
|
---|
| 2755 | * from register 0x2E and 0x2F it is a two byte data
|
---|
| 2756 | *
|
---|
| 2757 | * @param v_gravity_x_s_16 : The raw x data
|
---|
| 2758 | *
|
---|
| 2759 | * @return results of bus communication function
|
---|
| 2760 | * @retval 0 -> Success
|
---|
| 2761 | * @retval 1 -> Error
|
---|
| 2762 | *
|
---|
| 2763 | *
|
---|
| 2764 | */
|
---|
| 2765 | BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_x(
|
---|
| 2766 | s_16 *v_gravity_x_s_16);
|
---|
| 2767 | /*!
|
---|
| 2768 | * @brief This API reads gravity data y values
|
---|
| 2769 | * from register 0x30 and 0x31 it is a two byte data
|
---|
| 2770 | *
|
---|
| 2771 | * @param v_gravity_y_s_16 : The raw y data
|
---|
| 2772 | *
|
---|
| 2773 | * @return results of bus communication function
|
---|
| 2774 | * @retval 0 -> Success
|
---|
| 2775 | * @retval 1 -> Error
|
---|
| 2776 | *
|
---|
| 2777 | *
|
---|
| 2778 | */
|
---|
| 2779 | BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_y(
|
---|
| 2780 | s_16 *v_gravity_y_s_16);
|
---|
| 2781 | /*!
|
---|
| 2782 | * @brief This API reads gravity data z values
|
---|
| 2783 | * from register 0x32 and 0x33 it is a two byte data
|
---|
| 2784 | *
|
---|
| 2785 | * @param v_gravity_z_s_16 : The raw z data
|
---|
| 2786 | *
|
---|
| 2787 | * @return results of bus communication function
|
---|
| 2788 | * @retval 0 -> Success
|
---|
| 2789 | * @retval 1 -> Error
|
---|
| 2790 | *
|
---|
| 2791 | *
|
---|
| 2792 | */
|
---|
| 2793 | BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_z(
|
---|
| 2794 | s_16 *v_gravity_z_s_16);
|
---|
| 2795 | /*!
|
---|
| 2796 | * @brief This API reads gravity data xyz values
|
---|
| 2797 | * from register 0x2E to 0x33 it is a six byte data
|
---|
| 2798 | *
|
---|
| 2799 | *
|
---|
| 2800 | * @param gravity : The value of gravity xyz data's
|
---|
| 2801 | *
|
---|
| 2802 | * Parameter | result
|
---|
| 2803 | * --------- | -----------------
|
---|
| 2804 | * x | The gravity x data
|
---|
| 2805 | * y | The gravity y data
|
---|
| 2806 | * z | The gravity z data
|
---|
| 2807 | *
|
---|
| 2808 | *
|
---|
| 2809 | * @return results of bus communication function
|
---|
| 2810 | * @retval 0 -> Success
|
---|
| 2811 | * @retval 1 -> Error
|
---|
| 2812 | *
|
---|
| 2813 | */
|
---|
| 2814 | BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_xyz(
|
---|
| 2815 | struct bno055_gravity_t *gravity);
|
---|
| 2816 | /**************************************************/
|
---|
| 2817 | /**\name TEMPERATURE DATA READ FUNCTIONS */
|
---|
| 2818 | /**************************************************/
|
---|
| 2819 | /*!
|
---|
| 2820 | * @brief This API reads temperature values
|
---|
| 2821 | * from register 0x33 it is a byte data
|
---|
| 2822 | *
|
---|
| 2823 | * @param v_temp_s_8 : The raw temperature data
|
---|
| 2824 | *
|
---|
| 2825 | * @return results of bus communication function
|
---|
| 2826 | * @retval 0 -> Success
|
---|
| 2827 | * @retval 1 -> Error
|
---|
| 2828 | *
|
---|
| 2829 | *
|
---|
| 2830 | */
|
---|
| 2831 | BNO055_RETURN_FUNCTION_TYPE bno055_read_temp_data(s_8 *v_temp_s_8);
|
---|
| 2832 | #ifdef BNO055_FLOAT_ENABLE
|
---|
| 2833 | /********************************************************************/
|
---|
| 2834 | /**\name FUNCTIONS FOR READING ACCEL DATA OUTPUT AS FLOAT PRECISION */
|
---|
| 2835 | /********************************************************************/
|
---|
| 2836 | /*!
|
---|
| 2837 | * @brief This API is used to convert the accel x raw data
|
---|
| 2838 | * to meterpersecseq output as float
|
---|
| 2839 | *
|
---|
| 2840 | * @param v_accel_x_f : The accel x meterpersecseq data
|
---|
| 2841 | *
|
---|
| 2842 | *
|
---|
| 2843 | *
|
---|
| 2844 | * @return results of bus communication function
|
---|
| 2845 | * @retval 0 -> Success
|
---|
| 2846 | * @retval 1 -> Error
|
---|
| 2847 | *
|
---|
| 2848 | *
|
---|
| 2849 | */
|
---|
| 2850 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_msq(
|
---|
| 2851 | float *v_accel_x_f);
|
---|
| 2852 | /*!
|
---|
| 2853 | * @brief This API is used to convert the accel x raw data
|
---|
| 2854 | * to meterpersecseq output as float
|
---|
| 2855 | *
|
---|
| 2856 | * @param v_accel_y_f : The accel y meterpersecseq data
|
---|
| 2857 | *
|
---|
| 2858 | *
|
---|
| 2859 | *
|
---|
| 2860 | * @return results of bus communication function
|
---|
| 2861 | * @retval 0 -> Success
|
---|
| 2862 | * @retval 1 -> Error
|
---|
| 2863 | *
|
---|
| 2864 | *
|
---|
| 2865 | */
|
---|
| 2866 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_msq(
|
---|
| 2867 | float *v_accel_y_f);
|
---|
| 2868 | /*!
|
---|
| 2869 | * @brief This API is used to convert the accel z raw data
|
---|
| 2870 | * to meterpersecseq output as float
|
---|
| 2871 | *
|
---|
| 2872 | * @param v_accel_z_f : The accel z meterpersecseq data
|
---|
| 2873 | *
|
---|
| 2874 | *
|
---|
| 2875 | *
|
---|
| 2876 | * @return results of bus communication function
|
---|
| 2877 | * @retval 0 -> Success
|
---|
| 2878 | * @retval 1 -> Error
|
---|
| 2879 | *
|
---|
| 2880 | *
|
---|
| 2881 | */
|
---|
| 2882 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_msq(
|
---|
| 2883 | float *v_accel_z_f);
|
---|
| 2884 | /*!
|
---|
| 2885 | * @brief This API is used to convert the accel y raw data
|
---|
| 2886 | * to millig output as float
|
---|
| 2887 | *
|
---|
| 2888 | * @param v_accel_x_f : The accel y millig data
|
---|
| 2889 | *
|
---|
| 2890 | *
|
---|
| 2891 | *
|
---|
| 2892 | * @return results of bus communication function
|
---|
| 2893 | * @retval 0 -> Success
|
---|
| 2894 | * @retval 1 -> Error
|
---|
| 2895 | *
|
---|
| 2896 | */
|
---|
| 2897 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_mg(
|
---|
| 2898 | float *v_accel_x_f);
|
---|
| 2899 | /*!
|
---|
| 2900 | * @brief This API is used to convert the accel y raw data
|
---|
| 2901 | * to millig output as float
|
---|
| 2902 | *
|
---|
| 2903 | * @param v_accel_y_f : The accel y millig data
|
---|
| 2904 | *
|
---|
| 2905 | *
|
---|
| 2906 | *
|
---|
| 2907 | * @return results of bus communication function
|
---|
| 2908 | * @retval 0 -> Success
|
---|
| 2909 | * @retval 1 -> Error
|
---|
| 2910 | *
|
---|
| 2911 | */
|
---|
| 2912 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_mg(
|
---|
| 2913 | float *v_accel_y_f);
|
---|
| 2914 | /*!
|
---|
| 2915 | * @brief This API is used to convert the accel z raw data
|
---|
| 2916 | * to millig output as float
|
---|
| 2917 | *
|
---|
| 2918 | * @param v_accel_z_f : The accel z millig data
|
---|
| 2919 | *
|
---|
| 2920 | *
|
---|
| 2921 | *
|
---|
| 2922 | * @return results of bus communication function
|
---|
| 2923 | * @retval 0 -> Success
|
---|
| 2924 | * @retval 1 -> Error
|
---|
| 2925 | *
|
---|
| 2926 | *
|
---|
| 2927 | */
|
---|
| 2928 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_mg(
|
---|
| 2929 | float *v_accel_z_f);
|
---|
| 2930 | /*!
|
---|
| 2931 | * @brief This API is used to convert the accel xyz raw data
|
---|
| 2932 | * to meterpersecseq output as float
|
---|
| 2933 | *
|
---|
| 2934 | * @param accel_xyz : The meterpersecseq data of accel xyz
|
---|
| 2935 | *
|
---|
| 2936 | * Parameter | result
|
---|
| 2937 | * --------- | -----------------
|
---|
| 2938 | * x | meterpersecseq data of accel
|
---|
| 2939 | * y | meterpersecseq data of accel
|
---|
| 2940 | * z | meterpersecseq data of accel
|
---|
| 2941 | *
|
---|
| 2942 | * @return results of bus communication function
|
---|
| 2943 | * @retval 0 -> Success
|
---|
| 2944 | * @retval 1 -> Error
|
---|
| 2945 | *
|
---|
| 2946 | *
|
---|
| 2947 | */
|
---|
| 2948 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_msq(
|
---|
| 2949 | struct bno055_accel_float_t *accel_xyz);
|
---|
| 2950 | /*!
|
---|
| 2951 | * @brief This API is used to convert the accel xyz raw data
|
---|
| 2952 | * to millig output as float
|
---|
| 2953 | *
|
---|
| 2954 | * @param accel_xyz : The millig data of accel xyz
|
---|
| 2955 | *
|
---|
| 2956 | * Parameter | result
|
---|
| 2957 | * --------- | -----------------
|
---|
| 2958 | * x | millig data of accel
|
---|
| 2959 | * y | millig data of accel
|
---|
| 2960 | * z | millig data of accel
|
---|
| 2961 | *
|
---|
| 2962 | *
|
---|
| 2963 | * @return results of bus communication function
|
---|
| 2964 | * @retval 0 -> Success
|
---|
| 2965 | * @retval 1 -> Error
|
---|
| 2966 | *
|
---|
| 2967 | *
|
---|
| 2968 | */
|
---|
| 2969 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_mg(
|
---|
| 2970 | struct bno055_accel_float_t *accel_xyz);
|
---|
| 2971 | /********************************************************************/
|
---|
| 2972 | /**\name FUNCTIONS FOR READING MAG DATA OUTPUT AS FLOAT PRECISION */
|
---|
| 2973 | /********************************************************************/
|
---|
| 2974 | /*!
|
---|
| 2975 | * @brief This API is used to convert the mag x raw data
|
---|
| 2976 | * to microTesla output as float
|
---|
| 2977 | *
|
---|
| 2978 | * @param v_mag_x_f : The mag x microTesla data
|
---|
| 2979 | *
|
---|
| 2980 | *
|
---|
| 2981 | *
|
---|
| 2982 | * @return results of bus communication function
|
---|
| 2983 | * @retval 0 -> Success
|
---|
| 2984 | * @retval 1 -> Error
|
---|
| 2985 | *
|
---|
| 2986 | *
|
---|
| 2987 | */
|
---|
| 2988 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_x_uT(
|
---|
| 2989 | float *v_mag_x_f);
|
---|
| 2990 | /*!
|
---|
| 2991 | * @brief This API is used to convert the mag y raw data
|
---|
| 2992 | * to microTesla output as float
|
---|
| 2993 | *
|
---|
| 2994 | * @param v_mag_y_f : The mag y microTesla data
|
---|
| 2995 | *
|
---|
| 2996 | *
|
---|
| 2997 | *
|
---|
| 2998 | * @return results of bus communication function
|
---|
| 2999 | * @retval 0 -> Success
|
---|
| 3000 | * @retval 1 -> Error
|
---|
| 3001 | *
|
---|
| 3002 | */
|
---|
| 3003 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_y_uT(
|
---|
| 3004 | float *v_mag_y_f);
|
---|
| 3005 | /*!
|
---|
| 3006 | * @brief This API is used to convert the mag z raw data
|
---|
| 3007 | * to microTesla output as float
|
---|
| 3008 | *
|
---|
| 3009 | * @param v_mag_z_f : The mag z microTesla data
|
---|
| 3010 | *
|
---|
| 3011 | *
|
---|
| 3012 | *
|
---|
| 3013 | * @return results of bus communication function
|
---|
| 3014 | * @retval 0 -> Success
|
---|
| 3015 | * @retval 1 -> Error
|
---|
| 3016 | *
|
---|
| 3017 | */
|
---|
| 3018 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_z_uT(
|
---|
| 3019 | float *v_mag_z_f);
|
---|
| 3020 | /*!
|
---|
| 3021 | * @brief This API is used to convert the mag yz raw data
|
---|
| 3022 | * to microTesla output as float
|
---|
| 3023 | *
|
---|
| 3024 | * @param mag_xyz_data : The microTesla data of mag xyz
|
---|
| 3025 | *
|
---|
| 3026 | * Parameter | result
|
---|
| 3027 | * --------- | -----------------
|
---|
| 3028 | * x | microTesla data of mag
|
---|
| 3029 | * y | microTesla data of mag
|
---|
| 3030 | * z | microTesla data of mag
|
---|
| 3031 | *
|
---|
| 3032 | *
|
---|
| 3033 | * @return results of bus communication function
|
---|
| 3034 | * @retval 0 -> Success
|
---|
| 3035 | * @retval 1 -> Error
|
---|
| 3036 | *
|
---|
| 3037 | */
|
---|
| 3038 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_xyz_uT(
|
---|
| 3039 | struct bno055_mag_float_t *mag_xyz_data);
|
---|
| 3040 | /********************************************************************/
|
---|
| 3041 | /**\name FUNCTIONS FOR READING GYRO DATA OUTPUT AS FLOAT PRECISION */
|
---|
| 3042 | /********************************************************************/
|
---|
| 3043 | /*!
|
---|
| 3044 | * @brief This API is used to convert the gyro x raw data
|
---|
| 3045 | * to dps output as float
|
---|
| 3046 | *
|
---|
| 3047 | * @param v_gyro_x_f : The gyro x dps float data
|
---|
| 3048 | *
|
---|
| 3049 | *
|
---|
| 3050 | *
|
---|
| 3051 | * @return results of bus communication function
|
---|
| 3052 | * @retval 0 -> Success
|
---|
| 3053 | * @retval 1 -> Error
|
---|
| 3054 | */
|
---|
| 3055 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_dps(
|
---|
| 3056 | float *v_gyro_x_f);
|
---|
| 3057 | /*!
|
---|
| 3058 | * @brief This API is used to convert the gyro x raw data
|
---|
| 3059 | * to rps output as float
|
---|
| 3060 | *
|
---|
| 3061 | * @param v_gyro_x_f : The gyro x dps float data
|
---|
| 3062 | *
|
---|
| 3063 | *
|
---|
| 3064 | *
|
---|
| 3065 | * @return results of bus communication function
|
---|
| 3066 | * @retval 0 -> Success
|
---|
| 3067 | * @retval 1 -> Error
|
---|
| 3068 | *
|
---|
| 3069 | */
|
---|
| 3070 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_rps(
|
---|
| 3071 | float *v_gyro_x_f);
|
---|
| 3072 | /*!
|
---|
| 3073 | * @brief This API is used to convert the gyro y raw data
|
---|
| 3074 | * to dps output as float
|
---|
| 3075 | *
|
---|
| 3076 | * @param v_gyro_y_f : The gyro y dps float data
|
---|
| 3077 | *
|
---|
| 3078 | *
|
---|
| 3079 | *
|
---|
| 3080 | * @return results of bus communication function
|
---|
| 3081 | * @retval 0 -> Success
|
---|
| 3082 | * @retval 1 -> Error
|
---|
| 3083 | *
|
---|
| 3084 | */
|
---|
| 3085 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_dps(
|
---|
| 3086 | float *v_gyro_y_f);
|
---|
| 3087 | /*!
|
---|
| 3088 | * @brief This API is used to convert the gyro y raw data
|
---|
| 3089 | * to rps output as float
|
---|
| 3090 | *
|
---|
| 3091 | * @param v_gyro_y_f : The gyro y dps float data
|
---|
| 3092 | *
|
---|
| 3093 | *
|
---|
| 3094 | *
|
---|
| 3095 | * @return results of bus communication function
|
---|
| 3096 | * @retval 0 -> Success
|
---|
| 3097 | * @retval 1 -> Error
|
---|
| 3098 | *
|
---|
| 3099 | *
|
---|
| 3100 | */
|
---|
| 3101 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_rps(
|
---|
| 3102 | float *v_gyro_y_f);
|
---|
| 3103 | /*!
|
---|
| 3104 | * @brief This API is used to convert the gyro z raw data
|
---|
| 3105 | * to dps output as float
|
---|
| 3106 | *
|
---|
| 3107 | * @param v_gyro_z_f : The gyro z dps float data
|
---|
| 3108 | *
|
---|
| 3109 | *
|
---|
| 3110 | *
|
---|
| 3111 | * @return results of bus communication function
|
---|
| 3112 | * @retval 0 -> Success
|
---|
| 3113 | * @retval 1 -> Error
|
---|
| 3114 | *
|
---|
| 3115 | */
|
---|
| 3116 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_dps(
|
---|
| 3117 | float *v_gyro_z_f);
|
---|
| 3118 | /*!
|
---|
| 3119 | * @brief This API is used to convert the gyro z raw data
|
---|
| 3120 | * to rps output as float
|
---|
| 3121 | *
|
---|
| 3122 | * @param v_gyro_z_f : The gyro z rps float data
|
---|
| 3123 | *
|
---|
| 3124 | *
|
---|
| 3125 | *
|
---|
| 3126 | * @return results of bus communication function
|
---|
| 3127 | * @retval 0 -> Success
|
---|
| 3128 | * @retval 1 -> Error
|
---|
| 3129 | *
|
---|
| 3130 | */
|
---|
| 3131 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_rps(
|
---|
| 3132 | float *v_gyro_z_f);
|
---|
| 3133 | /*!
|
---|
| 3134 | * @brief This API is used to convert the gyro xyz raw data
|
---|
| 3135 | * to dps output as float
|
---|
| 3136 | *
|
---|
| 3137 | * @param gyro_xyz_data : The dps data of gyro xyz
|
---|
| 3138 | *
|
---|
| 3139 | * Parameter | result
|
---|
| 3140 | * --------- | -----------------
|
---|
| 3141 | * x | dps data of gyro
|
---|
| 3142 | * y | dps data of gyro
|
---|
| 3143 | * z | dps data of gyro
|
---|
| 3144 | *
|
---|
| 3145 | *
|
---|
| 3146 | * @return results of bus communication function
|
---|
| 3147 | * @retval 0 -> Success
|
---|
| 3148 | * @retval 1 -> Error
|
---|
| 3149 | *
|
---|
| 3150 | *
|
---|
| 3151 | */
|
---|
| 3152 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_dps(
|
---|
| 3153 | struct bno055_gyro_float_t *gyro_xyz_data);
|
---|
| 3154 | /*!
|
---|
| 3155 | * @brief This API is used to convert the gyro xyz raw data
|
---|
| 3156 | * to rps output as float
|
---|
| 3157 | *
|
---|
| 3158 | * @param gyro_xyz_data : The rps data of gyro xyz
|
---|
| 3159 | *
|
---|
| 3160 | * Parameter | result
|
---|
| 3161 | * --------- | -----------------
|
---|
| 3162 | * x | rps data of gyro
|
---|
| 3163 | * y | rps data of gyro
|
---|
| 3164 | * z | rps data of gyro
|
---|
| 3165 | *
|
---|
| 3166 | *
|
---|
| 3167 | * @return results of bus communication function
|
---|
| 3168 | * @retval 0 -> Success
|
---|
| 3169 | * @retval 1 -> Error
|
---|
| 3170 | *
|
---|
| 3171 | *
|
---|
| 3172 | */
|
---|
| 3173 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_rps(
|
---|
| 3174 | struct bno055_gyro_float_t *gyro_xyz_data);
|
---|
| 3175 | /********************************************************************/
|
---|
| 3176 | /**\name FUNCTIONS FOR READING EULER DATA OUTPUT AS FLOAT PRECISION */
|
---|
| 3177 | /********************************************************************/
|
---|
| 3178 | /*!
|
---|
| 3179 | * @brief This API is used to convert the Euler h raw data
|
---|
| 3180 | * to degree output as float
|
---|
| 3181 | *
|
---|
| 3182 | * @param v_euler_h_f : The float value of Euler h degree
|
---|
| 3183 | *
|
---|
| 3184 | * @return results of bus communication function
|
---|
| 3185 | * @retval 0 -> Success
|
---|
| 3186 | * @retval 1 -> Error
|
---|
| 3187 | *
|
---|
| 3188 | *
|
---|
| 3189 | */
|
---|
| 3190 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_deg(
|
---|
| 3191 | float *v_euler_h_f);
|
---|
| 3192 | /*!
|
---|
| 3193 | * @brief This API is used to convert the Euler h raw data
|
---|
| 3194 | * to radians output as float
|
---|
| 3195 | *
|
---|
| 3196 | * @param v_euler_h_f : The float value of Euler h radians
|
---|
| 3197 | *
|
---|
| 3198 | * @return results of bus communication function
|
---|
| 3199 | * @retval 0 -> Success
|
---|
| 3200 | * @retval 1 -> Error
|
---|
| 3201 | *
|
---|
| 3202 | *
|
---|
| 3203 | */
|
---|
| 3204 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_rad(
|
---|
| 3205 | float *v_euler_h_f);
|
---|
| 3206 | /*!
|
---|
| 3207 | * @brief This API is used to convert the Euler r raw data
|
---|
| 3208 | * to degree output as float
|
---|
| 3209 | *
|
---|
| 3210 | * @param v_euler_r_f : The float value of Euler r degree
|
---|
| 3211 | *
|
---|
| 3212 | * @return results of bus communication function
|
---|
| 3213 | * @retval 0 -> Success
|
---|
| 3214 | * @retval 1 -> Error
|
---|
| 3215 | *
|
---|
| 3216 | */
|
---|
| 3217 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_deg(
|
---|
| 3218 | float *v_euler_r_f);
|
---|
| 3219 | /*!
|
---|
| 3220 | * @brief This API is used to convert the Euler r raw data
|
---|
| 3221 | * to radians output as float
|
---|
| 3222 | *
|
---|
| 3223 | * @param v_euler_r_f : The float value of Euler r radians
|
---|
| 3224 | *
|
---|
| 3225 | * @return results of bus communication function
|
---|
| 3226 | * @retval 0 -> Success
|
---|
| 3227 | * @retval 1 -> Error
|
---|
| 3228 | *
|
---|
| 3229 | */
|
---|
| 3230 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_rad(
|
---|
| 3231 | float *v_euler_r_f);
|
---|
| 3232 | /*!
|
---|
| 3233 | * @brief This API is used to convert the Euler p raw data
|
---|
| 3234 | * to degree output as float
|
---|
| 3235 | *
|
---|
| 3236 | * @param v_euler_p_f : The float value of Euler p degree
|
---|
| 3237 | *
|
---|
| 3238 | * @return results of bus communication function
|
---|
| 3239 | * @retval 0 -> Success
|
---|
| 3240 | * @retval 1 -> Error
|
---|
| 3241 | *
|
---|
| 3242 | */
|
---|
| 3243 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_deg(
|
---|
| 3244 | float *v_euler_p_f);
|
---|
| 3245 | /*!
|
---|
| 3246 | * @brief This API is used to convert the Euler p raw data
|
---|
| 3247 | * to radians output as float
|
---|
| 3248 | *
|
---|
| 3249 | * @param v_euler_p_f : The float value of Euler p radians
|
---|
| 3250 | *
|
---|
| 3251 | * @return results of bus communication function
|
---|
| 3252 | * @retval 0 -> Success
|
---|
| 3253 | * @retval 1 -> Error
|
---|
| 3254 | *
|
---|
| 3255 | *
|
---|
| 3256 | */
|
---|
| 3257 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_rad(
|
---|
| 3258 | float *v_euler_p_f);
|
---|
| 3259 | /*!
|
---|
| 3260 | * @brief This API is used to convert the Euler hrp raw data
|
---|
| 3261 | * to degree output as float
|
---|
| 3262 | *
|
---|
| 3263 | * @param euler_hpr : The degree data of Euler hrp
|
---|
| 3264 | *
|
---|
| 3265 | * Parameter | result
|
---|
| 3266 | * --------- | -----------------
|
---|
| 3267 | * h | degree data of Euler
|
---|
| 3268 | * r | degree data of Euler
|
---|
| 3269 | * p | degree data of Euler
|
---|
| 3270 | *
|
---|
| 3271 | *
|
---|
| 3272 | * @return results of bus communication function
|
---|
| 3273 | * @retval 0 -> Success
|
---|
| 3274 | * @retval 1 -> Error
|
---|
| 3275 | *
|
---|
| 3276 | */
|
---|
| 3277 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_deg(
|
---|
| 3278 | struct bno055_euler_float_t *euler_hpr);
|
---|
| 3279 | /*!
|
---|
| 3280 | * @brief This API is used to convert the Euler xyz raw data
|
---|
| 3281 | * to radians output as float
|
---|
| 3282 | *
|
---|
| 3283 | * @param euler_hpr : The radians data of Euler hrp
|
---|
| 3284 | *
|
---|
| 3285 | * Parameter | result
|
---|
| 3286 | * --------- | -----------------
|
---|
| 3287 | * h | radians data of Euler
|
---|
| 3288 | * r | radians data of Euler
|
---|
| 3289 | * p | radians data of Euler
|
---|
| 3290 | *
|
---|
| 3291 | *
|
---|
| 3292 | * @return results of bus communication function
|
---|
| 3293 | * @retval 0 -> Success
|
---|
| 3294 | * @retval 1 -> Error
|
---|
| 3295 | *
|
---|
| 3296 | */
|
---|
| 3297 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_rad(
|
---|
| 3298 | struct bno055_euler_float_t *euler_hpr);
|
---|
| 3299 | /***************************************************************************/
|
---|
| 3300 | /**\name FUNCTIONS FOR READING LINEAR ACCEL DATA OUTPUT AS FLOAT PRECISION */
|
---|
| 3301 | /**************************************************************************/
|
---|
| 3302 | /*!
|
---|
| 3303 | * @brief This API is used to convert the linear
|
---|
| 3304 | * accel x raw data to meterpersecseq output as float
|
---|
| 3305 | *
|
---|
| 3306 | * @param v_linear_accel_x_f : The float value of linear accel x meterpersecseq
|
---|
| 3307 | *
|
---|
| 3308 | * @return results of bus communication function
|
---|
| 3309 | * @retval 0 -> Success
|
---|
| 3310 | * @retval 1 -> Error
|
---|
| 3311 | */
|
---|
| 3312 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_x_msq(
|
---|
| 3313 | float *v_linear_accel_x_f);
|
---|
| 3314 | /*!
|
---|
| 3315 | * @brief This API is used to convert the linear
|
---|
| 3316 | * accel y raw data to meterpersecseq output as float
|
---|
| 3317 | *
|
---|
| 3318 | * @param v_linear_accel_y_f : The float value of linear accel y meterpersecseq
|
---|
| 3319 | *
|
---|
| 3320 | * @return results of bus communication function
|
---|
| 3321 | * @retval 0 -> Success
|
---|
| 3322 | * @retval 1 -> Error
|
---|
| 3323 | */
|
---|
| 3324 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_y_msq(
|
---|
| 3325 | float *v_linear_accel_y_f);
|
---|
| 3326 | /*!
|
---|
| 3327 | * @brief This API is used to convert the linear
|
---|
| 3328 | * accel z raw data to meterpersecseq output as float
|
---|
| 3329 | *
|
---|
| 3330 | * @param v_linear_accel_z_f : The float value of linear accel z meterpersecseq
|
---|
| 3331 | *
|
---|
| 3332 | * @return results of bus communication function
|
---|
| 3333 | * @retval 0 -> Success
|
---|
| 3334 | * @retval 1 -> Error
|
---|
| 3335 | *
|
---|
| 3336 | */
|
---|
| 3337 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_z_msq(
|
---|
| 3338 | float *v_linear_accel_z_f);
|
---|
| 3339 | /*!
|
---|
| 3340 | * @brief This API is used to convert the linear accel xyz raw data
|
---|
| 3341 | * to meterpersecseq output as float
|
---|
| 3342 | *
|
---|
| 3343 | * @param linear_accel_xyz : The meterpersecseq data of linear accel xyz
|
---|
| 3344 | *
|
---|
| 3345 | * Parameter | result
|
---|
| 3346 | * --------- | -----------------
|
---|
| 3347 | * x | meterpersecseq data of linear accel
|
---|
| 3348 | * y | meterpersecseq data of linear accel
|
---|
| 3349 | * z | meterpersecseq data of linear accel
|
---|
| 3350 | *
|
---|
| 3351 | *
|
---|
| 3352 | * @return results of bus communication function
|
---|
| 3353 | * @retval 0 -> Success
|
---|
| 3354 | * @retval 1 -> Error
|
---|
| 3355 | *
|
---|
| 3356 | *
|
---|
| 3357 | */
|
---|
| 3358 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_xyz_msq(
|
---|
| 3359 | struct bno055_linear_accel_float_t *linear_accel_xyz);
|
---|
| 3360 | /********************************************************************/
|
---|
| 3361 | /**\name FUNCTIONS FOR READING GRAVITY DATA OUTPUT AS FLOAT PRECISION */
|
---|
| 3362 | /********************************************************************/
|
---|
| 3363 | /*!
|
---|
| 3364 | * @brief This API is used to convert the gravity
|
---|
| 3365 | * x raw data to meterpersecseq output as float
|
---|
| 3366 | *
|
---|
| 3367 | * @param v_gravity_x_f : The float value of gravity x meterpersecseq
|
---|
| 3368 | *
|
---|
| 3369 | * @return results of bus communication function
|
---|
| 3370 | * @retval 0 -> Success
|
---|
| 3371 | * @retval 1 -> Error
|
---|
| 3372 | *
|
---|
| 3373 | *
|
---|
| 3374 | */
|
---|
| 3375 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_x_msq(
|
---|
| 3376 | float *v_gravity_x_f);
|
---|
| 3377 | /*!
|
---|
| 3378 | * @brief This API is used to convert the gravity
|
---|
| 3379 | * y raw data to meterpersecseq output as float
|
---|
| 3380 | *
|
---|
| 3381 | * @param v_gravity_y_f : The float value of gravity y meterpersecseq
|
---|
| 3382 | *
|
---|
| 3383 | * @return results of bus communication function
|
---|
| 3384 | * @retval 0 -> Success
|
---|
| 3385 | * @retval 1 -> Error
|
---|
| 3386 | *
|
---|
| 3387 | *
|
---|
| 3388 | */
|
---|
| 3389 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_y_msq(
|
---|
| 3390 | float *v_gravity_y_f);
|
---|
| 3391 | /*!
|
---|
| 3392 | * @brief This API is used to convert the gravity
|
---|
| 3393 | * z raw data to meterpersecseq output as float
|
---|
| 3394 | *
|
---|
| 3395 | * @param v_gravity_z_f : The float value of gravity z meterpersecseq
|
---|
| 3396 | *
|
---|
| 3397 | * @return results of bus communication function
|
---|
| 3398 | * @retval 0 -> Success
|
---|
| 3399 | * @retval 1 -> Error
|
---|
| 3400 | *
|
---|
| 3401 | */
|
---|
| 3402 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_z_msq(
|
---|
| 3403 | float *gravity_z);
|
---|
| 3404 | /*!
|
---|
| 3405 | * @brief This API is used to convert the gravity xyz raw data
|
---|
| 3406 | * to meterpersecseq output as float
|
---|
| 3407 | *
|
---|
| 3408 | * @param gravity_xyz : The meterpersecseq data of gravity xyz
|
---|
| 3409 | *
|
---|
| 3410 | * Parameter | result
|
---|
| 3411 | * --------- | -----------------
|
---|
| 3412 | * x | meterpersecseq data of gravity
|
---|
| 3413 | * y | meterpersecseq data of gravity
|
---|
| 3414 | * z | meterpersecseq data of gravity
|
---|
| 3415 | *
|
---|
| 3416 | *
|
---|
| 3417 | * @return results of bus communication function
|
---|
| 3418 | * @retval 0 -> Success
|
---|
| 3419 | * @retval 1 -> Error
|
---|
| 3420 | *
|
---|
| 3421 | *
|
---|
| 3422 | */
|
---|
| 3423 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gravity_xyz_msq(
|
---|
| 3424 | struct bno055_gravity_float_t *gravity_xyz);
|
---|
| 3425 | /**************************************************************************/
|
---|
| 3426 | /**\name FUNCTIONS FOR READING TEMPERATURE DATA OUTPUT AS FLOAT PRECISION */
|
---|
| 3427 | /*************************************************************************/
|
---|
| 3428 | /*!
|
---|
| 3429 | * @brief This API is used to convert the temperature
|
---|
| 3430 | * data to Fahrenheit output as float
|
---|
| 3431 | *
|
---|
| 3432 | * @param v_temp_f : The float value of temperature Fahrenheit
|
---|
| 3433 | *
|
---|
| 3434 | * @return results of bus communication function
|
---|
| 3435 | * @retval 0 -> Success
|
---|
| 3436 | * @retval 1 -> Error
|
---|
| 3437 | *
|
---|
| 3438 | *
|
---|
| 3439 | */
|
---|
| 3440 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_fahrenheit(
|
---|
| 3441 | float *v_temp_f);
|
---|
| 3442 | /*!
|
---|
| 3443 | * @brief This API is used to convert the temperature
|
---|
| 3444 | * data to Celsius output as float
|
---|
| 3445 | *
|
---|
| 3446 | * @param v_temp_f : The float value of temperature Celsius
|
---|
| 3447 | *
|
---|
| 3448 | * @return results of bus communication function
|
---|
| 3449 | * @retval 0 -> Success
|
---|
| 3450 | * @retval 1 -> Error
|
---|
| 3451 | *
|
---|
| 3452 | *
|
---|
| 3453 | *
|
---|
| 3454 | */
|
---|
| 3455 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_celsius(
|
---|
| 3456 | float *v_temp_f);
|
---|
| 3457 | #endif
|
---|
| 3458 | #ifdef BNO055_DOUBLE_ENABLE
|
---|
| 3459 | /**************************************************************************/
|
---|
| 3460 | /**\name FUNCTIONS FOR READING ACCEL DATA OUTPUT AS DOUBLE PRECISION */
|
---|
| 3461 | /*************************************************************************/
|
---|
| 3462 | /*!
|
---|
| 3463 | * @brief This API is used to convert the accel x raw data
|
---|
| 3464 | * to meterpersecseq output as double
|
---|
| 3465 | *
|
---|
| 3466 | * @param v_accel_x_d : The accel x meterpersecseq data
|
---|
| 3467 | *
|
---|
| 3468 | *
|
---|
| 3469 | *
|
---|
| 3470 | * @return results of bus communication function
|
---|
| 3471 | * @retval 0 -> Success
|
---|
| 3472 | * @retval 1 -> Error
|
---|
| 3473 | *
|
---|
| 3474 | *
|
---|
| 3475 | */
|
---|
| 3476 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_msq(
|
---|
| 3477 | double *v_accel_x_d);
|
---|
| 3478 | /*!
|
---|
| 3479 | * @brief This API is used to convert the accel y raw data
|
---|
| 3480 | * to meterpersecseq output as double
|
---|
| 3481 | *
|
---|
| 3482 | * @param v_accel_y_d : The accel y meterpersecseq data
|
---|
| 3483 | *
|
---|
| 3484 | *
|
---|
| 3485 | *
|
---|
| 3486 | * @return results of bus communication function
|
---|
| 3487 | * @retval 0 -> Success
|
---|
| 3488 | * @retval 1 -> Error
|
---|
| 3489 | *
|
---|
| 3490 | *
|
---|
| 3491 | *
|
---|
| 3492 | */
|
---|
| 3493 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_msq(
|
---|
| 3494 | double *v_accel_y_d);
|
---|
| 3495 | /*!
|
---|
| 3496 | * @brief This API is used to convert the accel z raw data
|
---|
| 3497 | * to meterpersecseq output as double
|
---|
| 3498 | *
|
---|
| 3499 | * @param v_accel_z_d : The accel z meterpersecseq data
|
---|
| 3500 | *
|
---|
| 3501 | *
|
---|
| 3502 | *
|
---|
| 3503 | * @return results of bus communication function
|
---|
| 3504 | * @retval 0 -> Success
|
---|
| 3505 | * @retval 1 -> Error
|
---|
| 3506 | */
|
---|
| 3507 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_msq(
|
---|
| 3508 | double *v_accel_z_d);
|
---|
| 3509 | /*!
|
---|
| 3510 | * @brief This API is used to convert the accel x raw data
|
---|
| 3511 | * to millig output as double
|
---|
| 3512 | *
|
---|
| 3513 | * @param v_accel_x_d : The accel x millig data
|
---|
| 3514 | *
|
---|
| 3515 | *
|
---|
| 3516 | *
|
---|
| 3517 | * @return results of bus communication function
|
---|
| 3518 | * @retval 0 -> Success
|
---|
| 3519 | * @retval 1 -> Error
|
---|
| 3520 | *
|
---|
| 3521 | *
|
---|
| 3522 | *
|
---|
| 3523 | */
|
---|
| 3524 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_mg(
|
---|
| 3525 | double *v_accel_x_d);
|
---|
| 3526 | /*!
|
---|
| 3527 | * @brief This API is used to convert the accel y raw data
|
---|
| 3528 | * to millig output as double
|
---|
| 3529 | *
|
---|
| 3530 | * @param v_accel_y_d : The accel y millig data
|
---|
| 3531 | *
|
---|
| 3532 | *
|
---|
| 3533 | *
|
---|
| 3534 | * @return results of bus communication function
|
---|
| 3535 | * @retval 0 -> Success
|
---|
| 3536 | * @retval 1 -> Error
|
---|
| 3537 | *
|
---|
| 3538 | *
|
---|
| 3539 | */
|
---|
| 3540 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_mg(
|
---|
| 3541 | double *v_accel_y_d);
|
---|
| 3542 | /*!
|
---|
| 3543 | * @brief This API is used to convert the accel z raw data
|
---|
| 3544 | * to millig output as double
|
---|
| 3545 | *
|
---|
| 3546 | * @param v_accel_z_d : The accel z millig data
|
---|
| 3547 | *
|
---|
| 3548 | *
|
---|
| 3549 | *
|
---|
| 3550 | * @return results of bus communication function
|
---|
| 3551 | * @retval 0 -> Success
|
---|
| 3552 | * @retval 1 -> Error
|
---|
| 3553 | *
|
---|
| 3554 | */
|
---|
| 3555 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_mg(
|
---|
| 3556 | double *v_accel_z_d);
|
---|
| 3557 | /*!
|
---|
| 3558 | * @brief This API is used to convert the accel xyz raw data
|
---|
| 3559 | * to meterpersecseq output as double
|
---|
| 3560 | *
|
---|
| 3561 | * @param accel_xyz : The meterpersecseq data of accel xyz
|
---|
| 3562 | *
|
---|
| 3563 | * Parameter | result
|
---|
| 3564 | * --------- | -----------------
|
---|
| 3565 | * x | meterpersecseq data of accel
|
---|
| 3566 | * y | meterpersecseq data of accel
|
---|
| 3567 | * z | meterpersecseq data of accel
|
---|
| 3568 | *
|
---|
| 3569 | *
|
---|
| 3570 | * @return results of bus communication function
|
---|
| 3571 | * @retval 0 -> Success
|
---|
| 3572 | * @retval 1 -> Error
|
---|
| 3573 | *
|
---|
| 3574 | *
|
---|
| 3575 | */
|
---|
| 3576 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_msq(
|
---|
| 3577 | struct bno055_accel_double_t *accel_xyz);
|
---|
| 3578 | /*!
|
---|
| 3579 | * @brief This API is used to convert the accel xyz raw data
|
---|
| 3580 | * to millig output as double
|
---|
| 3581 | *
|
---|
| 3582 | * @param accel_xyz : The millig data of accel xyz
|
---|
| 3583 | *
|
---|
| 3584 | * Parameter | result
|
---|
| 3585 | * --------- | -----------------
|
---|
| 3586 | * x | millig data of accel
|
---|
| 3587 | * y | millig data of accel
|
---|
| 3588 | * z | millig data of accel
|
---|
| 3589 | *
|
---|
| 3590 | *
|
---|
| 3591 | * @return results of bus communication function
|
---|
| 3592 | * @retval 0 -> Success
|
---|
| 3593 | * @retval 1 -> Error
|
---|
| 3594 | *
|
---|
| 3595 | */
|
---|
| 3596 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_mg(
|
---|
| 3597 | struct bno055_accel_double_t *accel_xyz);
|
---|
| 3598 | /**************************************************************************/
|
---|
| 3599 | /**\name FUNCTIONS FOR READING MAG DATA OUTPUT AS DOUBLE PRECISION */
|
---|
| 3600 | /*************************************************************************/
|
---|
| 3601 | /*!
|
---|
| 3602 | * @brief This API is used to convert the mag x raw data
|
---|
| 3603 | * to microTesla output as double
|
---|
| 3604 | *
|
---|
| 3605 | * @param v_mag_x_d : The mag x microTesla data
|
---|
| 3606 | *
|
---|
| 3607 | *
|
---|
| 3608 | *
|
---|
| 3609 | * @return results of bus communication function
|
---|
| 3610 | * @retval 0 -> Success
|
---|
| 3611 | * @retval 1 -> Error
|
---|
| 3612 | *
|
---|
| 3613 | *
|
---|
| 3614 | *
|
---|
| 3615 | */
|
---|
| 3616 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_x_uT(
|
---|
| 3617 | double *v_mag_x_d);
|
---|
| 3618 | /*!
|
---|
| 3619 | * @brief This API is used to convert the mag x raw data
|
---|
| 3620 | * to microTesla output as double
|
---|
| 3621 | *
|
---|
| 3622 | * @param v_mag_y_d : The mag x microTesla data
|
---|
| 3623 | *
|
---|
| 3624 | *
|
---|
| 3625 | *
|
---|
| 3626 | * @return results of bus communication function
|
---|
| 3627 | * @retval 0 -> Success
|
---|
| 3628 | * @retval 1 -> Error
|
---|
| 3629 | *
|
---|
| 3630 | *
|
---|
| 3631 | *
|
---|
| 3632 | */
|
---|
| 3633 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_y_uT(
|
---|
| 3634 | double *v_mag_y_d);
|
---|
| 3635 | /*!
|
---|
| 3636 | * @brief This API is used to convert the mag z raw data
|
---|
| 3637 | * to microTesla output as double
|
---|
| 3638 | *
|
---|
| 3639 | * @param v_mag_z_d : The mag z microTesla data
|
---|
| 3640 | *
|
---|
| 3641 | *
|
---|
| 3642 | *
|
---|
| 3643 | * @return results of bus communication function
|
---|
| 3644 | * @retval 0 -> Success
|
---|
| 3645 | * @retval 1 -> Error
|
---|
| 3646 | *
|
---|
| 3647 | *
|
---|
| 3648 | */
|
---|
| 3649 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_z_uT(
|
---|
| 3650 | double *v_mag_z_d);
|
---|
| 3651 | /*!
|
---|
| 3652 | * @brief This API is used to convert the mag yz raw data
|
---|
| 3653 | * to microTesla output as double
|
---|
| 3654 | *
|
---|
| 3655 | * @param mag_xyz : The microTesla data of mag xyz
|
---|
| 3656 | *
|
---|
| 3657 | * Parameter | result
|
---|
| 3658 | * --------- | -----------------
|
---|
| 3659 | * x | microTesla data of mag
|
---|
| 3660 | * y | microTesla data of mag
|
---|
| 3661 | * z | microTesla data of mag
|
---|
| 3662 | *
|
---|
| 3663 | *
|
---|
| 3664 | * @return results of bus communication function
|
---|
| 3665 | * @retval 0 -> Success
|
---|
| 3666 | * @retval 1 -> Error
|
---|
| 3667 | *
|
---|
| 3668 | */
|
---|
| 3669 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_xyz_uT(
|
---|
| 3670 | struct bno055_mag_double_t *mag_xyz);
|
---|
| 3671 | /**************************************************************************/
|
---|
| 3672 | /**\name FUNCTIONS FOR READING GYRO DATA OUTPUT AS DOUBLE PRECISION */
|
---|
| 3673 | /*************************************************************************/
|
---|
| 3674 | /*!
|
---|
| 3675 | * @brief This API is used to convert the gyro x raw data
|
---|
| 3676 | * to dps output as double
|
---|
| 3677 | *
|
---|
| 3678 | * @param v_gyro_x_d : The gyro x dps double data
|
---|
| 3679 | *
|
---|
| 3680 | *
|
---|
| 3681 | *
|
---|
| 3682 | * @return results of bus communication function
|
---|
| 3683 | * @retval 0 -> Success
|
---|
| 3684 | * @retval 1 -> Error
|
---|
| 3685 | *
|
---|
| 3686 | *
|
---|
| 3687 | */
|
---|
| 3688 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_dps(
|
---|
| 3689 | double *v_gyro_x_d);
|
---|
| 3690 | /*!
|
---|
| 3691 | * @brief This API is used to convert the gyro y raw data
|
---|
| 3692 | * to dps output as double
|
---|
| 3693 | *
|
---|
| 3694 | * @param v_gyro_y_d : The gyro y dps double data
|
---|
| 3695 | *
|
---|
| 3696 | *
|
---|
| 3697 | *
|
---|
| 3698 | * @return results of bus communication function
|
---|
| 3699 | * @retval 0 -> Success
|
---|
| 3700 | * @retval 1 -> Error
|
---|
| 3701 | *
|
---|
| 3702 | *
|
---|
| 3703 | */
|
---|
| 3704 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_dps(
|
---|
| 3705 | double *v_gyro_y_d);
|
---|
| 3706 | /*!
|
---|
| 3707 | * @brief This API is used to convert the gyro z raw data
|
---|
| 3708 | * to dps output as double
|
---|
| 3709 | *
|
---|
| 3710 | * @param v_gyro_z_d : The gyro z dps double data
|
---|
| 3711 | *
|
---|
| 3712 | *
|
---|
| 3713 | *
|
---|
| 3714 | * @return results of bus communication function
|
---|
| 3715 | * @retval 0 -> Success
|
---|
| 3716 | * @retval 1 -> Error
|
---|
| 3717 | *
|
---|
| 3718 | *
|
---|
| 3719 | */
|
---|
| 3720 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_dps(
|
---|
| 3721 | double *v_gyro_z_d);
|
---|
| 3722 | /*!
|
---|
| 3723 | * @brief This API is used to convert the gyro x raw data
|
---|
| 3724 | * to rps output as double
|
---|
| 3725 | *
|
---|
| 3726 | * @param v_gyro_x_d : The gyro x dps double data
|
---|
| 3727 | *
|
---|
| 3728 | *
|
---|
| 3729 | *
|
---|
| 3730 | * @return results of bus communication function
|
---|
| 3731 | * @retval 0 -> Success
|
---|
| 3732 | * @retval 1 -> Error
|
---|
| 3733 | *
|
---|
| 3734 | *
|
---|
| 3735 | */
|
---|
| 3736 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_rps(
|
---|
| 3737 | double *v_gyro_x_d);
|
---|
| 3738 | /*!
|
---|
| 3739 | * @brief This API is used to convert the gyro y raw data
|
---|
| 3740 | * to rps output as double
|
---|
| 3741 | *
|
---|
| 3742 | * @param v_gyro_y_d : The gyro y dps double data
|
---|
| 3743 | *
|
---|
| 3744 | *
|
---|
| 3745 | *
|
---|
| 3746 | * @return results of bus communication function
|
---|
| 3747 | * @retval 0 -> Success
|
---|
| 3748 | * @retval 1 -> Error
|
---|
| 3749 | *
|
---|
| 3750 | *
|
---|
| 3751 | */
|
---|
| 3752 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_rps(
|
---|
| 3753 | double *v_gyro_y_d);
|
---|
| 3754 | /*!
|
---|
| 3755 | * @brief This API is used to convert the gyro z raw data
|
---|
| 3756 | * to rps output as double
|
---|
| 3757 | *
|
---|
| 3758 | * @param v_gyro_z_d : The gyro z rps double data
|
---|
| 3759 | *
|
---|
| 3760 | *
|
---|
| 3761 | *
|
---|
| 3762 | * @return results of bus communication function
|
---|
| 3763 | * @retval 0 -> Success
|
---|
| 3764 | * @retval 1 -> Error
|
---|
| 3765 | *
|
---|
| 3766 | *
|
---|
| 3767 | */
|
---|
| 3768 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_rps(
|
---|
| 3769 | double *v_gyro_z_d);
|
---|
| 3770 | /*!
|
---|
| 3771 | * @brief This API is used to convert the gyro xyz raw data
|
---|
| 3772 | * to dps output as double
|
---|
| 3773 | *
|
---|
| 3774 | * @param gyro_xyz : The dps data of gyro xyz
|
---|
| 3775 | *
|
---|
| 3776 | * Parameter | result
|
---|
| 3777 | * --------- | -----------------
|
---|
| 3778 | * x | dps data of gyro
|
---|
| 3779 | * y | dps data of gyro
|
---|
| 3780 | * z | dps data of gyro
|
---|
| 3781 | *
|
---|
| 3782 | *
|
---|
| 3783 | * @return results of bus communication function
|
---|
| 3784 | * @retval 0 -> Success
|
---|
| 3785 | * @retval 1 -> Error
|
---|
| 3786 | *
|
---|
| 3787 | */
|
---|
| 3788 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_dps(
|
---|
| 3789 | struct bno055_gyro_double_t *gyro_xyz);
|
---|
| 3790 | /*!
|
---|
| 3791 | * @brief This API is used to convert the gyro xyz raw data
|
---|
| 3792 | * to rps output as double
|
---|
| 3793 | *
|
---|
| 3794 | * @param gyro_xyz : The rps data of gyro xyz
|
---|
| 3795 | *
|
---|
| 3796 | * Parameter | result
|
---|
| 3797 | * --------- | -----------------
|
---|
| 3798 | * x | rps data of gyro
|
---|
| 3799 | * y | rps data of gyro
|
---|
| 3800 | * z | rps data of gyro
|
---|
| 3801 | *
|
---|
| 3802 | *
|
---|
| 3803 | * @return results of bus communication function
|
---|
| 3804 | * @retval 0 -> Success
|
---|
| 3805 | * @retval 1 -> Error
|
---|
| 3806 | *
|
---|
| 3807 | */
|
---|
| 3808 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_rps(
|
---|
| 3809 | struct bno055_gyro_double_t *gyro_xyz);
|
---|
| 3810 | /**************************************************************************/
|
---|
| 3811 | /**\name FUNCTIONS FOR READING EULER DATA OUTPUT AS DOUBLE PRECISION */
|
---|
| 3812 | /*************************************************************************/
|
---|
| 3813 | /*!
|
---|
| 3814 | * @brief This API is used to convert the Euler h raw data
|
---|
| 3815 | * to degree output as double
|
---|
| 3816 | *
|
---|
| 3817 | * @param v_euler_h_d : The double value of Euler h degree
|
---|
| 3818 | *
|
---|
| 3819 | * @return results of bus communication function
|
---|
| 3820 | * @retval 0 -> Success
|
---|
| 3821 | * @retval 1 -> Error
|
---|
| 3822 | *
|
---|
| 3823 | *
|
---|
| 3824 | */
|
---|
| 3825 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_deg(
|
---|
| 3826 | double *v_euler_h_d);
|
---|
| 3827 | /*!
|
---|
| 3828 | * @brief This API is used to convert the Euler p raw data
|
---|
| 3829 | * to degree output as double
|
---|
| 3830 | *
|
---|
| 3831 | * @param v_euler_p_d : The double value of Euler p degree
|
---|
| 3832 | *
|
---|
| 3833 | * @return results of bus communication function
|
---|
| 3834 | * @retval 0 -> Success
|
---|
| 3835 | * @retval 1 -> Error
|
---|
| 3836 | *
|
---|
| 3837 | *
|
---|
| 3838 | */
|
---|
| 3839 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_deg(
|
---|
| 3840 | double *v_euler_p_d);
|
---|
| 3841 | /*!
|
---|
| 3842 | * @brief This API is used to convert the Euler r raw data
|
---|
| 3843 | * to degree output as double
|
---|
| 3844 | *
|
---|
| 3845 | * @param v_euler_r_d : The double value of Euler r degree
|
---|
| 3846 | *
|
---|
| 3847 | * @return results of bus communication function
|
---|
| 3848 | * @retval 0 -> Success
|
---|
| 3849 | * @retval 1 -> Error
|
---|
| 3850 | *
|
---|
| 3851 | *
|
---|
| 3852 | */
|
---|
| 3853 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_deg(
|
---|
| 3854 | double *v_euler_r_d);
|
---|
| 3855 | /*!
|
---|
| 3856 | * @brief This API is used to convert the Euler h raw data
|
---|
| 3857 | * to radians output as double
|
---|
| 3858 | *
|
---|
| 3859 | * @param v_euler_h_d : The double value of Euler h radians
|
---|
| 3860 | *
|
---|
| 3861 | * @return results of bus communication function
|
---|
| 3862 | * @retval 0 -> Success
|
---|
| 3863 | * @retval 1 -> Error
|
---|
| 3864 | *
|
---|
| 3865 | *
|
---|
| 3866 | */
|
---|
| 3867 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_rad(
|
---|
| 3868 | double *v_euler_h_d);
|
---|
| 3869 | /*!
|
---|
| 3870 | * @brief This API is used to convert the Euler p raw data
|
---|
| 3871 | * to radians output as double
|
---|
| 3872 | *
|
---|
| 3873 | * @param v_euler_p_d : The double value of Euler p radians
|
---|
| 3874 | *
|
---|
| 3875 | * @return results of bus communication function
|
---|
| 3876 | * @retval 0 -> Success
|
---|
| 3877 | * @retval 1 -> Error
|
---|
| 3878 | *
|
---|
| 3879 | *
|
---|
| 3880 | */
|
---|
| 3881 |
|
---|
| 3882 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_rad(
|
---|
| 3883 | double *v_euler_p_d);
|
---|
| 3884 | /*!
|
---|
| 3885 | * @brief This API is used to convert the Euler r raw data
|
---|
| 3886 | * to radians output as double
|
---|
| 3887 | *
|
---|
| 3888 | * @param v_euler_r_d : The double value of Euler r radians
|
---|
| 3889 | *
|
---|
| 3890 | * @return results of bus communication function
|
---|
| 3891 | * @retval 0 -> Success
|
---|
| 3892 | * @retval 1 -> Error
|
---|
| 3893 | *
|
---|
| 3894 | *
|
---|
| 3895 | */
|
---|
| 3896 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_rad(
|
---|
| 3897 | double *v_euler_r_d);
|
---|
| 3898 | /*!
|
---|
| 3899 | * @brief This API is used to convert the Euler hpr raw data
|
---|
| 3900 | * to degree output as double
|
---|
| 3901 | *
|
---|
| 3902 | * @param euler_hpr : The degree data of Euler hpr
|
---|
| 3903 | *
|
---|
| 3904 | * Parameter | result
|
---|
| 3905 | * --------- | -----------------
|
---|
| 3906 | * h | degree data of Euler
|
---|
| 3907 | * r | degree data of Euler
|
---|
| 3908 | * p | degree data of Euler
|
---|
| 3909 | *
|
---|
| 3910 | *
|
---|
| 3911 | * @return results of bus communication function
|
---|
| 3912 | * @retval 0 -> Success
|
---|
| 3913 | * @retval 1 -> Error
|
---|
| 3914 | *
|
---|
| 3915 | */
|
---|
| 3916 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_deg(
|
---|
| 3917 | struct bno055_euler_double_t *euler_hpr);
|
---|
| 3918 | /*!
|
---|
| 3919 | * @brief This API is used to convert the Euler hpr raw data
|
---|
| 3920 | * to radians output as double
|
---|
| 3921 | *
|
---|
| 3922 | * @param euler_hpr : The radians data of Euler hpr
|
---|
| 3923 | *
|
---|
| 3924 | * Parameter | result
|
---|
| 3925 | * --------- | -----------------
|
---|
| 3926 | * h | radians data of Euler
|
---|
| 3927 | * r | radians data of Euler
|
---|
| 3928 | * p | radians data of Euler
|
---|
| 3929 | *
|
---|
| 3930 | *
|
---|
| 3931 | * @return results of bus communication function
|
---|
| 3932 | * @retval 0 -> Success
|
---|
| 3933 | * @retval 1 -> Error
|
---|
| 3934 | *
|
---|
| 3935 | */
|
---|
| 3936 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_rad(
|
---|
| 3937 | struct bno055_euler_double_t *euler_hpr);
|
---|
| 3938 | /****************************************************************************/
|
---|
| 3939 | /**\name FUNCTIONS FOR READING LINEAR ACCEL DATA OUTPUT AS DOUBLE PRECISION */
|
---|
| 3940 | /****************************************************************************/
|
---|
| 3941 | /*!
|
---|
| 3942 | * @brief This API is used to convert the linear
|
---|
| 3943 | * accel x raw data to meterpersecseq output as double
|
---|
| 3944 | *
|
---|
| 3945 | * @param v_linear_accel_x_d : The double value of
|
---|
| 3946 | * linear accel x meterpersecseq
|
---|
| 3947 | *
|
---|
| 3948 | * @return results of bus communication function
|
---|
| 3949 | * @retval 0 -> Success
|
---|
| 3950 | * @retval 1 -> Error
|
---|
| 3951 | *
|
---|
| 3952 | *
|
---|
| 3953 | */
|
---|
| 3954 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_x_msq(
|
---|
| 3955 | double *v_linear_accel_x_d);
|
---|
| 3956 | /*!
|
---|
| 3957 | * @brief This API is used to convert the linear
|
---|
| 3958 | * accel y raw data to meterpersecseq output as double
|
---|
| 3959 | *
|
---|
| 3960 | * @param v_linear_accel_y_d : The double value of
|
---|
| 3961 | * linear accel y meterpersecseq
|
---|
| 3962 | *
|
---|
| 3963 | * @return results of bus communication function
|
---|
| 3964 | * @retval 0 -> Success
|
---|
| 3965 | * @retval 1 -> Error
|
---|
| 3966 | *
|
---|
| 3967 | *
|
---|
| 3968 | */
|
---|
| 3969 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_y_msq(
|
---|
| 3970 | double *v_linear_accel_y_d);
|
---|
| 3971 | /*!
|
---|
| 3972 | * @brief This API is used to convert the linear
|
---|
| 3973 | * accel z raw data to meterpersecseq output as double
|
---|
| 3974 | *
|
---|
| 3975 | * @param v_linear_accel_z_d : The double value of
|
---|
| 3976 | * linear accel z meterpersecseq
|
---|
| 3977 | *
|
---|
| 3978 | * @return results of bus communication function
|
---|
| 3979 | * @retval 0 -> Success
|
---|
| 3980 | * @retval 1 -> Error
|
---|
| 3981 | *
|
---|
| 3982 | *
|
---|
| 3983 | */
|
---|
| 3984 |
|
---|
| 3985 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_z_msq(
|
---|
| 3986 | double *v_linear_accel_z_d);
|
---|
| 3987 | /*!
|
---|
| 3988 | * @brief This API is used to convert the linear accel xyz raw data
|
---|
| 3989 | * to meterpersecseq output as double
|
---|
| 3990 | *
|
---|
| 3991 | * @param linear_accel_xyz : The meterpersecseq data of linear accel xyz
|
---|
| 3992 | *
|
---|
| 3993 | * Parameter | result
|
---|
| 3994 | * --------- | -----------------
|
---|
| 3995 | * x | meterpersecseq data of linear accel
|
---|
| 3996 | * y | meterpersecseq data of linear accel
|
---|
| 3997 | * z | meterpersecseq data of linear accel
|
---|
| 3998 | *
|
---|
| 3999 | *
|
---|
| 4000 | * @return results of bus communication function
|
---|
| 4001 | * @retval 0 -> Success
|
---|
| 4002 | * @retval 1 -> Error
|
---|
| 4003 | *
|
---|
| 4004 | */
|
---|
| 4005 |
|
---|
| 4006 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_xyz_msq(
|
---|
| 4007 | struct bno055_linear_accel_double_t *linear_accel_xyz);
|
---|
| 4008 | /**************************************************************************/
|
---|
| 4009 | /**\name FUNCTIONS FOR READING GRAVITY DATA OUTPUT AS DOUBLE PRECISION */
|
---|
| 4010 | /*************************************************************************/
|
---|
| 4011 | /*!
|
---|
| 4012 | * @brief This API is used to convert the gravity
|
---|
| 4013 | * x raw data to meterpersecseq output as double
|
---|
| 4014 | *
|
---|
| 4015 | * @param v_gravity_x_d : The double value of gravity x meterpersecseq
|
---|
| 4016 | *
|
---|
| 4017 | * @return results of bus communication function
|
---|
| 4018 | * @retval 0 -> Success
|
---|
| 4019 | * @retval 1 -> Error
|
---|
| 4020 | *
|
---|
| 4021 | *
|
---|
| 4022 | */
|
---|
| 4023 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_x_msq(
|
---|
| 4024 | double *v_gravity_x_d);
|
---|
| 4025 | /*!
|
---|
| 4026 | * @brief This API is used to convert the gravity
|
---|
| 4027 | * y raw data to meterpersecseq output as double
|
---|
| 4028 | *
|
---|
| 4029 | * @param v_gravity_y_d : The double value of gravity y meterpersecseq
|
---|
| 4030 | *
|
---|
| 4031 | * @return results of bus communication function
|
---|
| 4032 | * @retval 0 -> Success
|
---|
| 4033 | * @retval 1 -> Error
|
---|
| 4034 | *
|
---|
| 4035 | *
|
---|
| 4036 | */
|
---|
| 4037 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_y_msq(
|
---|
| 4038 | double *v_gravity_y_d);
|
---|
| 4039 | /*!
|
---|
| 4040 | * @brief This API is used to convert the gravity
|
---|
| 4041 | * z raw data to meterpersecseq output as double
|
---|
| 4042 | *
|
---|
| 4043 | * @param v_gravity_z_d : The double value of gravity z meterpersecseq
|
---|
| 4044 | *
|
---|
| 4045 | * @return results of bus communication function
|
---|
| 4046 | * @retval 0 -> Success
|
---|
| 4047 | * @retval 1 -> Error
|
---|
| 4048 | *
|
---|
| 4049 | *
|
---|
| 4050 | */
|
---|
| 4051 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_z_msq(
|
---|
| 4052 | double *v_gravity_z_d);
|
---|
| 4053 | /*!
|
---|
| 4054 | * @brief This API is used to convert the gravity xyz raw data
|
---|
| 4055 | * to meterpersecseq output as double
|
---|
| 4056 | *
|
---|
| 4057 | * @param gravity_xyz : The meterpersecseq data of gravity xyz
|
---|
| 4058 | *
|
---|
| 4059 | * Parameter | result
|
---|
| 4060 | * --------- | -----------------
|
---|
| 4061 | * x | meterpersecseq data of gravity
|
---|
| 4062 | * y | meterpersecseq data of gravity
|
---|
| 4063 | * z | meterpersecseq data of gravity
|
---|
| 4064 | *
|
---|
| 4065 | *
|
---|
| 4066 | * @return results of bus communication function
|
---|
| 4067 | * @retval 0 -> Success
|
---|
| 4068 | * @retval 1 -> Error
|
---|
| 4069 | *
|
---|
| 4070 | */
|
---|
| 4071 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gravity_xyz_msq(
|
---|
| 4072 | struct bno055_gravity_double_t *gravity_xyz);
|
---|
| 4073 | /**************************************************************************/
|
---|
| 4074 | /**\name FUNCTIONS FOR READING TEMPERATURE DATA OUTPUT AS DOUBLE PRECISION*/
|
---|
| 4075 | /*************************************************************************/
|
---|
| 4076 | /*!
|
---|
| 4077 | * @brief This API is used to convert the temperature
|
---|
| 4078 | * data to Fahrenheit output as double
|
---|
| 4079 | *
|
---|
| 4080 | * @param v_temp_d : The double value of temperature Fahrenheit
|
---|
| 4081 | *
|
---|
| 4082 | * @return results of bus communication function
|
---|
| 4083 | * @retval 0 -> Success
|
---|
| 4084 | * @retval 1 -> Error
|
---|
| 4085 | *
|
---|
| 4086 | *
|
---|
| 4087 | */
|
---|
| 4088 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_fahrenheit(
|
---|
| 4089 | double *v_temp_d);
|
---|
| 4090 | /*!
|
---|
| 4091 | * @brief This API is used to convert the temperature
|
---|
| 4092 | * data to Celsius output as double
|
---|
| 4093 | *
|
---|
| 4094 | * @param v_temp_d : The double value of temperature Celsius
|
---|
| 4095 | *
|
---|
| 4096 | * @return results of bus communication function
|
---|
| 4097 | * @retval 0 -> Success
|
---|
| 4098 | * @retval 1 -> Error
|
---|
| 4099 | *
|
---|
| 4100 | *
|
---|
| 4101 | */
|
---|
| 4102 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_celsius(
|
---|
| 4103 | double *v_temp_d);
|
---|
| 4104 | #endif
|
---|
| 4105 | /**************************************************************************/
|
---|
| 4106 | /**\name FUNCTIONS FOR READING ACCEL,MAG,GYRO AND SYTEM CALIBRATION STATUS*/
|
---|
| 4107 | /*************************************************************************/
|
---|
| 4108 | /*!
|
---|
| 4109 | * @brief This API used to read
|
---|
| 4110 | * mag calibration status from register from 0x35 bit 0 and 1
|
---|
| 4111 | *
|
---|
| 4112 | * @param v_mag_calib_u_8 : The value of mag calib status
|
---|
| 4113 | *
|
---|
| 4114 | *
|
---|
| 4115 | * @return results of bus communication function
|
---|
| 4116 | * @retval 0 -> Success
|
---|
| 4117 | * @retval 1 -> Error
|
---|
| 4118 | *
|
---|
| 4119 | */
|
---|
| 4120 | BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_calib_stat(
|
---|
| 4121 | u_8 *v_mag_calib_u_8);
|
---|
| 4122 | /*!
|
---|
| 4123 | * @brief This API used to read
|
---|
| 4124 | * accel calibration status from register from 0x35 bit 2 and 3
|
---|
| 4125 | *
|
---|
| 4126 | * @param v_accel_calib_u_8 : The value of accel calib status
|
---|
| 4127 | *
|
---|
| 4128 | *
|
---|
| 4129 | * @return results of bus communication function
|
---|
| 4130 | * @retval 0 -> Success
|
---|
| 4131 | * @retval 1 -> Error
|
---|
| 4132 | *
|
---|
| 4133 | */
|
---|
| 4134 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_calib_stat(
|
---|
| 4135 | u_8 *v_accel_calib_u_8);
|
---|
| 4136 | /*!
|
---|
| 4137 | * @brief This API used to read
|
---|
| 4138 | * gyro calibration status from register from 0x35 bit 4 and 5
|
---|
| 4139 | *
|
---|
| 4140 | * @param v_gyro_calib_u_8 : The value of gyro calib status
|
---|
| 4141 | *
|
---|
| 4142 | *
|
---|
| 4143 | * @return results of bus communication function
|
---|
| 4144 | * @retval 0 -> Success
|
---|
| 4145 | * @retval 1 -> Error
|
---|
| 4146 | *
|
---|
| 4147 | */
|
---|
| 4148 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_calib_stat(
|
---|
| 4149 | u_8 *v_gyro_calib_u_8);
|
---|
| 4150 | /*!
|
---|
| 4151 | * @brief This API used to read
|
---|
| 4152 | * system calibration status from register from 0x35 bit 6 and 7
|
---|
| 4153 | *
|
---|
| 4154 | * @param v_sys_calib_u_8 : The value of system calib status
|
---|
| 4155 | *
|
---|
| 4156 | *
|
---|
| 4157 | * @return results of bus communication function
|
---|
| 4158 | * @retval 0 -> Success
|
---|
| 4159 | * @retval 1 -> Error
|
---|
| 4160 | *
|
---|
| 4161 | */
|
---|
| 4162 | BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_calib_stat(
|
---|
| 4163 | u_8 *v_sys_calib_u_8);
|
---|
| 4164 | /******************************************************************/
|
---|
| 4165 | /**\name FUNCTIONS FOR READING ACCEL,MAG,GYRO AND SYTEM SELF TEST */
|
---|
| 4166 | /******************************************************************/
|
---|
| 4167 | /*!
|
---|
| 4168 | * @brief This API used to read
|
---|
| 4169 | * self test of accel from register from 0x36 bit 0
|
---|
| 4170 | *
|
---|
| 4171 | * @param v_selftest_accel_u_8 : The value of self test of accel
|
---|
| 4172 | *
|
---|
| 4173 | * v_selftest_accel_u_8 | result
|
---|
| 4174 | * -------------------- | ---------------------
|
---|
| 4175 | * 0x00 | indicates test failed
|
---|
| 4176 | * 0x01 | indicated test passed
|
---|
| 4177 | *
|
---|
| 4178 | * @return results of bus communication function
|
---|
| 4179 | * @retval 0 -> Success
|
---|
| 4180 | * @retval 1 -> Error
|
---|
| 4181 | *
|
---|
| 4182 | */
|
---|
| 4183 | BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_accel(
|
---|
| 4184 | u_8 *v_selftest_accel_u_8);
|
---|
| 4185 | /*!
|
---|
| 4186 | * @brief This API used to read
|
---|
| 4187 | * self test of mag from register from 0x36 bit 1
|
---|
| 4188 | *
|
---|
| 4189 | * @param v_selftest_mag_u_8 : The value of self test of mag
|
---|
| 4190 | *
|
---|
| 4191 | * v_selftest_mag_u_8 | result
|
---|
| 4192 | * -------------------- | ---------------------
|
---|
| 4193 | * 0x00 | indicates test failed
|
---|
| 4194 | * 0x01 | indicated test passed
|
---|
| 4195 | *
|
---|
| 4196 | * @return results of bus communication function
|
---|
| 4197 | * @retval 0 -> Success
|
---|
| 4198 | * @retval 1 -> Error
|
---|
| 4199 | *
|
---|
| 4200 | */
|
---|
| 4201 | BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mag(
|
---|
| 4202 | u_8 *v_selftest_mag_u_8);
|
---|
| 4203 | /*!
|
---|
| 4204 | * @brief This API used to read
|
---|
| 4205 | * self test of gyro from register from 0x36 bit 2
|
---|
| 4206 | *
|
---|
| 4207 | * @param v_selftest_gyro_u_8 : The value of self test of gyro
|
---|
| 4208 | *
|
---|
| 4209 | * v_selftest_gyro_u_8 | result
|
---|
| 4210 | * -------------------- | ---------------------
|
---|
| 4211 | * 0x00 | indicates test failed
|
---|
| 4212 | * 0x01 | indicated test passed
|
---|
| 4213 | *
|
---|
| 4214 | * @return results of bus communication function
|
---|
| 4215 | * @retval 0 -> Success
|
---|
| 4216 | * @retval 1 -> Error
|
---|
| 4217 | *
|
---|
| 4218 | */
|
---|
| 4219 | BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_gyro(
|
---|
| 4220 | u_8 *v_selftest_gyro_u_8);
|
---|
| 4221 | /*!
|
---|
| 4222 | * @brief This API used to read
|
---|
| 4223 | * self test of micro controller from register from 0x36 bit 3
|
---|
| 4224 | *
|
---|
| 4225 | * @param v_selftest_mcu_u_8 : The value of self test of micro controller
|
---|
| 4226 | *
|
---|
| 4227 | * v_selftest_mcu_u_8 | result
|
---|
| 4228 | * -------------------- | ---------------------
|
---|
| 4229 | * 0x00 | indicates test failed
|
---|
| 4230 | * 0x01 | indicated test passed
|
---|
| 4231 | *
|
---|
| 4232 | * @return results of bus communication function
|
---|
| 4233 | * @retval 0 -> Success
|
---|
| 4234 | * @retval 1 -> Error
|
---|
| 4235 | *
|
---|
| 4236 | */
|
---|
| 4237 | BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mcu(
|
---|
| 4238 | u_8 *v_selftest_mcu_u_8);
|
---|
| 4239 | /*****************************************************/
|
---|
| 4240 | /**\name FUNCTIONS FOR READING GYRO INTERRUPT STATUS */
|
---|
| 4241 | /*****************************************************/
|
---|
| 4242 | /*!
|
---|
| 4243 | * @brief This API used to read the v_stat_s_8 of
|
---|
| 4244 | * gyro anymotion interrupt from register from 0x37 bit 2
|
---|
| 4245 | *
|
---|
| 4246 | * @param v_gyro_any_motion_u_8 : The value of gyro anymotion interrupt
|
---|
| 4247 | *
|
---|
| 4248 | * v_gyro_any_motion_u_8 | result
|
---|
| 4249 | * -------------------- | ---------------------
|
---|
| 4250 | * 0x00 | indicates no interrupt triggered
|
---|
| 4251 | * 0x01 | indicates interrupt triggered
|
---|
| 4252 | *
|
---|
| 4253 | * @return results of bus communication function
|
---|
| 4254 | * @retval 0 -> Success
|
---|
| 4255 | * @retval 1 -> Error
|
---|
| 4256 | *
|
---|
| 4257 | * @note Gyro anymotion interrupt can be enabled
|
---|
| 4258 | * by the following APIs
|
---|
| 4259 | *
|
---|
| 4260 | * bno055_set_intr_mask_gyro_any_motion()
|
---|
| 4261 | *
|
---|
| 4262 | * bno055_set_intr_gyro_any_motion()
|
---|
| 4263 | *
|
---|
| 4264 | */
|
---|
| 4265 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_any_motion(
|
---|
| 4266 | u_8 *v_gyro_any_motion_u_8);
|
---|
| 4267 | /*!
|
---|
| 4268 | * @brief This API used to read the v_stat_s_8 of
|
---|
| 4269 | * gyro highrate interrupt from register from 0x37 bit 3
|
---|
| 4270 | *
|
---|
| 4271 | * @param v_gyro_highrate_u_8 : The value of gyro highrate interrupt
|
---|
| 4272 | *
|
---|
| 4273 | * v_gyro_highrate_u_8 | result
|
---|
| 4274 | * ------------------- | ---------------------
|
---|
| 4275 | * 0x00 | indicates no interrupt triggered
|
---|
| 4276 | * 0x01 | indicates interrupt triggered
|
---|
| 4277 | *
|
---|
| 4278 | * @return results of bus communication function
|
---|
| 4279 | * @retval 0 -> Success
|
---|
| 4280 | * @retval 1 -> Error
|
---|
| 4281 | *
|
---|
| 4282 | * @note Gyro highrate interrupt can be configured
|
---|
| 4283 | * by the following APIs
|
---|
| 4284 | *
|
---|
| 4285 | * bno055_set_intr_mask_gyro_highrate()
|
---|
| 4286 | *
|
---|
| 4287 | * bno055_set_intr_gyro_highrate()
|
---|
| 4288 | */
|
---|
| 4289 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_highrate(
|
---|
| 4290 | u_8 *v_gyro_highrate_u_8);
|
---|
| 4291 | /*****************************************************/
|
---|
| 4292 | /**\name FUNCTIONS FOR READING ACCEL INTERRUPT STATUS */
|
---|
| 4293 | /*****************************************************/
|
---|
| 4294 | /*!
|
---|
| 4295 | * @brief This API used to read the status of
|
---|
| 4296 | * accel highg interrupt from register from 0x37 bit 5
|
---|
| 4297 | *
|
---|
| 4298 | * @param v_accel_high_g_u_8 : The value of accel highg interrupt
|
---|
| 4299 | *
|
---|
| 4300 | * v_accel_high_g_u_8 | result
|
---|
| 4301 | * ------------------- | ---------------------
|
---|
| 4302 | * 0x00 | indicates no interrupt triggered
|
---|
| 4303 | * 0x01 | indicates interrupt triggered
|
---|
| 4304 | *
|
---|
| 4305 | * @return results of bus communication function
|
---|
| 4306 | * @retval 0 -> Success
|
---|
| 4307 | * @retval 1 -> Error
|
---|
| 4308 | *
|
---|
| 4309 | * @note Accel highg interrupt can be configured
|
---|
| 4310 | * by the following APIs
|
---|
| 4311 | *
|
---|
| 4312 | * bno055_set_intr_mask_accel_high_g()
|
---|
| 4313 | *
|
---|
| 4314 | * bno055_set_intr_accel_high_g()
|
---|
| 4315 | *
|
---|
| 4316 | */
|
---|
| 4317 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_high_g(
|
---|
| 4318 | u_8 *v_accel_high_g_u_8);
|
---|
| 4319 | /*!
|
---|
| 4320 | * @brief This API used to read the v_stat_s_8 of
|
---|
| 4321 | * accel anymotion interrupt from register from 0x37 bit 6
|
---|
| 4322 | *
|
---|
| 4323 | * @param v_accel_any_motion_u_8 : The value of accel anymotion interrupt
|
---|
| 4324 | *
|
---|
| 4325 | * v_accel_any_motion_u_8 | result
|
---|
| 4326 | * ------------------- | ---------------------
|
---|
| 4327 | * 0x00 | indicates no interrupt triggered
|
---|
| 4328 | * 0x01 | indicates interrupt triggered
|
---|
| 4329 | *
|
---|
| 4330 | * @return results of bus communication function
|
---|
| 4331 | * @retval 0 -> Success
|
---|
| 4332 | * @retval 1 -> Error
|
---|
| 4333 | *
|
---|
| 4334 | * @note Accel anymotion interrupt can be configured
|
---|
| 4335 | * by the following APIs
|
---|
| 4336 | *
|
---|
| 4337 | * bno055_set_intr_mask_accel_any_motion()
|
---|
| 4338 | *
|
---|
| 4339 | * bno055_set_intr_accel_any_motion()
|
---|
| 4340 | */
|
---|
| 4341 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_any_motion(
|
---|
| 4342 | u_8 *v_accel_any_motion_u_8);
|
---|
| 4343 | /*!
|
---|
| 4344 | * @brief This API used to read the v_stat_s_8 of
|
---|
| 4345 | * accel nomotion/slowmotion interrupt from register from 0x37 bit 6
|
---|
| 4346 | *
|
---|
| 4347 | * @param v_accel_no_motion_u_8 :
|
---|
| 4348 | * The value of accel nomotion/slowmotion interrupt
|
---|
| 4349 | *
|
---|
| 4350 | * v_accel_no_motion_u_8 | result
|
---|
| 4351 | * ------------------- | ---------------------
|
---|
| 4352 | * 0x00 | indicates no interrupt triggered
|
---|
| 4353 | * 0x01 | indicates interrupt triggered
|
---|
| 4354 | *
|
---|
| 4355 | * @return results of bus communication function
|
---|
| 4356 | * @retval 0 -> Success
|
---|
| 4357 | * @retval 1 -> Error
|
---|
| 4358 | *
|
---|
| 4359 | * @note Accel nomotion/slowmotion interrupt can be configured
|
---|
| 4360 | * by the following APIs
|
---|
| 4361 | *
|
---|
| 4362 | * bno055_set_intr_mask_accel_nomotion()
|
---|
| 4363 | *
|
---|
| 4364 | * bno055_set_intr_accel_nomotion()
|
---|
| 4365 | */
|
---|
| 4366 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_no_motion(
|
---|
| 4367 | u_8 *v_accel_no_motion_u_8);
|
---|
| 4368 | /**************************************************************************/
|
---|
| 4369 | /**\name FUNCTIONS FOR READING SYSTEM CLOCK, STATUS AND ERROR CODE */
|
---|
| 4370 | /*************************************************************************/
|
---|
| 4371 | /*!
|
---|
| 4372 | * @brief This API is used to read status of main clock
|
---|
| 4373 | * from the register 0x38 bit 0
|
---|
| 4374 | *
|
---|
| 4375 | * @param v_stat_main_clk_u_8 : the status of main clock
|
---|
| 4376 | *
|
---|
| 4377 | *
|
---|
| 4378 | * @return results of bus communication function
|
---|
| 4379 | * @retval 0 -> Success
|
---|
| 4380 | * @retval 1 -> Error
|
---|
| 4381 | *
|
---|
| 4382 | */
|
---|
| 4383 | BNO055_RETURN_FUNCTION_TYPE bno055_get_stat_main_clk(
|
---|
| 4384 | u_8 *v_stat_main_clk_u_8);
|
---|
| 4385 | /*!
|
---|
| 4386 | * @brief This API is used to read system status
|
---|
| 4387 | * code from the register 0x39 it is a byte of data
|
---|
| 4388 | *
|
---|
| 4389 | * @param v_sys_stat_u_8 : the status of system
|
---|
| 4390 | *
|
---|
| 4391 | *
|
---|
| 4392 | * @return results of bus communication function
|
---|
| 4393 | * @retval 0 -> Success
|
---|
| 4394 | * @retval 1 -> Error
|
---|
| 4395 | *
|
---|
| 4396 | */
|
---|
| 4397 | BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_stat_code(
|
---|
| 4398 | u_8 *v_sys_stat_u_8);
|
---|
| 4399 | /*!
|
---|
| 4400 | * @brief This API is used to read system error
|
---|
| 4401 | * code from the register 0x3A it is a byte of data
|
---|
| 4402 | *
|
---|
| 4403 | * @param v_sys_error_u_8 : The value of system error code
|
---|
| 4404 | *
|
---|
| 4405 | *
|
---|
| 4406 | * @return results of bus communication function
|
---|
| 4407 | * @retval 0 -> Success
|
---|
| 4408 | * @retval 1 -> Error
|
---|
| 4409 | *
|
---|
| 4410 | *
|
---|
| 4411 | */
|
---|
| 4412 | BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_error_code(
|
---|
| 4413 | u_8 *v_sys_error_u_8);
|
---|
| 4414 | /********************************************/
|
---|
| 4415 | /**\name FUNCTIONS FOR ACCEL UNIT SELECTION */
|
---|
| 4416 | /********************************************/
|
---|
| 4417 | /*!
|
---|
| 4418 | * @brief This API used to read the accel unit
|
---|
| 4419 | * from register from 0x3B bit 0
|
---|
| 4420 | *
|
---|
| 4421 | * @param v_accel_unit_u_8 : The value of accel unit
|
---|
| 4422 | *
|
---|
| 4423 | * v_accel_unit_u_8 | result
|
---|
| 4424 | * ------------- | ---------------
|
---|
| 4425 | * 0x00 | ACCEL_UNIT_MSQ
|
---|
| 4426 | * 0x01 | ACCEL_UNIT_MG
|
---|
| 4427 | *
|
---|
| 4428 | * @return results of bus communication function
|
---|
| 4429 | * @retval 0 -> Success
|
---|
| 4430 | * @retval 1 -> Error
|
---|
| 4431 | *
|
---|
| 4432 | */
|
---|
| 4433 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_unit(
|
---|
| 4434 | u_8 *v_accel_unit_u_8);
|
---|
| 4435 | /*!
|
---|
| 4436 | * @brief This API used to write the accel unit
|
---|
| 4437 | * from register from 0x3B bit 0
|
---|
| 4438 | *
|
---|
| 4439 | * @param v_accel_unit_u_8 : The value of accel unit
|
---|
| 4440 | *
|
---|
| 4441 | * v_accel_unit_u_8 | result
|
---|
| 4442 | * ------------- | ---------------
|
---|
| 4443 | * 0x00 | ACCEL_UNIT_MSQ
|
---|
| 4444 | * 0x01 | ACCEL_UNIT_MG
|
---|
| 4445 | *
|
---|
| 4446 | * @return results of bus communication function
|
---|
| 4447 | * @retval 0 -> Success
|
---|
| 4448 | * @retval 1 -> Error
|
---|
| 4449 | *
|
---|
| 4450 | *
|
---|
| 4451 | */
|
---|
| 4452 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_unit(
|
---|
| 4453 | u_8 v_accel_unit_u_8);
|
---|
| 4454 | /********************************************/
|
---|
| 4455 | /**\name FUNCTIONS FOR GYRO UNIT SELECTION */
|
---|
| 4456 | /********************************************/
|
---|
| 4457 | /*!
|
---|
| 4458 | * @brief This API used to read the gyro unit
|
---|
| 4459 | * from register from 0x3B bit 1
|
---|
| 4460 | *
|
---|
| 4461 | * @param v_gyro_unit_u_8 : The value of accel unit
|
---|
| 4462 | *
|
---|
| 4463 | * v_gyro_unit_u_8 | result
|
---|
| 4464 | * ------------- | -----------
|
---|
| 4465 | * 0x00 | GYRO_UNIT_DPS
|
---|
| 4466 | * 0x01 | GYRO_UNIT_RPS
|
---|
| 4467 | *
|
---|
| 4468 | * @return results of bus communication function
|
---|
| 4469 | * @retval 0 -> Success
|
---|
| 4470 | * @retval 1 -> Error
|
---|
| 4471 | *
|
---|
| 4472 | *
|
---|
| 4473 | */
|
---|
| 4474 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_unit(
|
---|
| 4475 | u_8 *v_gyro_unit_u_8);
|
---|
| 4476 | /*!
|
---|
| 4477 | * @brief This API used to write the gyro unit
|
---|
| 4478 | * from register from 0x3B bit 1
|
---|
| 4479 | *
|
---|
| 4480 | * @param v_gyro_unit_u_8 : The value of accel unit
|
---|
| 4481 | *
|
---|
| 4482 | * v_gyro_unit_u_8 | result
|
---|
| 4483 | * ------------- | -----------
|
---|
| 4484 | * 0x00 | GYRO_UNIT_DPS
|
---|
| 4485 | * 0x01 | GYRO_UNIT_RPS
|
---|
| 4486 | *
|
---|
| 4487 | * @return results of bus communication function
|
---|
| 4488 | * @retval 0 -> Success
|
---|
| 4489 | * @retval 1 -> Error
|
---|
| 4490 | *
|
---|
| 4491 | *
|
---|
| 4492 | */
|
---|
| 4493 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_unit(u_8 v_gyro_unit_u_8);
|
---|
| 4494 | /********************************************/
|
---|
| 4495 | /**\name FUNCTIONS FOR EULER UNIT SELECTION */
|
---|
| 4496 | /********************************************/
|
---|
| 4497 | /*!
|
---|
| 4498 | * @brief This API used to read the Euler unit
|
---|
| 4499 | * from register from 0x3B bit 2
|
---|
| 4500 | *
|
---|
| 4501 | * @param v_euler_unit_u_8 : The value of accel unit
|
---|
| 4502 | *
|
---|
| 4503 | * v_euler_unit_u_8 | result
|
---|
| 4504 | * -------------- | -----------
|
---|
| 4505 | * 0x00 | EULER_UNIT_DEG
|
---|
| 4506 | * 0x01 | EULER_UNIT_RAD
|
---|
| 4507 | *
|
---|
| 4508 | * @return results of bus communication function
|
---|
| 4509 | * @retval 0 -> Success
|
---|
| 4510 | * @retval 1 -> Error
|
---|
| 4511 | *
|
---|
| 4512 | *
|
---|
| 4513 | */
|
---|
| 4514 | BNO055_RETURN_FUNCTION_TYPE bno055_get_euler_unit(
|
---|
| 4515 | u_8 *v_euler_unit_u_8);
|
---|
| 4516 | /*!
|
---|
| 4517 | * @brief This API used to write the Euler unit
|
---|
| 4518 | * from register from 0x3B bit 2
|
---|
| 4519 | *
|
---|
| 4520 | * @param v_euler_unit_u_8 : The value of Euler unit
|
---|
| 4521 | *
|
---|
| 4522 | * v_euler_unit_u_8 | result
|
---|
| 4523 | * -------------- | -----------
|
---|
| 4524 | * 0x00 | EULER_UNIT_DEG
|
---|
| 4525 | * 0x01 | EULER_UNIT_RAD
|
---|
| 4526 | *
|
---|
| 4527 | * @return results of bus communication function
|
---|
| 4528 | * @retval 0 -> Success
|
---|
| 4529 | * @retval 1 -> Error
|
---|
| 4530 | *
|
---|
| 4531 | *
|
---|
| 4532 | */
|
---|
| 4533 | BNO055_RETURN_FUNCTION_TYPE bno055_set_euler_unit(u_8 v_euler_unit_u_8);
|
---|
| 4534 | /********************************************/
|
---|
| 4535 | /**\name FUNCTIONS FOR TILT UNIT SELECTION */
|
---|
| 4536 | /********************************************/
|
---|
| 4537 | /*!
|
---|
| 4538 | * @brief This API used to write the tilt unit
|
---|
| 4539 | * from register from 0x3B bit 3
|
---|
| 4540 | *
|
---|
| 4541 | * @param v_tilt_unit_u_8 : The value of tilt unit
|
---|
| 4542 | *
|
---|
| 4543 | * v_tilt_unit_u_8 | result
|
---|
| 4544 | * --------------- | ---------
|
---|
| 4545 | * 0x00 | degrees
|
---|
| 4546 | * 0x01 | radians
|
---|
| 4547 | *
|
---|
| 4548 | * @return results of bus communication function
|
---|
| 4549 | * @retval 0 -> Success
|
---|
| 4550 | * @retval 1 -> Error
|
---|
| 4551 | *
|
---|
| 4552 | *
|
---|
| 4553 | */
|
---|
| 4554 | BNO055_RETURN_FUNCTION_TYPE bno055_get_tilt_unit(
|
---|
| 4555 | u_8 *v_tilt_unit_u_8);
|
---|
| 4556 | /*!
|
---|
| 4557 | * @brief This API used to write the tilt unit
|
---|
| 4558 | * from register from 0x3B bit 3
|
---|
| 4559 | *
|
---|
| 4560 | * @param v_tilt_unit_u_8 : The value of tilt unit
|
---|
| 4561 | *
|
---|
| 4562 | * v_tilt_unit_u_8 | result
|
---|
| 4563 | * --------------- | ---------
|
---|
| 4564 | * 0x00 | degrees
|
---|
| 4565 | * 0x01 | radians
|
---|
| 4566 | *
|
---|
| 4567 | * @return results of bus communication function
|
---|
| 4568 | * @retval 0 -> Success
|
---|
| 4569 | * @retval 1 -> Error
|
---|
| 4570 | *
|
---|
| 4571 | *
|
---|
| 4572 | *
|
---|
| 4573 | * \return Communication results
|
---|
| 4574 | *
|
---|
| 4575 | *
|
---|
| 4576 | */
|
---|
| 4577 | BNO055_RETURN_FUNCTION_TYPE bno055_set_tilt_unit(
|
---|
| 4578 | u_8 v_tilt_unit_u_8);
|
---|
| 4579 | /**************************************************/
|
---|
| 4580 | /**\name FUNCTIONS FOR TEMPERATURE UNIT SELECTION */
|
---|
| 4581 | /**************************************************/
|
---|
| 4582 | /*!
|
---|
| 4583 | * @brief This API used to read the temperature unit
|
---|
| 4584 | * from register from 0x3B bit 4
|
---|
| 4585 | *
|
---|
| 4586 | * @param v_temp_unit_u_8 : The value of temperature unit
|
---|
| 4587 | *
|
---|
| 4588 | * v_temp_unit_u_8 | result
|
---|
| 4589 | * ----------- | --------------
|
---|
| 4590 | * 0x00 | TEMP_UNIT_CELCIUS
|
---|
| 4591 | * 0x01 | TEMP_UNIT_FAHRENHEIT
|
---|
| 4592 | *
|
---|
| 4593 | * @return results of bus communication function
|
---|
| 4594 | * @retval 0 -> Success
|
---|
| 4595 | * @retval 1 -> Error
|
---|
| 4596 | *
|
---|
| 4597 | */
|
---|
| 4598 | BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_unit(
|
---|
| 4599 | u_8 *v_temp_unit_u_8);
|
---|
| 4600 | /*!
|
---|
| 4601 | * @brief This API used to write the temperature unit
|
---|
| 4602 | * from register from 0x3B bit 4
|
---|
| 4603 | *
|
---|
| 4604 | * @param v_temp_unit_u_8 : The value of temperature unit
|
---|
| 4605 | *
|
---|
| 4606 | * v_temp_unit_u_8 | result
|
---|
| 4607 | * ----------- | --------------
|
---|
| 4608 | * 0x00 | TEMP_UNIT_CELCIUS
|
---|
| 4609 | * 0x01 | TEMP_UNIT_FAHRENHEIT
|
---|
| 4610 | *
|
---|
| 4611 | * @return results of bus communication function
|
---|
| 4612 | * @retval 0 -> Success
|
---|
| 4613 | * @retval 1 -> Error
|
---|
| 4614 | *
|
---|
| 4615 | *
|
---|
| 4616 | */
|
---|
| 4617 | BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_unit(
|
---|
| 4618 | u_8 v_temp_unit_u_8);
|
---|
| 4619 | /**************************************************/
|
---|
| 4620 | /**\name FUNCTIONS FOR DATA OUTPUT FORMAT SELECT */
|
---|
| 4621 | /**************************************************/
|
---|
| 4622 | /*!
|
---|
| 4623 | * @brief This API used to read the current selected orientation mode
|
---|
| 4624 | * from register from 0x3B bit 7
|
---|
| 4625 | *
|
---|
| 4626 | * @param v_data_output_format_u_8 : The value of data output format
|
---|
| 4627 | *
|
---|
| 4628 | * v_data_output_format_u_8 | result
|
---|
| 4629 | * -------------------- | --------
|
---|
| 4630 | * 0x00 | Windows
|
---|
| 4631 | * 0x01 | Android
|
---|
| 4632 | *
|
---|
| 4633 | * @return results of bus communication function
|
---|
| 4634 | * @retval 0 -> Success
|
---|
| 4635 | * @retval 1 -> Error
|
---|
| 4636 | *
|
---|
| 4637 | */
|
---|
| 4638 | BNO055_RETURN_FUNCTION_TYPE bno055_get_data_output_format(
|
---|
| 4639 | u_8 *v_data_output_format_u_8);
|
---|
| 4640 | /*!
|
---|
| 4641 | * @brief This API used to read the current selected orientation mode
|
---|
| 4642 | * from register from 0x3B bit 7
|
---|
| 4643 | *
|
---|
| 4644 | * @param v_data_output_format_u_8 : The value of data output format
|
---|
| 4645 | *
|
---|
| 4646 | * v_data_output_format_u_8 | result
|
---|
| 4647 | * -------------------- | --------
|
---|
| 4648 | * 0x00 | Windows
|
---|
| 4649 | * 0x01 | Android
|
---|
| 4650 | *
|
---|
| 4651 | * @return results of bus communication function
|
---|
| 4652 | * @retval 0 -> Success
|
---|
| 4653 | * @retval 1 -> Error
|
---|
| 4654 | *
|
---|
| 4655 | */
|
---|
| 4656 | BNO055_RETURN_FUNCTION_TYPE bno055_set_data_output_format(
|
---|
| 4657 | u_8 v_data_output_format_u_8);
|
---|
| 4658 | /**************************************************/
|
---|
| 4659 | /**\name FUNCTIONS FOR DATA OPERATION MODE */
|
---|
| 4660 | /**************************************************/
|
---|
| 4661 | /*! @brief This API used to read the operation mode
|
---|
| 4662 | * from register from 0x3D bit 0 to 3
|
---|
| 4663 | *
|
---|
| 4664 | * @param v_operation_mode_u_8 : The value of operation mode
|
---|
| 4665 | *
|
---|
| 4666 | * v_operation_mode_u_8 | result | comments
|
---|
| 4667 | * ----------|----------------------------|----------------------------
|
---|
| 4668 | * 0x00 | OPERATION_MODE_CONFIG | Configuration mode
|
---|
| 4669 | * 0x01 | OPERATION_MODE_ACCONLY | Reads accel data alone
|
---|
| 4670 | * 0x02 | OPERATION_MODE_MAGONLY | Reads mag data alone
|
---|
| 4671 | * 0x03 | OPERATION_MODE_GYRONLY | Reads gyro data alone
|
---|
| 4672 | * 0x04 | OPERATION_MODE_ACCMAG | Reads accel and mag data
|
---|
| 4673 | * 0x05 | OPERATION_MODE_ACCGYRO | Reads accel and gyro data
|
---|
| 4674 | * 0x06 | OPERATION_MODE_MAGGYRO | Reads accel and mag data
|
---|
| 4675 | * 0x07 | OPERATION_MODE_ANY_MOTION | Reads accel mag and gyro data
|
---|
| 4676 | * 0x08 | OPERATION_MODE_IMUPLUS | Inertial measurement unit
|
---|
| 4677 | * - | - | Reads accel,gyro and fusion data
|
---|
| 4678 | * 0x09 | OPERATION_MODE_COMPASS | Reads accel, mag data
|
---|
| 4679 | * - | - | and fusion data
|
---|
| 4680 | * 0x0A | OPERATION_MODE_M4G | Reads accel, mag data
|
---|
| 4681 | * - | - | and fusion data
|
---|
| 4682 | * 0x0B | OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with
|
---|
| 4683 | * - | - | fast magnetic calibration
|
---|
| 4684 | * - | - | Reads accel,mag, gyro
|
---|
| 4685 | * - | - | and fusion data
|
---|
| 4686 | * 0x0C | OPERATION_MODE_NDOF | Nine degrees of freedom
|
---|
| 4687 | * - | - | Reads accel,mag, gyro
|
---|
| 4688 | * - | - | and fusion data
|
---|
| 4689 | *
|
---|
| 4690 | * @return results of bus communication function
|
---|
| 4691 | * @retval 0 -> Success
|
---|
| 4692 | * @retval 1 -> Error
|
---|
| 4693 | *
|
---|
| 4694 | * @note In the config mode, all sensor and fusion data
|
---|
| 4695 | * becomes zero and it is mainly derived
|
---|
| 4696 | * to configure the various settings of the BNO
|
---|
| 4697 | *
|
---|
| 4698 | */
|
---|
| 4699 | BNO055_RETURN_FUNCTION_TYPE bno055_get_operation_mode(
|
---|
| 4700 | u_8 *v_operation_mode_u_8);
|
---|
| 4701 | /*! @brief This API used to write the operation mode
|
---|
| 4702 | * from register from 0x3D bit 0 to 3
|
---|
| 4703 | *
|
---|
| 4704 | * @param v_operation_mode_u_8 : The value of operation mode
|
---|
| 4705 | *
|
---|
| 4706 | * v_operation_mode_u_8 | result | comments
|
---|
| 4707 | * ----------|----------------------------|----------------------------
|
---|
| 4708 | * 0x00 | OPERATION_MODE_CONFIG | Configuration mode
|
---|
| 4709 | * 0x01 | OPERATION_MODE_ACCONLY | Reads accel data alone
|
---|
| 4710 | * 0x02 | OPERATION_MODE_MAGONLY | Reads mag data alone
|
---|
| 4711 | * 0x03 | OPERATION_MODE_GYRONLY | Reads gyro data alone
|
---|
| 4712 | * 0x04 | OPERATION_MODE_ACCMAG | Reads accel and mag data
|
---|
| 4713 | * 0x05 | OPERATION_MODE_ACCGYRO | Reads accel and gyro data
|
---|
| 4714 | * 0x06 | OPERATION_MODE_MAGGYRO | Reads accel and mag data
|
---|
| 4715 | * 0x07 | OPERATION_MODE_ANY_MOTION | Reads accel mag and gyro data
|
---|
| 4716 | * 0x08 | OPERATION_MODE_IMUPLUS | Inertial measurement unit
|
---|
| 4717 | * - | - | Reads accel,gyro and fusion data
|
---|
| 4718 | * 0x09 | OPERATION_MODE_COMPASS | Reads accel, mag data
|
---|
| 4719 | * - | - | and fusion data
|
---|
| 4720 | * 0x0A | OPERATION_MODE_M4G | Reads accel, mag data
|
---|
| 4721 | * - | - | and fusion data
|
---|
| 4722 | * 0x0B | OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with
|
---|
| 4723 | * - | - | fast magnetic calibration
|
---|
| 4724 | * - | - | Reads accel,mag, gyro
|
---|
| 4725 | * - | - | and fusion data
|
---|
| 4726 | * 0x0C | OPERATION_MODE_NDOF | Nine degrees of freedom
|
---|
| 4727 | * - | - | Reads accel,mag, gyro
|
---|
| 4728 | * - | - | and fusion data
|
---|
| 4729 | *
|
---|
| 4730 | * @return results of bus communication function
|
---|
| 4731 | * @retval 0 -> Success
|
---|
| 4732 | * @retval 1 -> Error
|
---|
| 4733 | *
|
---|
| 4734 | * @note In the config mode, all sensor and fusion data
|
---|
| 4735 | * becomes zero and it is mainly derived
|
---|
| 4736 | * to configure the various settings of the BNO
|
---|
| 4737 | *
|
---|
| 4738 | */
|
---|
| 4739 | BNO055_RETURN_FUNCTION_TYPE bno055_set_operation_mode(u_8 v_operation_mode_u_8);
|
---|
| 4740 | /**************************************************/
|
---|
| 4741 | /**\name FUNCTIONS FOR POWER MODE */
|
---|
| 4742 | /**************************************************/
|
---|
| 4743 | /*! @brief This API used to read the power mode
|
---|
| 4744 | * from register from 0x3E bit 0 to 1
|
---|
| 4745 | *
|
---|
| 4746 | * @param v_power_mode_u_8 : The value of power mode
|
---|
| 4747 | *
|
---|
| 4748 | * v_power_mode_u_8| result | comments
|
---|
| 4749 | * ----------|---------------------|-------------------------------------
|
---|
| 4750 | * 0x00 | POWER_MODE_NORMAL | In the NORMAL mode the register
|
---|
| 4751 | * - | - | map and the internal peripherals
|
---|
| 4752 | * - | - | of the MCU are always
|
---|
| 4753 | * - | - | operative in this mode
|
---|
| 4754 | * 0x01 | POWER_MODE_LOWPOWER | This is first level of power saving mode
|
---|
| 4755 | * 0x02 | POWER_MODE_SUSPEND | In suspend mode the system is
|
---|
| 4756 | * - | - | paused and all the sensors and
|
---|
| 4757 | * - | - | the micro controller are
|
---|
| 4758 | * - | - | put into sleep mode.
|
---|
| 4759 | *
|
---|
| 4760 | * @return results of bus communication function
|
---|
| 4761 | * @retval 0 -> Success
|
---|
| 4762 | * @retval 1 -> Error
|
---|
| 4763 | *
|
---|
| 4764 | * @note For detailed about LOWPOWER mode
|
---|
| 4765 | * refer data sheet 3.4.2
|
---|
| 4766 | *
|
---|
| 4767 | */
|
---|
| 4768 | BNO055_RETURN_FUNCTION_TYPE bno055_get_power_mode(
|
---|
| 4769 | u_8 *v_power_mode_u_8);
|
---|
| 4770 | /*! @brief This API used to write the power mode
|
---|
| 4771 | * from register from 0x3E bit 0 to 1
|
---|
| 4772 | *
|
---|
| 4773 | * @param v_power_mode_u_8 : The value of power mode
|
---|
| 4774 | *
|
---|
| 4775 | * v_power_mode_u_8 | result | comments
|
---|
| 4776 | * ----------|---------------------|-------------------------------------
|
---|
| 4777 | * 0x00 | POWER_MODE_NORMAL | In the NORMAL mode the register
|
---|
| 4778 | * - | - | map and the internal peripherals
|
---|
| 4779 | * - | - | of the MCU are always
|
---|
| 4780 | * - | - | operative in this mode
|
---|
| 4781 | * 0x01 | POWER_MODE_LOWPOWER | This is first level of power saving mode
|
---|
| 4782 | * 0x02 | POWER_MODE_SUSPEND | In suspend mode the system is
|
---|
| 4783 | * - | - | paused and all the sensors and
|
---|
| 4784 | * - | - | the micro controller are
|
---|
| 4785 | * - | - | put into sleep mode.
|
---|
| 4786 | *
|
---|
| 4787 | * @return results of bus communication function
|
---|
| 4788 | * @retval 0 -> Success
|
---|
| 4789 | * @retval 1 -> Error
|
---|
| 4790 | *
|
---|
| 4791 | * @note For detailed about LOWPOWER mode
|
---|
| 4792 | * refer data sheet 3.4.2
|
---|
| 4793 | *
|
---|
| 4794 | */
|
---|
| 4795 | BNO055_RETURN_FUNCTION_TYPE bno055_set_power_mode(u_8 v_power_mode_u_8);
|
---|
| 4796 | /**************************************************/
|
---|
| 4797 | /**\name FUNCTIONS FOR RESET INTERRUPT */
|
---|
| 4798 | /**************************************************/
|
---|
| 4799 | /*!
|
---|
| 4800 | * @brief This API used to read the reset interrupt
|
---|
| 4801 | * from register from 0x3F bit 6
|
---|
| 4802 | * It resets all the interrupt bit and interrupt output
|
---|
| 4803 | *
|
---|
| 4804 | * @param v_intr_rst_u_8 : The value of reset interrupt
|
---|
| 4805 | *
|
---|
| 4806 | * v_intr_rst_u_8 | result
|
---|
| 4807 | * -------------- |----------
|
---|
| 4808 | * 0x01 | ENABLED
|
---|
| 4809 | * 0x00 | DISABLED
|
---|
| 4810 | *
|
---|
| 4811 | * @return results of bus communication function
|
---|
| 4812 | * @retval 0 -> Success
|
---|
| 4813 | * @retval 1 -> Error
|
---|
| 4814 | *
|
---|
| 4815 | */
|
---|
| 4816 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_rst(
|
---|
| 4817 | u_8 *v_intr_rst_u_8);
|
---|
| 4818 | /*!
|
---|
| 4819 | * @brief This API used to write the reset interrupt
|
---|
| 4820 | * from register from 0x3F bit 6
|
---|
| 4821 | * It resets all the interrupt bit and interrupt output
|
---|
| 4822 | *
|
---|
| 4823 | * @param v_intr_rst_u_8 : The value of reset interrupt
|
---|
| 4824 | *
|
---|
| 4825 | * v_intr_rst_u_8 | result
|
---|
| 4826 | * -------------- |----------
|
---|
| 4827 | * 0x01 | ENABLED
|
---|
| 4828 | * 0x00 | DISABLED
|
---|
| 4829 | *
|
---|
| 4830 | * @return results of bus communication function
|
---|
| 4831 | * @retval 0 -> Success
|
---|
| 4832 | * @retval 1 -> Error
|
---|
| 4833 | *
|
---|
| 4834 | */
|
---|
| 4835 | BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_rst(u_8 v_intr_rst_u_8);
|
---|
| 4836 | /**************************************************/
|
---|
| 4837 | /**\name FUNCTIONS FOR CLOCK SOURCE */
|
---|
| 4838 | /**************************************************/
|
---|
| 4839 | /*!
|
---|
| 4840 | * @brief This API used to read the clk source
|
---|
| 4841 | * from register from 0x3F bit 7
|
---|
| 4842 | *
|
---|
| 4843 | * @param v_clk_src_u_8 : The value of clk source
|
---|
| 4844 | *
|
---|
| 4845 | * v_clk_src_u_8 | result
|
---|
| 4846 | * -------------- |----------
|
---|
| 4847 | * 0x01 | ENABLED
|
---|
| 4848 | * 0x00 | DISABLED
|
---|
| 4849 | *
|
---|
| 4850 | * @return results of bus communication function
|
---|
| 4851 | * @retval 0 -> Success
|
---|
| 4852 | * @retval 1 -> Error
|
---|
| 4853 | *
|
---|
| 4854 | */
|
---|
| 4855 | BNO055_RETURN_FUNCTION_TYPE bno055_get_clk_src(
|
---|
| 4856 | u_8 *v_clk_src_u_8);
|
---|
| 4857 | /*!
|
---|
| 4858 | * @brief This API used to write the clk source
|
---|
| 4859 | * from register from 0x3F bit 7
|
---|
| 4860 | *
|
---|
| 4861 | * @param v_clk_src_u_8 : The value of clk source
|
---|
| 4862 | *
|
---|
| 4863 | * v_clk_src_u_8 | result
|
---|
| 4864 | * -------------- |----------
|
---|
| 4865 | * 0x01 | ENABLED
|
---|
| 4866 | * 0x00 | DISABLED
|
---|
| 4867 | *
|
---|
| 4868 | * @return results of bus communication function
|
---|
| 4869 | * @retval 0 -> Success
|
---|
| 4870 | * @retval 1 -> Error
|
---|
| 4871 | *
|
---|
| 4872 | */
|
---|
| 4873 | BNO055_RETURN_FUNCTION_TYPE bno055_set_clk_src(u_8 v_clk_src_u_8);
|
---|
| 4874 | /**************************************************/
|
---|
| 4875 | /**\name FUNCTIONS FOR RESET SYSTEM */
|
---|
| 4876 | /**************************************************/
|
---|
| 4877 | /*!
|
---|
| 4878 | * @brief This API used to read the reset system
|
---|
| 4879 | * from register from 0x3F bit 5
|
---|
| 4880 | *
|
---|
| 4881 | * @param v_sys_rst_u_8 : The value of reset system
|
---|
| 4882 | *
|
---|
| 4883 | * v_sys_rst_u_8 | result
|
---|
| 4884 | * -------------- |----------
|
---|
| 4885 | * 0x01 | ENABLED
|
---|
| 4886 | * 0x00 | DISABLED
|
---|
| 4887 | *
|
---|
| 4888 | * @return results of bus communication function
|
---|
| 4889 | * @retval 0 -> Success
|
---|
| 4890 | * @retval 1 -> Error
|
---|
| 4891 | *
|
---|
| 4892 | * @note It resets the whole system
|
---|
| 4893 | */
|
---|
| 4894 | BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_rst(
|
---|
| 4895 | u_8 *v_sys_rst_u_8);
|
---|
| 4896 | /*!
|
---|
| 4897 | * @brief This API used to write the reset system
|
---|
| 4898 | * from register from 0x3F bit 5
|
---|
| 4899 | *
|
---|
| 4900 | * @param v_sys_rst_u_8 : The value of reset system
|
---|
| 4901 | *
|
---|
| 4902 | * v_sys_rst_u_8 | result
|
---|
| 4903 | * -------------- |----------
|
---|
| 4904 | * 0x01 | ENABLED
|
---|
| 4905 | * 0x00 | DISABLED
|
---|
| 4906 | *
|
---|
| 4907 | * @return results of bus communication function
|
---|
| 4908 | * @retval 0 -> Success
|
---|
| 4909 | * @retval 1 -> Error
|
---|
| 4910 | *
|
---|
| 4911 | * @note It resets the whole system
|
---|
| 4912 | */
|
---|
| 4913 | BNO055_RETURN_FUNCTION_TYPE bno055_set_sys_rst(u_8 v_sys_rst_u_8);
|
---|
| 4914 | /**************************************************/
|
---|
| 4915 | /**\name FUNCTIONS FOR SELF TEST */
|
---|
| 4916 | /**************************************************/
|
---|
| 4917 | /*!
|
---|
| 4918 | * @brief This API used to read the self test
|
---|
| 4919 | * from register from 0x3F bit 0
|
---|
| 4920 | *
|
---|
| 4921 | * @param v_selftest_u_8 : The value of self test
|
---|
| 4922 | *
|
---|
| 4923 | * v_selftest_u_8 | result
|
---|
| 4924 | * -------------- |----------
|
---|
| 4925 | * 0x01 | ENABLED
|
---|
| 4926 | * 0x00 | DISABLED
|
---|
| 4927 | *
|
---|
| 4928 | * @return results of bus communication function
|
---|
| 4929 | * @retval 0 -> Success
|
---|
| 4930 | * @retval 1 -> Error
|
---|
| 4931 | *
|
---|
| 4932 | * @note It triggers the self test
|
---|
| 4933 | */
|
---|
| 4934 | BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest(
|
---|
| 4935 | u_8 *v_selftest_u_8);
|
---|
| 4936 | /*!
|
---|
| 4937 | * @brief This API used to write the self test
|
---|
| 4938 | * from register from 0x3F bit 0
|
---|
| 4939 | *
|
---|
| 4940 | * @param v_selftest_u_8 : The value of self test
|
---|
| 4941 | *
|
---|
| 4942 | * v_selftest_u_8 | result
|
---|
| 4943 | * -------------- |----------
|
---|
| 4944 | * 0x01 | ENABLED
|
---|
| 4945 | * 0x00 | DISABLED
|
---|
| 4946 | *
|
---|
| 4947 | * @return results of bus communication function
|
---|
| 4948 | * @retval 0 -> Success
|
---|
| 4949 | * @retval 1 -> Error
|
---|
| 4950 | *
|
---|
| 4951 | * @note It triggers the self test
|
---|
| 4952 | *
|
---|
| 4953 | *
|
---|
| 4954 | */
|
---|
| 4955 | BNO055_RETURN_FUNCTION_TYPE bno055_set_selftest(u_8 v_selftest_u_8);
|
---|
| 4956 | /**************************************************/
|
---|
| 4957 | /**\name FUNCTIONS FOR TEMPERATURE SOURCE */
|
---|
| 4958 | /**************************************************/
|
---|
| 4959 | /*!
|
---|
| 4960 | * @brief This API used to read the temperature source
|
---|
| 4961 | * from register from 0x40 bit 0 and 1
|
---|
| 4962 | *
|
---|
| 4963 | * @param v_temp_source_u_8 : The value of selected temperature source
|
---|
| 4964 | *
|
---|
| 4965 | * v_temp_source_u_8 | result
|
---|
| 4966 | * ---------------- |---------------
|
---|
| 4967 | * 0x00 | ACCEL_TEMP_EN
|
---|
| 4968 | * 0X01 | GYRO_TEMP_EN
|
---|
| 4969 | * 0X03 | MCU_TEMP_EN
|
---|
| 4970 | *
|
---|
| 4971 | * @return results of bus communication function
|
---|
| 4972 | * @retval 0 -> Success
|
---|
| 4973 | * @retval 1 -> Error
|
---|
| 4974 | *
|
---|
| 4975 | */
|
---|
| 4976 | BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_source(
|
---|
| 4977 | u_8 *v_temp_source_u_8);
|
---|
| 4978 | /*!
|
---|
| 4979 | * @brief This API used to write the temperature source
|
---|
| 4980 | * from register from 0x40 bit 0 and 1
|
---|
| 4981 | *
|
---|
| 4982 | * @param v_temp_source_u_8 : The value of selected temperature source
|
---|
| 4983 | *
|
---|
| 4984 | * v_temp_source_u_8 | result
|
---|
| 4985 | * ---------------- |---------------
|
---|
| 4986 | * 0x00 | ACCEL_TEMP_EN
|
---|
| 4987 | * 0X01 | GYRO_TEMP_EN
|
---|
| 4988 | * 0X03 | MCU_TEMP_EN
|
---|
| 4989 | *
|
---|
| 4990 | * @return results of bus communication function
|
---|
| 4991 | * @retval 0 -> Success
|
---|
| 4992 | * @retval 1 -> Error
|
---|
| 4993 | *
|
---|
| 4994 | */
|
---|
| 4995 | BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_source(u_8 v_temp_source_u_8);
|
---|
| 4996 | /**************************************************/
|
---|
| 4997 | /**\name FUNCTIONS FOR AXIS REMAP */
|
---|
| 4998 | /**************************************************/
|
---|
| 4999 | /*!
|
---|
| 5000 | * @brief This API used to read the axis remap value
|
---|
| 5001 | * from register from 0x41 bit 0 and 5
|
---|
| 5002 | *
|
---|
| 5003 | * @param v_remap_axis_u_8 : The value of axis remapping
|
---|
| 5004 | *
|
---|
| 5005 | * v_remap_axis_u_8 | result | comments
|
---|
| 5006 | * ------------|-------------------|------------
|
---|
| 5007 | * 0X21 | REMAP_X_Y | Z=Z;X=Y;Y=X
|
---|
| 5008 | * 0X18 | REMAP_Y_Z | X=X;Y=Z;Z=Y
|
---|
| 5009 | * 0X06 | REMAP_Z_X | Y=Y;X=Z;Z=X
|
---|
| 5010 | * 0X12 | REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y
|
---|
| 5011 | * 0X09 | REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X
|
---|
| 5012 | * 0X24 | DEFAULT_AXIS | X=X;Y=Y;Z=Z
|
---|
| 5013 | *
|
---|
| 5014 | * @return results of bus communication function
|
---|
| 5015 | * @retval 0 -> Success
|
---|
| 5016 | * @retval 1 -> Error
|
---|
| 5017 | *
|
---|
| 5018 | * @note : For axis sign remap refer the following functions
|
---|
| 5019 | * x-axis :
|
---|
| 5020 | *
|
---|
| 5021 | * bno055_set_x_remap_sign()
|
---|
| 5022 | *
|
---|
| 5023 | * y-axis :
|
---|
| 5024 | *
|
---|
| 5025 | * bno055_set_y_remap_sign()
|
---|
| 5026 | *
|
---|
| 5027 | * z-axis :
|
---|
| 5028 | *
|
---|
| 5029 | * bno055_set_z_remap_sign()
|
---|
| 5030 | *
|
---|
| 5031 | */
|
---|
| 5032 | BNO055_RETURN_FUNCTION_TYPE bno055_get_axis_remap_value(
|
---|
| 5033 | u_8 *v_remap_axis_u_8);
|
---|
| 5034 | /*!
|
---|
| 5035 | * @brief This API used to write the axis remap value
|
---|
| 5036 | * from register from 0x41 bit 0 and 5
|
---|
| 5037 | *
|
---|
| 5038 | * @param v_remap_axis_u_8 : The value of axis remapping
|
---|
| 5039 | *
|
---|
| 5040 | * v_remap_axis_u_8 | result | comments
|
---|
| 5041 | * ------------|-------------------|------------
|
---|
| 5042 | * 0X21 | REMAP_X_Y | Z=Z;X=Y;Y=X
|
---|
| 5043 | * 0X18 | REMAP_Y_Z | X=X;Y=Z;Z=Y
|
---|
| 5044 | * 0X06 | REMAP_Z_X | Y=Y;X=Z;Z=X
|
---|
| 5045 | * 0X12 | REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y
|
---|
| 5046 | * 0X09 | REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X
|
---|
| 5047 | * 0X24 | DEFAULT_AXIS | X=X;Y=Y;Z=Z
|
---|
| 5048 | *
|
---|
| 5049 | * @return results of bus communication function
|
---|
| 5050 | * @retval 0 -> Success
|
---|
| 5051 | * @retval 1 -> Error
|
---|
| 5052 | *
|
---|
| 5053 | * @note : For axis sign remap refer the following functions
|
---|
| 5054 | * x-axis :
|
---|
| 5055 | *
|
---|
| 5056 | * bno055_set_x_remap_sign()
|
---|
| 5057 | *
|
---|
| 5058 | * y-axis :
|
---|
| 5059 | *
|
---|
| 5060 | * bno055_set_y_remap_sign()
|
---|
| 5061 | *
|
---|
| 5062 | * z-axis :
|
---|
| 5063 | *
|
---|
| 5064 | * bno055_set_z_remap_sign()
|
---|
| 5065 | *
|
---|
| 5066 | */
|
---|
| 5067 | BNO055_RETURN_FUNCTION_TYPE bno055_set_axis_remap_value(
|
---|
| 5068 | u_8 v_remap_axis_u_8);
|
---|
| 5069 | /**************************************************/
|
---|
| 5070 | /**\name FUNCTIONS FOR AXIS REMAP SIGN */
|
---|
| 5071 | /**************************************************/
|
---|
| 5072 | /*!
|
---|
| 5073 | * @brief This API used to read the x-axis remap
|
---|
| 5074 | * sign from register from 0x42 bit 2
|
---|
| 5075 | *
|
---|
| 5076 | * @param v_remap_x_sign_u_8 : The value of x-axis remap sign
|
---|
| 5077 | *
|
---|
| 5078 | * v_remap_x_sign_u_8 | result
|
---|
| 5079 | * ------------------- |--------------------
|
---|
| 5080 | * 0X00 | REMAP_AXIS_POSITIVE
|
---|
| 5081 | * 0X01 | REMAP_AXIS_NEGATIVE
|
---|
| 5082 | *
|
---|
| 5083 | * @return results of bus communication function
|
---|
| 5084 | * @retval 0 -> Success
|
---|
| 5085 | * @retval 1 -> Error
|
---|
| 5086 | *
|
---|
| 5087 | */
|
---|
| 5088 | BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_x_sign(
|
---|
| 5089 | u_8 *v_remap_x_sign_u_8);
|
---|
| 5090 | /*!
|
---|
| 5091 | * @brief This API used to write the x-axis remap
|
---|
| 5092 | * sign from register from 0x42 bit 2
|
---|
| 5093 | *
|
---|
| 5094 | * @param v_remap_x_sign_u_8 : The value of x-axis remap sign
|
---|
| 5095 | *
|
---|
| 5096 | * v_remap_x_sign_u_8 | result
|
---|
| 5097 | * ------------------- |--------------------
|
---|
| 5098 | * 0X00 | REMAP_AXIS_POSITIVE
|
---|
| 5099 | * 0X01 | REMAP_AXIS_NEGATIVE
|
---|
| 5100 | *
|
---|
| 5101 | * @return results of bus communication function
|
---|
| 5102 | * @retval 0 -> Success
|
---|
| 5103 | * @retval 1 -> Error
|
---|
| 5104 | *
|
---|
| 5105 | */
|
---|
| 5106 | BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_x_sign(
|
---|
| 5107 | u_8 v_remap_x_sign_u_8);
|
---|
| 5108 | /*!
|
---|
| 5109 | * @brief This API used to read the y-axis remap
|
---|
| 5110 | * sign from register from 0x42 bit 1
|
---|
| 5111 | *
|
---|
| 5112 | * @param v_remap_y_sign_u_8 : The value of y-axis remap sign
|
---|
| 5113 | *
|
---|
| 5114 | * v_remap_y_sign_u_8 | result
|
---|
| 5115 | * ------------------- |--------------------
|
---|
| 5116 | * 0X00 | REMAP_AXIS_POSITIVE
|
---|
| 5117 | * 0X01 | REMAP_AXIS_NEGATIVE
|
---|
| 5118 | *
|
---|
| 5119 | * @return results of bus communication function
|
---|
| 5120 | * @retval 0 -> Success
|
---|
| 5121 | * @retval 1 -> Error
|
---|
| 5122 | *
|
---|
| 5123 | */
|
---|
| 5124 | BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_y_sign(
|
---|
| 5125 | u_8 *v_remap_y_sign_u_8);
|
---|
| 5126 | /*!
|
---|
| 5127 | * @brief This API used to write the y-axis remap
|
---|
| 5128 | * sign from register from 0x42 bit 1
|
---|
| 5129 | *
|
---|
| 5130 | * @param v_remap_y_sign_u_8 : The value of y-axis remap sign
|
---|
| 5131 | *
|
---|
| 5132 | * v_remap_y_sign_u_8 | result
|
---|
| 5133 | * ------------------- |--------------------
|
---|
| 5134 | * 0X00 | REMAP_AXIS_POSITIVE
|
---|
| 5135 | * 0X01 | REMAP_AXIS_NEGATIVE
|
---|
| 5136 | *
|
---|
| 5137 | * @return results of bus communication function
|
---|
| 5138 | * @retval 0 -> Success
|
---|
| 5139 | * @retval 1 -> Error
|
---|
| 5140 | *
|
---|
| 5141 | */
|
---|
| 5142 | BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_y_sign(
|
---|
| 5143 | u_8 v_remap_y_sign_u_8);
|
---|
| 5144 | /*!
|
---|
| 5145 | * @brief This API used to read the z-axis remap
|
---|
| 5146 | * sign from register from 0x42 bit 0
|
---|
| 5147 | *
|
---|
| 5148 | * @param v_remap_z_sign_u_8 : The value of z-axis remap sign
|
---|
| 5149 | *
|
---|
| 5150 | * v_remap_z_sign_u_8 | result
|
---|
| 5151 | * ------------------- |--------------------
|
---|
| 5152 | * 0X00 | REMAP_AXIS_POSITIVE
|
---|
| 5153 | * 0X01 | REMAP_AXIS_NEGATIVE
|
---|
| 5154 | *
|
---|
| 5155 | * @return results of bus communication function
|
---|
| 5156 | * @retval 0 -> Success
|
---|
| 5157 | * @retval 1 -> Error
|
---|
| 5158 | *
|
---|
| 5159 | */
|
---|
| 5160 | BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_z_sign(
|
---|
| 5161 | u_8 *v_remap_z_sign_u_8);
|
---|
| 5162 | /*!
|
---|
| 5163 | * @brief This API used to write the z-axis remap
|
---|
| 5164 | * sign from register from 0x42 bit 0
|
---|
| 5165 | *
|
---|
| 5166 | * @param v_remap_z_sign_u_8 : The value of z-axis remap sign
|
---|
| 5167 | *
|
---|
| 5168 | * v_remap_z_sign_u_8 | result
|
---|
| 5169 | * ------------------- |--------------------
|
---|
| 5170 | * 0X00 | REMAP_AXIS_POSITIVE
|
---|
| 5171 | * 0X01 | REMAP_AXIS_NEGATIVE
|
---|
| 5172 | *
|
---|
| 5173 | * @return results of bus communication function
|
---|
| 5174 | * @retval 0 -> Success
|
---|
| 5175 | * @retval 1 -> Error
|
---|
| 5176 | *
|
---|
| 5177 | */
|
---|
| 5178 | BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_z_sign(
|
---|
| 5179 | u_8 v_remap_z_sign_u_8);
|
---|
| 5180 | /*****************************************************/
|
---|
| 5181 | /**\name FUNCTIONS FOR SOFT IRON CALIBRATION MATRIX */
|
---|
| 5182 | /*****************************************************/
|
---|
| 5183 | /*!
|
---|
| 5184 | * @brief This API is used to read soft iron calibration matrix
|
---|
| 5185 | * from the register 0x43 to 0x53 it is a 18 bytes of data
|
---|
| 5186 | *
|
---|
| 5187 | * @param sic_matrix : The value of soft iron calibration matrix
|
---|
| 5188 | *
|
---|
| 5189 | * sic_matrix | result
|
---|
| 5190 | * --------------------|----------------------------------
|
---|
| 5191 | * sic_0 | soft iron calibration matrix zero
|
---|
| 5192 | * sic_1 | soft iron calibration matrix one
|
---|
| 5193 | * sic_2 | soft iron calibration matrix two
|
---|
| 5194 | * sic_3 | soft iron calibration matrix three
|
---|
| 5195 | * sic_4 | soft iron calibration matrix four
|
---|
| 5196 | * sic_5 | soft iron calibration matrix five
|
---|
| 5197 | * sic_6 | soft iron calibration matrix six
|
---|
| 5198 | * sic_7 | soft iron calibration matrix seven
|
---|
| 5199 | * sic_8 | soft iron calibration matrix eight
|
---|
| 5200 | *
|
---|
| 5201 | *
|
---|
| 5202 | * @return results of bus communication function
|
---|
| 5203 | * @retval 0 -> Success
|
---|
| 5204 | * @retval 1 -> Error
|
---|
| 5205 | *
|
---|
| 5206 | * @note : Each soft iron calibration matrix range from -32768 to +32767
|
---|
| 5207 | */
|
---|
| 5208 | BNO055_RETURN_FUNCTION_TYPE bno055_read_sic_matrix(
|
---|
| 5209 | struct bno055_sic_matrix_t *sic_matrix);
|
---|
| 5210 | /*!
|
---|
| 5211 | * @brief This API is used to write soft iron calibration matrix
|
---|
| 5212 | * from the register 0x43 to 0x53 it is a 18 bytes of data
|
---|
| 5213 | *
|
---|
| 5214 | * @param sic_matrix : The value of soft iron calibration matrix
|
---|
| 5215 | *
|
---|
| 5216 | * sic_matrix | result
|
---|
| 5217 | * --------------------|----------------------------------
|
---|
| 5218 | * sic_0 | soft iron calibration matrix zero
|
---|
| 5219 | * sic_1 | soft iron calibration matrix one
|
---|
| 5220 | * sic_2 | soft iron calibration matrix two
|
---|
| 5221 | * sic_3 | soft iron calibration matrix three
|
---|
| 5222 | * sic_4 | soft iron calibration matrix four
|
---|
| 5223 | * sic_5 | soft iron calibration matrix five
|
---|
| 5224 | * sic_6 | soft iron calibration matrix six
|
---|
| 5225 | * sic_7 | soft iron calibration matrix seven
|
---|
| 5226 | * sic_8 | soft iron calibration matrix eight
|
---|
| 5227 | *
|
---|
| 5228 | *
|
---|
| 5229 | * @return results of bus communication function
|
---|
| 5230 | * @retval 0 -> Success
|
---|
| 5231 | * @retval 1 -> Error
|
---|
| 5232 | *
|
---|
| 5233 | * @note : Each soft iron calibration matrix range from -32768 to +32767
|
---|
| 5234 | */
|
---|
| 5235 | BNO055_RETURN_FUNCTION_TYPE bno055_write_sic_matrix(
|
---|
| 5236 | struct bno055_sic_matrix_t *sic_matrix);
|
---|
| 5237 | /*****************************************************/
|
---|
| 5238 | /**\name FUNCTIONS FOR ACCEL OFFSET AND RADIUS */
|
---|
| 5239 | /*****************************************************/
|
---|
| 5240 | /*!
|
---|
| 5241 | * @brief This API is used to read accel offset and accel radius
|
---|
| 5242 | * offset form register 0x55 to 0x5A and radius form 0x67 and 0x68
|
---|
| 5243 | *
|
---|
| 5244 | * @param accel_offset : The value of accel offset and radius
|
---|
| 5245 | *
|
---|
| 5246 | * bno055_accel_offset_t | result
|
---|
| 5247 | * ------------------- | ----------------
|
---|
| 5248 | * x | accel offset x
|
---|
| 5249 | * y | accel offset y
|
---|
| 5250 | * z | accel offset z
|
---|
| 5251 | * r | accel offset r
|
---|
| 5252 | *
|
---|
| 5253 | *
|
---|
| 5254 | * @return results of bus communication function
|
---|
| 5255 | * @retval 0 -> Success
|
---|
| 5256 | * @retval 1 -> Error
|
---|
| 5257 | *
|
---|
| 5258 | * @note The range of the accel offset varies based on
|
---|
| 5259 | * the G-range of accel sensor.
|
---|
| 5260 | *
|
---|
| 5261 | * accel G range | offset range
|
---|
| 5262 | * --------------- | --------------
|
---|
| 5263 | * ACCEL_RANGE_2G | +/-2000
|
---|
| 5264 | * ACCEL_RANGE_4G | +/-4000
|
---|
| 5265 | * ACCEL_RANGE_8G | +/-8000
|
---|
| 5266 | * ACCEL_RANGE_16G | +/-16000
|
---|
| 5267 | *
|
---|
| 5268 | * accel G range can be configured by using the
|
---|
| 5269 | * bno055_set_accel_range() function
|
---|
| 5270 | */
|
---|
| 5271 | BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_offset(
|
---|
| 5272 | struct bno055_accel_offset_t *accel_offset);
|
---|
| 5273 | /*!
|
---|
| 5274 | * @brief This API is used to write accel offset and accel radius
|
---|
| 5275 | * offset form register 0x55 to 0x5A and radius form 0x67 and 0x68
|
---|
| 5276 | *
|
---|
| 5277 | * @param accel_offset : The value of accel offset and radius
|
---|
| 5278 | *
|
---|
| 5279 | * bno055_accel_offset_t | result
|
---|
| 5280 | * ------------------- | ----------------
|
---|
| 5281 | * x | accel offset x
|
---|
| 5282 | * y | accel offset y
|
---|
| 5283 | * z | accel offset z
|
---|
| 5284 | * r | accel offset r
|
---|
| 5285 | *
|
---|
| 5286 | *
|
---|
| 5287 | * @return results of bus communication function
|
---|
| 5288 | * @retval 0 -> Success
|
---|
| 5289 | * @retval 1 -> Error
|
---|
| 5290 | *
|
---|
| 5291 | * @note The range of the accel offset varies based on
|
---|
| 5292 | * the G-range of accel sensor.
|
---|
| 5293 | *
|
---|
| 5294 | * accel G range | offset range
|
---|
| 5295 | * --------------- | --------------
|
---|
| 5296 | * ACCEL_RANGE_2G | +/-2000
|
---|
| 5297 | * ACCEL_RANGE_4G | +/-4000
|
---|
| 5298 | * ACCEL_RANGE_8G | +/-8000
|
---|
| 5299 | * ACCEL_RANGE_16G | +/-16000
|
---|
| 5300 | *
|
---|
| 5301 | * accel G range can be configured by using the
|
---|
| 5302 | * bno055_set_accel_range() function
|
---|
| 5303 | */
|
---|
| 5304 | BNO055_RETURN_FUNCTION_TYPE bno055_write_accel_offset(
|
---|
| 5305 | struct bno055_accel_offset_t *accel_offset);
|
---|
| 5306 | /*****************************************************/
|
---|
| 5307 | /**\name FUNCTIONS FOR MAG OFFSET AND RADIUS*/
|
---|
| 5308 | /*****************************************************/
|
---|
| 5309 | /*!
|
---|
| 5310 | * @brief This API is used to read mag offset
|
---|
| 5311 | * offset form register 0x69 to 0x6A
|
---|
| 5312 | *
|
---|
| 5313 | * @param mag_offset : The value of mag offset and radius
|
---|
| 5314 | *
|
---|
| 5315 | * bno055_mag_offset_t | result
|
---|
| 5316 | * ------------------- | ----------------
|
---|
| 5317 | * x | mag offset x
|
---|
| 5318 | * y | mag offset y
|
---|
| 5319 | * z | mag offset z
|
---|
| 5320 | * r | mag radius r
|
---|
| 5321 | *
|
---|
| 5322 | *
|
---|
| 5323 | * @return results of bus communication function
|
---|
| 5324 | * @retval 0 -> Success
|
---|
| 5325 | * @retval 1 -> Error
|
---|
| 5326 | *
|
---|
| 5327 | * @note The range of the magnetometer offset is +/-6400 in LSB
|
---|
| 5328 | */
|
---|
| 5329 |
|
---|
| 5330 | BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_offset(
|
---|
| 5331 | struct bno055_mag_offset_t *mag_offset);
|
---|
| 5332 | /*!
|
---|
| 5333 | * @brief This API is used to read mag offset
|
---|
| 5334 | * offset form register 0x69 to 0x6A
|
---|
| 5335 | *
|
---|
| 5336 | * @param mag_offset : The value of mag offset and radius
|
---|
| 5337 | *
|
---|
| 5338 | * bno055_mag_offset_t | result
|
---|
| 5339 | * ------------------- | ----------------
|
---|
| 5340 | * x | mag offset x
|
---|
| 5341 | * y | mag offset y
|
---|
| 5342 | * z | mag offset z
|
---|
| 5343 | * r | mag radius r
|
---|
| 5344 | *
|
---|
| 5345 | *
|
---|
| 5346 | * @return results of bus communication function
|
---|
| 5347 | * @retval 0 -> Success
|
---|
| 5348 | * @retval 1 -> Error
|
---|
| 5349 | *
|
---|
| 5350 | * @note The range of the magnetometer offset is +/-6400 in LSB
|
---|
| 5351 | */
|
---|
| 5352 | BNO055_RETURN_FUNCTION_TYPE bno055_write_mag_offset(
|
---|
| 5353 | struct bno055_mag_offset_t *mag_offset);
|
---|
| 5354 | /*****************************************************/
|
---|
| 5355 | /**\name FUNCTIONS FOR GYRO OFFSET */
|
---|
| 5356 | /*****************************************************/
|
---|
| 5357 | /*!
|
---|
| 5358 | * @brief This API is used to read gyro offset
|
---|
| 5359 | * offset form register 0x61 to 0x66
|
---|
| 5360 | *
|
---|
| 5361 | * @param gyro_offset : The value of gyro offset
|
---|
| 5362 | *
|
---|
| 5363 | * bno055_gyro_offset_t | result
|
---|
| 5364 | * ------------------- | ----------------
|
---|
| 5365 | * x | gyro offset x
|
---|
| 5366 | * y | gyro offset y
|
---|
| 5367 | * z | gyro offset z
|
---|
| 5368 | *
|
---|
| 5369 | *
|
---|
| 5370 | * @return results of bus communication function
|
---|
| 5371 | * @retval 0 -> Success
|
---|
| 5372 | * @retval 1 -> Error
|
---|
| 5373 | *
|
---|
| 5374 | * @note The range of the gyro offset varies based on
|
---|
| 5375 | * the range of gyro sensor
|
---|
| 5376 | *
|
---|
| 5377 | * gyro G range | offset range
|
---|
| 5378 | * -------------------- | ------------
|
---|
| 5379 | * GYRO_RANGE_2000DPS | +/-32000
|
---|
| 5380 | * GYRO_RANGE_1000DPS | +/-16000
|
---|
| 5381 | * GYRO_RANGE_500DPS | +/-8000
|
---|
| 5382 | * GYRO_RANGE_250DPS | +/-4000
|
---|
| 5383 | * GYRO_RANGE_125DPS | +/-2000
|
---|
| 5384 | *
|
---|
| 5385 | * Gyro range can be configured by using the
|
---|
| 5386 | * bno055_set_gyro_range() function
|
---|
| 5387 | */
|
---|
| 5388 | BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_offset(
|
---|
| 5389 | struct bno055_gyro_offset_t *gyro_offset);
|
---|
| 5390 | /*!
|
---|
| 5391 | * @brief This API is used to read gyro offset
|
---|
| 5392 | * offset form register 0x61 to 0x66
|
---|
| 5393 | *
|
---|
| 5394 | * @param gyro_offset : The value of gyro offset
|
---|
| 5395 | *
|
---|
| 5396 | * bno055_gyro_offset_t | result
|
---|
| 5397 | * ------------------- | ----------------
|
---|
| 5398 | * x | gyro offset x
|
---|
| 5399 | * y | gyro offset y
|
---|
| 5400 | * z | gyro offset z
|
---|
| 5401 | *
|
---|
| 5402 | *
|
---|
| 5403 | * @return results of bus communication function
|
---|
| 5404 | * @retval 0 -> Success
|
---|
| 5405 | * @retval 1 -> Error
|
---|
| 5406 | *
|
---|
| 5407 | * @note The range of the gyro offset varies based on
|
---|
| 5408 | * the range of gyro sensor
|
---|
| 5409 | *
|
---|
| 5410 | * gyro G range | offset range
|
---|
| 5411 | * -------------------- | ------------
|
---|
| 5412 | * GYRO_RANGE_2000DPS | +/-32000
|
---|
| 5413 | * GYRO_RANGE_1000DPS | +/-16000
|
---|
| 5414 | * GYRO_RANGE_500DPS | +/-8000
|
---|
| 5415 | * GYRO_RANGE_250DPS | +/-4000
|
---|
| 5416 | * GYRO_RANGE_125DPS | +/-2000
|
---|
| 5417 | *
|
---|
| 5418 | * Gyro range can be configured by using the
|
---|
| 5419 | * bno055_set_gyro_range() function
|
---|
| 5420 | */
|
---|
| 5421 | BNO055_RETURN_FUNCTION_TYPE bno055_write_gyro_offset(
|
---|
| 5422 | struct bno055_gyro_offset_t *gyro_offset);
|
---|
| 5423 | /********************************************************/
|
---|
| 5424 | /************** PAGE1 Functions *********************/
|
---|
| 5425 | /********************************************************/
|
---|
| 5426 | /*****************************************************/
|
---|
| 5427 | /**\name FUNCTIONS FOR ACCEL CONFIGURATION */
|
---|
| 5428 | /*****************************************************/
|
---|
| 5429 | /*!
|
---|
| 5430 | * @brief This API used to read the accel range
|
---|
| 5431 | * from page one register from 0x08 bit 0 and 1
|
---|
| 5432 | *
|
---|
| 5433 | * @param v_accel_range_u_8 : The value of accel range
|
---|
| 5434 | * v_accel_range_u_8 | result
|
---|
| 5435 | * ----------------- | --------------
|
---|
| 5436 | * 0x00 | ACCEL_RANGE_2G
|
---|
| 5437 | * 0x01 | ACCEL_RANGE_4G
|
---|
| 5438 | * 0x02 | ACCEL_RANGE_8G
|
---|
| 5439 | * 0x03 | ACCEL_RANGE_16G
|
---|
| 5440 | *
|
---|
| 5441 | * @return results of bus communication function
|
---|
| 5442 | * @retval 0 -> Success
|
---|
| 5443 | * @retval 1 -> Error
|
---|
| 5444 | *
|
---|
| 5445 | *
|
---|
| 5446 | */
|
---|
| 5447 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_range(
|
---|
| 5448 | u_8 *v_accel_range_u_8);
|
---|
| 5449 | /*!
|
---|
| 5450 | * @brief This API used to write the accel range
|
---|
| 5451 | * from page one register from 0x08 bit 0 and 1
|
---|
| 5452 | *
|
---|
| 5453 | * @param v_accel_range_u_8 : The value of accel range
|
---|
| 5454 | *
|
---|
| 5455 | * v_accel_range_u_8 | result
|
---|
| 5456 | * ----------------- | --------------
|
---|
| 5457 | * 0x00 | ACCEL_RANGE_2G
|
---|
| 5458 | * 0x01 | ACCEL_RANGE_4G
|
---|
| 5459 | * 0x02 | ACCEL_RANGE_8G
|
---|
| 5460 | * 0x03 | ACCEL_RANGE_16G
|
---|
| 5461 | *
|
---|
| 5462 | * @return results of bus communication function
|
---|
| 5463 | * @retval 0 -> Success
|
---|
| 5464 | * @retval 1 -> Error
|
---|
| 5465 | *
|
---|
| 5466 | *
|
---|
| 5467 | */
|
---|
| 5468 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_range(
|
---|
| 5469 | u_8 v_accel_range_u_8);
|
---|
| 5470 | /*!
|
---|
| 5471 | * @brief This API used to read the accel bandwidth
|
---|
| 5472 | * from page one register from 0x08 bit 2 to 4
|
---|
| 5473 | *
|
---|
| 5474 | * @param v_accel_bw_u_8 : The value of accel bandwidth
|
---|
| 5475 | *
|
---|
| 5476 | * v_accel_bw_u_8 | result
|
---|
| 5477 | * ----------------- | ---------------
|
---|
| 5478 | * 0x00 | ACCEL_BW_7_81HZ
|
---|
| 5479 | * 0x01 | ACCEL_BW_15_63HZ
|
---|
| 5480 | * 0x02 | ACCEL_BW_31_25HZ
|
---|
| 5481 | * 0x03 | ACCEL_BW_62_5HZ
|
---|
| 5482 | * 0x04 | ACCEL_BW_125HZ
|
---|
| 5483 | * 0x05 | ACCEL_BW_250HZ
|
---|
| 5484 | * 0x06 | ACCEL_BW_500HZ
|
---|
| 5485 | * 0x07 | ACCEL_BW_1000HZ
|
---|
| 5486 | *
|
---|
| 5487 | * @return results of bus communication function
|
---|
| 5488 | * @retval 0 -> Success
|
---|
| 5489 | * @retval 1 -> Error
|
---|
| 5490 | *
|
---|
| 5491 | *
|
---|
| 5492 | */
|
---|
| 5493 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_bw(
|
---|
| 5494 | u_8 *v_accel_bw_u_8);
|
---|
| 5495 | /*!
|
---|
| 5496 | * @brief This API used to write the accel bandwidth
|
---|
| 5497 | * from page one register from 0x08 bit 2 to 4
|
---|
| 5498 | *
|
---|
| 5499 | * @param v_accel_bw_u_8 : The value of accel bandwidth
|
---|
| 5500 | *
|
---|
| 5501 | * v_accel_bw_u_8 | result
|
---|
| 5502 | * ----------------- | ---------------
|
---|
| 5503 | * 0x00 | ACCEL_BW_7_81HZ
|
---|
| 5504 | * 0x01 | ACCEL_BW_15_63HZ
|
---|
| 5505 | * 0x02 | ACCEL_BW_31_25HZ
|
---|
| 5506 | * 0x03 | ACCEL_BW_62_5HZ
|
---|
| 5507 | * 0x04 | ACCEL_BW_125HZ
|
---|
| 5508 | * 0x05 | ACCEL_BW_250HZ
|
---|
| 5509 | * 0x06 | ACCEL_BW_500HZ
|
---|
| 5510 | * 0x07 | ACCEL_BW_1000HZ
|
---|
| 5511 | *
|
---|
| 5512 | * @return results of bus communication function
|
---|
| 5513 | * @retval 0 -> Success
|
---|
| 5514 | * @retval 1 -> Error
|
---|
| 5515 | *
|
---|
| 5516 | *
|
---|
| 5517 | */
|
---|
| 5518 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_bw(
|
---|
| 5519 | u_8 v_accel_bw_u_8);
|
---|
| 5520 | /*!
|
---|
| 5521 | * @brief This API used to read the accel power mode
|
---|
| 5522 | * from page one register from 0x08 bit 5 to 7
|
---|
| 5523 | *
|
---|
| 5524 | * @param v_accel_power_mode_u_8 : The value of accel power mode
|
---|
| 5525 | * v_accel_power_mode_u_8 | result
|
---|
| 5526 | * ----------------- | -------------
|
---|
| 5527 | * 0x00 | ACCEL_NORMAL
|
---|
| 5528 | * 0x01 | ACCEL_SUSPEND
|
---|
| 5529 | * 0x02 | ACCEL_LOWPOWER_1
|
---|
| 5530 | * 0x03 | ACCEL_STANDBY
|
---|
| 5531 | * 0x04 | ACCEL_LOWPOWER_2
|
---|
| 5532 | * 0x05 | ACCEL_DEEPSUSPEND
|
---|
| 5533 | *
|
---|
| 5534 | * @return results of bus communication function
|
---|
| 5535 | * @retval 0 -> Success
|
---|
| 5536 | * @retval 1 -> Error
|
---|
| 5537 | *
|
---|
| 5538 | *
|
---|
| 5539 | */
|
---|
| 5540 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_power_mode(
|
---|
| 5541 | u_8 *v_accel_power_mode_u_8);
|
---|
| 5542 | /*!
|
---|
| 5543 | * @brief This API used to write the accel power mode
|
---|
| 5544 | * from page one register from 0x08 bit 5 to 7
|
---|
| 5545 | *
|
---|
| 5546 | * @param v_accel_power_mode_u_8 : The value of accel power mode
|
---|
| 5547 | * v_accel_power_mode_u_8 | result
|
---|
| 5548 | * ----------------- | -------------
|
---|
| 5549 | * 0x00 | ACCEL_NORMAL
|
---|
| 5550 | * 0x01 | ACCEL_SUSPEND
|
---|
| 5551 | * 0x02 | ACCEL_LOWPOWER_1
|
---|
| 5552 | * 0x03 | ACCEL_STANDBY
|
---|
| 5553 | * 0x04 | ACCEL_LOWPOWER_2
|
---|
| 5554 | * 0x05 | ACCEL_DEEPSUSPEND
|
---|
| 5555 | *
|
---|
| 5556 | * @return results of bus communication function
|
---|
| 5557 | * @retval 0 -> Success
|
---|
| 5558 | * @retval 1 -> Error
|
---|
| 5559 | *
|
---|
| 5560 | *
|
---|
| 5561 | */
|
---|
| 5562 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_power_mode(
|
---|
| 5563 | u_8 v_accel_power_mode_u_8);
|
---|
| 5564 | /*****************************************************/
|
---|
| 5565 | /**\name FUNCTIONS FOR MAG CONFIGURATION */
|
---|
| 5566 | /*****************************************************/
|
---|
| 5567 | /*!
|
---|
| 5568 | * @brief This API used to read the mag output data rate
|
---|
| 5569 | * from page one register from 0x09 bit 0 to 2
|
---|
| 5570 | *
|
---|
| 5571 | * @param v_mag_data_output_rate_u_8 : The value of mag output data rate
|
---|
| 5572 | *
|
---|
| 5573 | * v_mag_data_output_rate_u_8 | result
|
---|
| 5574 | * ---------------------- |----------------------
|
---|
| 5575 | * 0x00 | MAG_DATA_OUTPUT_RATE_2HZ
|
---|
| 5576 | * 0x01 | MAG_DATA_OUTPUT_RATE_6HZ
|
---|
| 5577 | * 0x02 | MAG_DATA_OUTPUT_RATE_8HZ
|
---|
| 5578 | * 0x03 | MAG_DATA_OUTPUT_RATE_10HZ
|
---|
| 5579 | * 0x04 | MAG_DATA_OUTPUT_RATE_15HZ
|
---|
| 5580 | * 0x05 | MAG_DATA_OUTPUT_RATE_20HZ
|
---|
| 5581 | * 0x06 | MAG_DATA_OUTPUT_RATE_25HZ
|
---|
| 5582 | * 0x07 | MAG_DATA_OUTPUT_RATE_30HZ
|
---|
| 5583 | *
|
---|
| 5584 | * @return results of bus communication function
|
---|
| 5585 | * @retval 0 -> Success
|
---|
| 5586 | * @retval 1 -> Error
|
---|
| 5587 | *
|
---|
| 5588 | *
|
---|
| 5589 | */
|
---|
| 5590 | BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_data_output_rate(
|
---|
| 5591 | u_8 *v_mag_data_output_rate_u_8);
|
---|
| 5592 | /*!
|
---|
| 5593 | * @brief This API used to write the mag output data rate
|
---|
| 5594 | * from page one register from 0x09 bit 0 to 2
|
---|
| 5595 | *
|
---|
| 5596 | * @param v_mag_data_output_rate_u_8 : The value of mag output data rate
|
---|
| 5597 | *
|
---|
| 5598 | * v_mag_data_output_rate_u_8 | result
|
---|
| 5599 | * ---------------------- |----------------------
|
---|
| 5600 | * 0x00 | MAG_DATA_OUTPUT_RATE_2HZ
|
---|
| 5601 | * 0x01 | MAG_DATA_OUTPUT_RATE_6HZ
|
---|
| 5602 | * 0x02 | MAG_DATA_OUTPUT_RATE_8HZ
|
---|
| 5603 | * 0x03 | MAG_DATA_OUTPUT_RATE_10HZ
|
---|
| 5604 | * 0x04 | MAG_DATA_OUTPUT_RATE_15HZ
|
---|
| 5605 | * 0x05 | MAG_DATA_OUTPUT_RATE_20HZ
|
---|
| 5606 | * 0x06 | MAG_DATA_OUTPUT_RATE_25HZ
|
---|
| 5607 | * 0x07 | MAG_DATA_OUTPUT_RATE_30HZ
|
---|
| 5608 | *
|
---|
| 5609 | * @return results of bus communication function
|
---|
| 5610 | * @retval 0 -> Success
|
---|
| 5611 | * @retval 1 -> Error
|
---|
| 5612 | *
|
---|
| 5613 | *
|
---|
| 5614 | */
|
---|
| 5615 | BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_data_output_rate(
|
---|
| 5616 | u_8 v_mag_data_output_rate_u_8);
|
---|
| 5617 | /*!
|
---|
| 5618 | * @brief This API used to read the mag operation mode
|
---|
| 5619 | * from page one register from 0x09 bit 3 to 4
|
---|
| 5620 | *
|
---|
| 5621 | * @param v_mag_operation_mode_u_8 : The value of mag operation mode
|
---|
| 5622 | *
|
---|
| 5623 | * v_mag_operation_mode_u_8 | result
|
---|
| 5624 | * ------------------------- |--------------------------
|
---|
| 5625 | * 0x00 | MAG_OPR_MODE_LOWPOWER
|
---|
| 5626 | * 0x01 | MAG_OPR_MODE_REGULAR
|
---|
| 5627 | * 0x02 | MAG_OPR_MODE_ENHANCED_REGULAR
|
---|
| 5628 | * 0x03 | MAG_OPR_MODE_HIGH_ACCURACY
|
---|
| 5629 | *
|
---|
| 5630 | * @return results of bus communication function
|
---|
| 5631 | * @retval 0 -> Success
|
---|
| 5632 | * @retval 1 -> Error
|
---|
| 5633 | *
|
---|
| 5634 | *
|
---|
| 5635 | */
|
---|
| 5636 | BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_operation_mode(
|
---|
| 5637 | u_8 *v_mag_operation_mode_u_8);
|
---|
| 5638 | /*!
|
---|
| 5639 | * @brief This API used to write the mag operation mode
|
---|
| 5640 | * from page one register from 0x09 bit 3 to 4
|
---|
| 5641 | *
|
---|
| 5642 | * @param v_mag_operation_mode_u_8 : The value of mag operation mode
|
---|
| 5643 | *
|
---|
| 5644 | * v_mag_operation_mode_u_8 | result
|
---|
| 5645 | * ------------------------- |--------------------------
|
---|
| 5646 | * 0x00 | MAG_OPR_MODE_LOWPOWER
|
---|
| 5647 | * 0x01 | MAG_OPR_MODE_REGULAR
|
---|
| 5648 | * 0x02 | MAG_OPR_MODE_ENHANCED_REGULAR
|
---|
| 5649 | * 0x03 | MAG_OPR_MODE_HIGH_ACCURACY
|
---|
| 5650 | *
|
---|
| 5651 | * @return results of bus communication function
|
---|
| 5652 | * @retval 0 -> Success
|
---|
| 5653 | * @retval 1 -> Error
|
---|
| 5654 | *
|
---|
| 5655 | *
|
---|
| 5656 | */
|
---|
| 5657 | BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_operation_mode(
|
---|
| 5658 | u_8 v_mag_operation_mode_u_8);
|
---|
| 5659 | /*!
|
---|
| 5660 | * @brief This API used to read the mag power mode
|
---|
| 5661 | * from page one register from 0x09 bit 4 to 6
|
---|
| 5662 | *
|
---|
| 5663 | * @param v_mag_power_mode_u_8 : The value of mag power mode
|
---|
| 5664 | *
|
---|
| 5665 | * v_mag_power_mode_u_8 | result
|
---|
| 5666 | * --------------------|-----------------
|
---|
| 5667 | * 0x00 | MAG_POWER_MODE_NORMAL
|
---|
| 5668 | * 0x01 | MAG_POWER_MODE_SLEEP
|
---|
| 5669 | * 0x02 | MAG_POWER_MODE_SUSPEND
|
---|
| 5670 | * 0x03 | MAG_POWER_MODE_FORCE_MODE
|
---|
| 5671 | *
|
---|
| 5672 | * @return results of bus communication function
|
---|
| 5673 | * @retval 0 -> Success
|
---|
| 5674 | * @retval 1 -> Error
|
---|
| 5675 | *
|
---|
| 5676 | *
|
---|
| 5677 | */
|
---|
| 5678 | BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_power_mode(
|
---|
| 5679 | u_8 *v_mag_power_mode_u_8);
|
---|
| 5680 | /*!
|
---|
| 5681 | * @brief This API used to write the mag power mode
|
---|
| 5682 | * from page one register from 0x09 bit 4 to 6
|
---|
| 5683 | *
|
---|
| 5684 | * @param v_mag_power_mode_u_8 : The value of mag power mode
|
---|
| 5685 | *
|
---|
| 5686 | * v_mag_power_mode_u_8 | result
|
---|
| 5687 | * --------------------|-----------------
|
---|
| 5688 | * 0x00 | MAG_POWER_MODE_NORMAL
|
---|
| 5689 | * 0x01 | MAG_POWER_MODE_SLEEP
|
---|
| 5690 | * 0x02 | MAG_POWER_MODE_SUSPEND
|
---|
| 5691 | * 0x03 | MAG_POWER_MODE_FORCE_MODE
|
---|
| 5692 | *
|
---|
| 5693 | * @return results of bus communication function
|
---|
| 5694 | * @retval 0 -> Success
|
---|
| 5695 | * @retval 1 -> Error
|
---|
| 5696 | *
|
---|
| 5697 | *
|
---|
| 5698 | */
|
---|
| 5699 | BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_power_mode(
|
---|
| 5700 | u_8 v_mag_power_mode_u_8);
|
---|
| 5701 | /*****************************************************/
|
---|
| 5702 | /**\name FUNCTIONS FOR GYRO CONFIGURATION */
|
---|
| 5703 | /*****************************************************/
|
---|
| 5704 | /*!
|
---|
| 5705 | * @brief This API used to read the gyro range
|
---|
| 5706 | * from page one register from 0x0A bit 0 to 3
|
---|
| 5707 | *
|
---|
| 5708 | * @param v_gyro_range_u_8 : The value of gyro range
|
---|
| 5709 | *
|
---|
| 5710 | * v_gyro_range_u_8 | result
|
---|
| 5711 | * --------------------|-----------------
|
---|
| 5712 | * 0x00 | GYRO_RANGE_2000DPS
|
---|
| 5713 | * 0x01 | GYRO_RANGE_1000DPS
|
---|
| 5714 | * 0x02 | GYRO_RANGE_500DPS
|
---|
| 5715 | * 0x03 | GYRO_RANGE_250DPS
|
---|
| 5716 | * 0x04 | GYRO_RANGE_125DPS
|
---|
| 5717 | *
|
---|
| 5718 | * @return results of bus communication function
|
---|
| 5719 | * @retval 0 -> Success
|
---|
| 5720 | * @retval 1 -> Error
|
---|
| 5721 | *
|
---|
| 5722 | *
|
---|
| 5723 | */
|
---|
| 5724 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_range(
|
---|
| 5725 | u_8 *v_gyro_range_u_8);
|
---|
| 5726 | /*!
|
---|
| 5727 | * @brief This API used to write the gyro range
|
---|
| 5728 | * from page one register from 0x0A bit 0 to 3
|
---|
| 5729 | *
|
---|
| 5730 | * @param v_gyro_range_u_8 : The value of gyro range
|
---|
| 5731 | *
|
---|
| 5732 | * v_gyro_range_u_8 | result
|
---|
| 5733 | * --------------------|-----------------
|
---|
| 5734 | * 0x00 | GYRO_RANGE_2000DPS
|
---|
| 5735 | * 0x01 | GYRO_RANGE_1000DPS
|
---|
| 5736 | * 0x02 | GYRO_RANGE_500DPS
|
---|
| 5737 | * 0x03 | GYRO_RANGE_250DPS
|
---|
| 5738 | * 0x04 | GYRO_RANGE_125DPS
|
---|
| 5739 | *
|
---|
| 5740 | * @return results of bus communication function
|
---|
| 5741 | * @retval 0 -> Success
|
---|
| 5742 | * @retval 1 -> Error
|
---|
| 5743 | *
|
---|
| 5744 | *
|
---|
| 5745 | */
|
---|
| 5746 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_range(
|
---|
| 5747 | u_8 v_gyro_range_u_8);
|
---|
| 5748 | /*!
|
---|
| 5749 | * @brief This API used to read the gyro bandwidth
|
---|
| 5750 | * from page one register from 0x0A bit 3 to 5
|
---|
| 5751 | *
|
---|
| 5752 | * @param v_gyro_bw_u_8 : The value of gyro bandwidth
|
---|
| 5753 | *
|
---|
| 5754 | * v_gyro_bw_u_8 | result
|
---|
| 5755 | * --------------------|-----------------
|
---|
| 5756 | * 0x00 | GYRO_BW_523HZ
|
---|
| 5757 | * 0x01 | GYRO_BW_230HZ
|
---|
| 5758 | * 0x02 | GYRO_BW_116HZ
|
---|
| 5759 | * 0x03 | GYRO_BW_47HZ
|
---|
| 5760 | * 0x04 | GYRO_BW_23HZ
|
---|
| 5761 | * 0x05 | GYRO_BW_12HZ
|
---|
| 5762 | * 0x06 | GYRO_BW_64HZ
|
---|
| 5763 | * 0x07 | GYRO_BW_32HZ
|
---|
| 5764 | *
|
---|
| 5765 | * @return results of bus communication function
|
---|
| 5766 | * @retval 0 -> Success
|
---|
| 5767 | * @retval 1 -> Error
|
---|
| 5768 | *
|
---|
| 5769 | *
|
---|
| 5770 | */
|
---|
| 5771 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_bw(
|
---|
| 5772 | u_8 *v_gyro_bw_u_8);
|
---|
| 5773 | /*!
|
---|
| 5774 | * @brief This API used to write the gyro bandwidth
|
---|
| 5775 | * from page one register from 0x0A bit 3 to 5
|
---|
| 5776 | *
|
---|
| 5777 | * @param v_gyro_bw_u_8 : The value of gyro bandwidth
|
---|
| 5778 | *
|
---|
| 5779 | * v_gyro_bw_u_8 | result
|
---|
| 5780 | * --------------------|-----------------
|
---|
| 5781 | * 0x00 | GYRO_BW_523HZ
|
---|
| 5782 | * 0x01 | GYRO_BW_230HZ
|
---|
| 5783 | * 0x02 | GYRO_BW_116HZ
|
---|
| 5784 | * 0x03 | GYRO_BW_47HZ
|
---|
| 5785 | * 0x04 | GYRO_BW_23HZ
|
---|
| 5786 | * 0x05 | GYRO_BW_12HZ
|
---|
| 5787 | * 0x06 | GYRO_BW_64HZ
|
---|
| 5788 | * 0x07 | GYRO_BW_32HZ
|
---|
| 5789 | *
|
---|
| 5790 | * @return results of bus communication function
|
---|
| 5791 | * @retval 0 -> Success
|
---|
| 5792 | * @retval 1 -> Error
|
---|
| 5793 | *
|
---|
| 5794 | *
|
---|
| 5795 | */
|
---|
| 5796 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_bw(
|
---|
| 5797 | u_8 v_gyro_bw_u_8);
|
---|
| 5798 | /*!
|
---|
| 5799 | * @brief This API used to read the gyro power mode
|
---|
| 5800 | * from page one register from 0x0B bit 0 to 2
|
---|
| 5801 | *
|
---|
| 5802 | * @param v_gyro_power_mode_u_8 : The value of gyro power mode
|
---|
| 5803 | *
|
---|
| 5804 | * v_gyro_power_mode_u_8 | result
|
---|
| 5805 | * ----------------------|----------------------------
|
---|
| 5806 | * 0x00 | GYRO_OPR_MODE_NORMAL
|
---|
| 5807 | * 0x01 | GYRO_OPR_MODE_FASTPOWERUP
|
---|
| 5808 | * 0x02 | GYRO_OPR_MODE_DEEPSUSPEND
|
---|
| 5809 | * 0x03 | GYRO_OPR_MODE_SUSPEND
|
---|
| 5810 | * 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE
|
---|
| 5811 | *
|
---|
| 5812 | * @return results of bus communication function
|
---|
| 5813 | * @retval 0 -> Success
|
---|
| 5814 | * @retval 1 -> Error
|
---|
| 5815 | *
|
---|
| 5816 | *
|
---|
| 5817 | */
|
---|
| 5818 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_power_mode(
|
---|
| 5819 | u_8 *v_gyro_power_mode_u_8);
|
---|
| 5820 | /*!
|
---|
| 5821 | * @brief This API used to write the gyro power mode
|
---|
| 5822 | * from page one register from 0x0B bit 0 to 2
|
---|
| 5823 | *
|
---|
| 5824 | * @param v_gyro_power_mode_u_8 : The value of gyro power mode
|
---|
| 5825 | *
|
---|
| 5826 | * v_gyro_power_mode_u_8 | result
|
---|
| 5827 | * ----------------------|----------------------------
|
---|
| 5828 | * 0x00 | GYRO_OPR_MODE_NORMAL
|
---|
| 5829 | * 0x01 | GYRO_OPR_MODE_FASTPOWERUP
|
---|
| 5830 | * 0x02 | GYRO_OPR_MODE_DEEPSUSPEND
|
---|
| 5831 | * 0x03 | GYRO_OPR_MODE_SUSPEND
|
---|
| 5832 | * 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE
|
---|
| 5833 | *
|
---|
| 5834 | * @return results of bus communication function
|
---|
| 5835 | * @retval 0 -> Success
|
---|
| 5836 | * @retval 1 -> Error
|
---|
| 5837 | *
|
---|
| 5838 | *
|
---|
| 5839 | */
|
---|
| 5840 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_power_mode(
|
---|
| 5841 | u_8 v_gyro_power_mode_u_8);
|
---|
| 5842 | /*****************************************************/
|
---|
| 5843 | /**\name FUNCTIONS FOR ACCEL SLEEP SETTINGS */
|
---|
| 5844 | /*****************************************************/
|
---|
| 5845 | /*!
|
---|
| 5846 | * @brief This API used to read the accel sleep mode
|
---|
| 5847 | * from page one register from 0x0C bit 0
|
---|
| 5848 | *
|
---|
| 5849 | * @param v_sleep_tmr_u_8 : The value of accel sleep mode
|
---|
| 5850 | *
|
---|
| 5851 | * v_sleep_tmr_u_8 | result
|
---|
| 5852 | * ----------------- |------------------------------------
|
---|
| 5853 | * 0x00 | enable EventDrivenSampling(EDT)
|
---|
| 5854 | * 0x01 | enable Equidistant sampling mode(EST)
|
---|
| 5855 | *
|
---|
| 5856 | * @return results of bus communication function
|
---|
| 5857 | * @retval 0 -> Success
|
---|
| 5858 | * @retval 1 -> Error
|
---|
| 5859 | *
|
---|
| 5860 | *
|
---|
| 5861 | */
|
---|
| 5862 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_tmr_mode(
|
---|
| 5863 | u_8 *v_sleep_tmr_u_8);
|
---|
| 5864 | /*!
|
---|
| 5865 | * @brief This API used to write the accel sleep mode
|
---|
| 5866 | * from page one register from 0x0C bit 0
|
---|
| 5867 | *
|
---|
| 5868 | * @param v_sleep_tmr_u_8 : The value of accel sleep mode
|
---|
| 5869 | *
|
---|
| 5870 | * v_sleep_tmr_u_8 | result
|
---|
| 5871 | * ----------------- |------------------------------------
|
---|
| 5872 | * 0x00 | enable EventDrivenSampling(EDT)
|
---|
| 5873 | * 0x01 | enable Equidistant sampling mode(EST)
|
---|
| 5874 | *
|
---|
| 5875 | * @return results of bus communication function
|
---|
| 5876 | * @retval 0 -> Success
|
---|
| 5877 | * @retval 1 -> Error
|
---|
| 5878 | *
|
---|
| 5879 | *
|
---|
| 5880 | */
|
---|
| 5881 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_tmr_mode(
|
---|
| 5882 | u_8 v_sleep_tmr_u_8);
|
---|
| 5883 | /*!
|
---|
| 5884 | * @brief This API used to read the accel sleep duration
|
---|
| 5885 | * from page one register from 0x0C bit 1 to 4
|
---|
| 5886 | *
|
---|
| 5887 | * @param v_sleep_durn_u_8 : The value of accel sleep duration
|
---|
| 5888 | *
|
---|
| 5889 | * v_sleep_durn_u_8 | result
|
---|
| 5890 | * ---------------- |-----------------------------
|
---|
| 5891 | * 0x05 | BNO055_ACCEL_SLEEP_DURN_0_5MS
|
---|
| 5892 | * 0x06 | BNO055_ACCEL_SLEEP_DURN_1MS
|
---|
| 5893 | * 0x07 | BNO055_ACCEL_SLEEP_DURN_2MS
|
---|
| 5894 | * 0x08 | BNO055_ACCEL_SLEEP_DURN_4MS
|
---|
| 5895 | * 0x09 | BNO055_ACCEL_SLEEP_DURN_6MS
|
---|
| 5896 | * 0x0A | BNO055_ACCEL_SLEEP_DURN_10MS
|
---|
| 5897 | * 0x0B | BNO055_ACCEL_SLEEP_DURN_25MS
|
---|
| 5898 | * 0x0C | BNO055_ACCEL_SLEEP_DURN_50MS
|
---|
| 5899 | * 0x0D | BNO055_ACCEL_SLEEP_DURN_100MS
|
---|
| 5900 | * 0x0E | BNO055_ACCEL_SLEEP_DURN_500MS
|
---|
| 5901 | * 0x0F | BNO055_ACCEL_SLEEP_DURN_1S
|
---|
| 5902 | *
|
---|
| 5903 | * @return results of bus communication function
|
---|
| 5904 | * @retval 0 -> Success
|
---|
| 5905 | * @retval 1 -> Error
|
---|
| 5906 | *
|
---|
| 5907 | *
|
---|
| 5908 | */
|
---|
| 5909 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_durn(
|
---|
| 5910 | u_8 *v_sleep_durn_u_8);
|
---|
| 5911 | /*!
|
---|
| 5912 | * @brief This API used to write the accel sleep duration
|
---|
| 5913 | * from page one register from 0x0C bit 1 to 4
|
---|
| 5914 | *
|
---|
| 5915 | * @param v_sleep_durn_u_8 : The value of accel sleep duration
|
---|
| 5916 | *
|
---|
| 5917 | * v_sleep_durn_u_8 | result
|
---|
| 5918 | * ---------------- |-----------------------------
|
---|
| 5919 | * 0x05 | BNO055_ACCEL_SLEEP_DURN_0_5MS
|
---|
| 5920 | * 0x06 | BNO055_ACCEL_SLEEP_DURN_1MS
|
---|
| 5921 | * 0x07 | BNO055_ACCEL_SLEEP_DURN_2MS
|
---|
| 5922 | * 0x08 | BNO055_ACCEL_SLEEP_DURN_4MS
|
---|
| 5923 | * 0x09 | BNO055_ACCEL_SLEEP_DURN_6MS
|
---|
| 5924 | * 0x0A | BNO055_ACCEL_SLEEP_DURN_10MS
|
---|
| 5925 | * 0x0B | BNO055_ACCEL_SLEEP_DURN_25MS
|
---|
| 5926 | * 0x0C | BNO055_ACCEL_SLEEP_DURN_50MS
|
---|
| 5927 | * 0x0D | BNO055_ACCEL_SLEEP_DURN_100MS
|
---|
| 5928 | * 0x0E | BNO055_ACCEL_SLEEP_DURN_500MS
|
---|
| 5929 | * 0x0F | BNO055_ACCEL_SLEEP_DURN_1S
|
---|
| 5930 | *
|
---|
| 5931 | * @return results of bus communication function
|
---|
| 5932 | * @retval 0 -> Success
|
---|
| 5933 | * @retval 1 -> Error
|
---|
| 5934 | *
|
---|
| 5935 | *
|
---|
| 5936 | */
|
---|
| 5937 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_durn(
|
---|
| 5938 | u_8 v_sleep_durn_u_8);
|
---|
| 5939 | /*****************************************************/
|
---|
| 5940 | /**\name FUNCTIONS FOR GYRO SLEEP SETTINGS */
|
---|
| 5941 | /*****************************************************/
|
---|
| 5942 | /*!
|
---|
| 5943 | * @brief This API used to write the gyro sleep duration
|
---|
| 5944 | * from page one register from 0x0D bit 0 to 2
|
---|
| 5945 | *
|
---|
| 5946 | * @param v_sleep_durn_u_8 : The value of gyro sleep duration
|
---|
| 5947 | *
|
---|
| 5948 | * @return results of bus communication function
|
---|
| 5949 | * @retval 0 -> Success
|
---|
| 5950 | * @retval 1 -> Error
|
---|
| 5951 | *
|
---|
| 5952 | *
|
---|
| 5953 | */
|
---|
| 5954 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_sleep_durn(
|
---|
| 5955 | u_8 *v_sleep_durn_u_8);
|
---|
| 5956 | /*!
|
---|
| 5957 | * @brief This API used to write the gyro sleep duration
|
---|
| 5958 | * from page one register from 0x0D bit 0 to 2
|
---|
| 5959 | *
|
---|
| 5960 | * @param v_sleep_durn_u_8 : The value of gyro sleep duration
|
---|
| 5961 | *
|
---|
| 5962 | * @return results of bus communication function
|
---|
| 5963 | * @retval 0 -> Success
|
---|
| 5964 | * @retval 1 -> Error
|
---|
| 5965 | *
|
---|
| 5966 | *
|
---|
| 5967 | */
|
---|
| 5968 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_sleep_durn(
|
---|
| 5969 | u_8 sleep_durn);
|
---|
| 5970 | /*!
|
---|
| 5971 | * @brief This API used to read the gyro auto sleep duration
|
---|
| 5972 | * from page one register from 0x0D bit 3 to 5
|
---|
| 5973 | *
|
---|
| 5974 | * @param v_auto_sleep_durn_u_8 : The value of gyro auto sleep duration
|
---|
| 5975 | *
|
---|
| 5976 | * @return results of bus communication function
|
---|
| 5977 | * @retval 0 -> Success
|
---|
| 5978 | * @retval 1 -> Error
|
---|
| 5979 | *
|
---|
| 5980 | *
|
---|
| 5981 | */
|
---|
| 5982 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_auto_sleep_durn(
|
---|
| 5983 | u_8 *v_auto_sleep_durn_u_8);
|
---|
| 5984 | /*!
|
---|
| 5985 | * @brief This API used to write the gyro auto sleep duration
|
---|
| 5986 | * from page one register from 0x0D bit 3 to 5
|
---|
| 5987 | *
|
---|
| 5988 | * @param v_auto_sleep_durn_u_8 : The value of gyro auto sleep duration
|
---|
| 5989 | * @param bw : The value of gyro bandwidth
|
---|
| 5990 | *
|
---|
| 5991 | * @return results of bus communication function
|
---|
| 5992 | * @retval 0 -> Success
|
---|
| 5993 | * @retval 1 -> Error
|
---|
| 5994 | *
|
---|
| 5995 | *
|
---|
| 5996 | */
|
---|
| 5997 | BNO055_RETURN_FUNCTION_TYPE bno055_gyro_set_auto_sleep_durn(
|
---|
| 5998 | u_8 v_auto_sleep_durn_u_8, u_8 bw);
|
---|
| 5999 | /*****************************************************/
|
---|
| 6000 | /**\name FUNCTIONS FOR MAG SLEEP SETTINGS */
|
---|
| 6001 | /*****************************************************/
|
---|
| 6002 | /*!
|
---|
| 6003 | * @brief This API used to read the mag sleep mode
|
---|
| 6004 | * from page one register from 0x0E bit 0
|
---|
| 6005 | *
|
---|
| 6006 | * @param v_sleep_mode_u_8 : The value of mag sleep mode
|
---|
| 6007 | *
|
---|
| 6008 | * @return results of bus communication function
|
---|
| 6009 | * @retval 0 -> Success
|
---|
| 6010 | * @retval 1 -> Error
|
---|
| 6011 | *
|
---|
| 6012 | *
|
---|
| 6013 | */
|
---|
| 6014 | BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_mode(
|
---|
| 6015 | u_8 *v_sleep_mode_u_8);
|
---|
| 6016 | /*!
|
---|
| 6017 | * @brief This API used to write the mag sleep mode
|
---|
| 6018 | * from page one register from 0x0E bit 0
|
---|
| 6019 | *
|
---|
| 6020 | * @param v_sleep_mode_u_8 : The value of mag sleep mode
|
---|
| 6021 | *
|
---|
| 6022 | * @return results of bus communication function
|
---|
| 6023 | * @retval 0 -> Success
|
---|
| 6024 | * @retval 1 -> Error
|
---|
| 6025 | *
|
---|
| 6026 | *
|
---|
| 6027 | */
|
---|
| 6028 | BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_mode(
|
---|
| 6029 | u_8 v_sleep_mode_u_8);
|
---|
| 6030 | /*!
|
---|
| 6031 | * @brief This API used to read the mag sleep duration
|
---|
| 6032 | * from page one register from 0x0E bit 1 to 4
|
---|
| 6033 | *
|
---|
| 6034 | * @param v_sleep_durn_u_8 : The value of mag sleep duration
|
---|
| 6035 | *
|
---|
| 6036 | * @return results of bus communication function
|
---|
| 6037 | * @retval 0 -> Success
|
---|
| 6038 | * @retval 1 -> Error
|
---|
| 6039 | *
|
---|
| 6040 | *
|
---|
| 6041 | */
|
---|
| 6042 | BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_durn(
|
---|
| 6043 | u_8 *v_sleep_durn_u_8);
|
---|
| 6044 | /*!
|
---|
| 6045 | * @brief This API used to write the mag sleep duration
|
---|
| 6046 | * from page one register from 0x0E bit 1 to 4
|
---|
| 6047 | *
|
---|
| 6048 | * @param v_sleep_durn_u_8 : The value of mag sleep duration
|
---|
| 6049 | *
|
---|
| 6050 | * @return results of bus communication function
|
---|
| 6051 | * @retval 0 -> Success
|
---|
| 6052 | * @retval 1 -> Error
|
---|
| 6053 | *
|
---|
| 6054 | *
|
---|
| 6055 | */
|
---|
| 6056 | BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_durn(
|
---|
| 6057 | u_8 v_sleep_durn_u_8);
|
---|
| 6058 | /*****************************************************/
|
---|
| 6059 | /**\name FUNCTIONS FOR GYRO INTERRUPT MASK */
|
---|
| 6060 | /*****************************************************/
|
---|
| 6061 | /*!
|
---|
| 6062 | * @brief This API used to read the gyro anymotion interrupt mask
|
---|
| 6063 | * from page one register from 0x0F bit 2
|
---|
| 6064 | *
|
---|
| 6065 | * @param v_gyro_any_motion_u_8 : The value of gyro anymotion interrupt mask
|
---|
| 6066 | * v_gyro_any_motion_u_8 | result
|
---|
| 6067 | * -------------------- |------------
|
---|
| 6068 | * 0x01 | ENABLED
|
---|
| 6069 | * 0x00 | DISABLED
|
---|
| 6070 | *
|
---|
| 6071 | * @return results of bus communication function
|
---|
| 6072 | * @retval 0 -> Success
|
---|
| 6073 | * @retval 1 -> Error
|
---|
| 6074 | *
|
---|
| 6075 | * @note While enabling the gyro anymotion interrupt
|
---|
| 6076 | * configure the following settings
|
---|
| 6077 | *
|
---|
| 6078 | * Axis:
|
---|
| 6079 | * bno055_set_gyro_any_motion_axis_enable()
|
---|
| 6080 | *
|
---|
| 6081 | * Filter setting:
|
---|
| 6082 | * bno055_set_gyro_any_motion_filter()
|
---|
| 6083 | *
|
---|
| 6084 | * Threshold :
|
---|
| 6085 | *
|
---|
| 6086 | * bno055_set_gyro_any_motion_thres()
|
---|
| 6087 | *
|
---|
| 6088 | * Slope samples :
|
---|
| 6089 | *
|
---|
| 6090 | * bno055_set_gyro_any_motion_slope_samples()
|
---|
| 6091 | *
|
---|
| 6092 | * Awake duration :
|
---|
| 6093 | *
|
---|
| 6094 | * bno055_set_gyro_any_motion_awake_durn()
|
---|
| 6095 | *
|
---|
| 6096 | */
|
---|
| 6097 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_any_motion(
|
---|
| 6098 | u_8 *v_gyro_any_motion_u_8);
|
---|
| 6099 | /*!
|
---|
| 6100 | * @brief This API used to write the gyro anymotion interrupt mask
|
---|
| 6101 | * from page one register from 0x0F bit 2
|
---|
| 6102 | *
|
---|
| 6103 | * @param v_gyro_any_motion_u_8 : The value of gyro anymotion interrupt mask
|
---|
| 6104 | * v_gyro_any_motion_u_8 | result
|
---|
| 6105 | * -------------------- |------------
|
---|
| 6106 | * 0x01 | ENABLED
|
---|
| 6107 | * 0x00 | DISABLED
|
---|
| 6108 | *
|
---|
| 6109 | * @return results of bus communication function
|
---|
| 6110 | * @retval 0 -> Success
|
---|
| 6111 | * @retval 1 -> Error
|
---|
| 6112 | *
|
---|
| 6113 | * @note While enabling the gyro anymotion interrupt
|
---|
| 6114 | * configure the following settings
|
---|
| 6115 | *
|
---|
| 6116 | * Axis:
|
---|
| 6117 | * bno055_set_gyro_any_motion_axis_enable()
|
---|
| 6118 | *
|
---|
| 6119 | * Filter setting:
|
---|
| 6120 | * bno055_set_gyro_any_motion_filter()
|
---|
| 6121 | *
|
---|
| 6122 | * Threshold :
|
---|
| 6123 | *
|
---|
| 6124 | * bno055_set_gyro_any_motion_thres()
|
---|
| 6125 | *
|
---|
| 6126 | * Slope samples :
|
---|
| 6127 | *
|
---|
| 6128 | * bno055_set_gyro_any_motion_slope_samples()
|
---|
| 6129 | *
|
---|
| 6130 | * Awake duration :
|
---|
| 6131 | *
|
---|
| 6132 | * bno055_set_gyro_any_motion_awake_durn()
|
---|
| 6133 | *
|
---|
| 6134 | */
|
---|
| 6135 | BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_any_motion(
|
---|
| 6136 | u_8 v_gyro_any_motion_u_8);
|
---|
| 6137 | /*!
|
---|
| 6138 | * @brief This API used to read the gyro highrate interrupt mask
|
---|
| 6139 | * from page one register from 0x0F bit 3
|
---|
| 6140 | *
|
---|
| 6141 | * @param v_gyro_highrate_u_8 : The value of gyro highrate interrupt mask
|
---|
| 6142 | * v_gyro_highrate_u_8 | result
|
---|
| 6143 | * -------------------- |------------
|
---|
| 6144 | * 0x01 | ENABLED
|
---|
| 6145 | * 0x00 | DISABLED
|
---|
| 6146 | *
|
---|
| 6147 | * @return results of bus communication function
|
---|
| 6148 | * @retval 0 -> Success
|
---|
| 6149 | * @retval 1 -> Error
|
---|
| 6150 | *
|
---|
| 6151 | * @note While enabling the gyro highrate interrupt
|
---|
| 6152 | * configure the below settings by using
|
---|
| 6153 | * the following functions
|
---|
| 6154 | *
|
---|
| 6155 | * Axis :
|
---|
| 6156 | *
|
---|
| 6157 | * bno055_set_gyro_highrate_axis_enable()
|
---|
| 6158 | *
|
---|
| 6159 | * Filter :
|
---|
| 6160 | *
|
---|
| 6161 | * bno055_set_gyro_highrate_filter()
|
---|
| 6162 | *
|
---|
| 6163 | * Threshold :
|
---|
| 6164 | *
|
---|
| 6165 | * bno055_get_gyro_highrate_x_thres()
|
---|
| 6166 | *
|
---|
| 6167 | * bno055_get_gyro_highrate_y_thres()
|
---|
| 6168 | *
|
---|
| 6169 | * bno055_get_gyro_highrate_z_thres()
|
---|
| 6170 | *
|
---|
| 6171 | * Hysteresis :
|
---|
| 6172 | *
|
---|
| 6173 | * bno055_set_gyro_highrate_x_hyst()
|
---|
| 6174 | *
|
---|
| 6175 | * bno055_set_gyro_highrate_y_hyst()
|
---|
| 6176 | *
|
---|
| 6177 | * bno055_set_gyro_highrate_z_hyst()
|
---|
| 6178 | *
|
---|
| 6179 | * Duration :
|
---|
| 6180 | *
|
---|
| 6181 | * bno055_set_gyro_highrate_x_durn()
|
---|
| 6182 | *
|
---|
| 6183 | * bno055_set_gyro_highrate_y_durn()
|
---|
| 6184 | *
|
---|
| 6185 | * bno055_set_gyro_highrate_z_durn()
|
---|
| 6186 | *
|
---|
| 6187 | */
|
---|
| 6188 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_highrate(
|
---|
| 6189 | u_8 *v_gyro_highrate_u_8);
|
---|
| 6190 | /*!
|
---|
| 6191 | * @brief This API used to write the gyro highrate interrupt mask
|
---|
| 6192 | * from page one register from 0x0F bit 3
|
---|
| 6193 | *
|
---|
| 6194 | * @param v_gyro_highrate_u_8 : The value of gyro highrate interrupt mask
|
---|
| 6195 | * v_gyro_highrate_u_8 | result
|
---|
| 6196 | * -------------------- |------------
|
---|
| 6197 | * 0x01 | ENABLED
|
---|
| 6198 | * 0x00 | DISABLED
|
---|
| 6199 | *
|
---|
| 6200 | * @return results of bus communication function
|
---|
| 6201 | * @retval 0 -> Success
|
---|
| 6202 | * @retval 1 -> Error
|
---|
| 6203 | *
|
---|
| 6204 | * @note While enabling the gyro highrate interrupt
|
---|
| 6205 | * configure the below settings by using
|
---|
| 6206 | * the following functions
|
---|
| 6207 | *
|
---|
| 6208 | * Axis :
|
---|
| 6209 | *
|
---|
| 6210 | * bno055_set_gyro_highrate_axis_enable()
|
---|
| 6211 | *
|
---|
| 6212 | * Filter :
|
---|
| 6213 | *
|
---|
| 6214 | * bno055_set_gyro_highrate_filter()
|
---|
| 6215 | *
|
---|
| 6216 | * Threshold :
|
---|
| 6217 | *
|
---|
| 6218 | * bno055_get_gyro_highrate_x_thres()
|
---|
| 6219 | *
|
---|
| 6220 | * bno055_get_gyro_highrate_y_thres()
|
---|
| 6221 | *
|
---|
| 6222 | * bno055_get_gyro_highrate_z_thres()
|
---|
| 6223 | *
|
---|
| 6224 | * Hysteresis :
|
---|
| 6225 | *
|
---|
| 6226 | * bno055_set_gyro_highrate_x_hyst()
|
---|
| 6227 | *
|
---|
| 6228 | * bno055_set_gyro_highrate_y_hyst()
|
---|
| 6229 | *
|
---|
| 6230 | * bno055_set_gyro_highrate_z_hyst()
|
---|
| 6231 | *
|
---|
| 6232 | * Duration :
|
---|
| 6233 | *
|
---|
| 6234 | * bno055_set_gyro_highrate_x_durn()
|
---|
| 6235 | *
|
---|
| 6236 | * bno055_set_gyro_highrate_y_durn()
|
---|
| 6237 | *
|
---|
| 6238 | * bno055_set_gyro_highrate_z_durn()
|
---|
| 6239 | *
|
---|
| 6240 | */
|
---|
| 6241 | BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_highrate(
|
---|
| 6242 | u_8 v_gyro_highrate_u_8);
|
---|
| 6243 | /*****************************************************/
|
---|
| 6244 | /**\name FUNCTIONS FOR ACCEL INTERRUPT MASK */
|
---|
| 6245 | /*****************************************************/
|
---|
| 6246 | /*!
|
---|
| 6247 | * @brief This API used to read the accel highg interrupt mask
|
---|
| 6248 | * from page one register from 0x0F bit 5
|
---|
| 6249 | *
|
---|
| 6250 | * @param v_accel_high_g_u_8 : The value of accel highg interrupt mask
|
---|
| 6251 | * v_accel_high_g_u_8 | result
|
---|
| 6252 | * -------------------- |------------
|
---|
| 6253 | * 0x01 | ENABLED
|
---|
| 6254 | * 0x00 | DISABLED
|
---|
| 6255 | *
|
---|
| 6256 | * @return results of bus communication function
|
---|
| 6257 | * @retval 0 -> Success
|
---|
| 6258 | * @retval 1 -> Error
|
---|
| 6259 | *
|
---|
| 6260 | * @note While enabling the accel highg interrupt
|
---|
| 6261 | * configure the below settings by using
|
---|
| 6262 | * the following functions
|
---|
| 6263 | *
|
---|
| 6264 | * Axis :
|
---|
| 6265 | *
|
---|
| 6266 | * bno055_set_accel_high_g_axis_enable()
|
---|
| 6267 | *
|
---|
| 6268 | * Threshold :
|
---|
| 6269 | *
|
---|
| 6270 | * bno055_set_accel_high_g_thres()
|
---|
| 6271 | *
|
---|
| 6272 | * Duration :
|
---|
| 6273 | *
|
---|
| 6274 | * bno055_set_accel_high_g_durn()
|
---|
| 6275 | *
|
---|
| 6276 | */
|
---|
| 6277 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_high_g(
|
---|
| 6278 | u_8 *v_accel_high_g_u_8);
|
---|
| 6279 | /*!
|
---|
| 6280 | * @brief This API used to write the accel highg interrupt mask
|
---|
| 6281 | * from page one register from 0x0F bit 5
|
---|
| 6282 | *
|
---|
| 6283 | * @param v_accel_high_g_u_8 : The value of accel highg interrupt mask
|
---|
| 6284 | * v_accel_high_g_u_8 | result
|
---|
| 6285 | * -------------------- |------------
|
---|
| 6286 | * 0x01 | ENABLED
|
---|
| 6287 | * 0x00 | DISABLED
|
---|
| 6288 | *
|
---|
| 6289 | * @return results of bus communication function
|
---|
| 6290 | * @retval 0 -> Success
|
---|
| 6291 | * @retval 1 -> Error
|
---|
| 6292 | *
|
---|
| 6293 | * @note While enabling the accel highg interrupt
|
---|
| 6294 | * configure the below settings by using
|
---|
| 6295 | * the following functions
|
---|
| 6296 | *
|
---|
| 6297 | * Axis :
|
---|
| 6298 | *
|
---|
| 6299 | * bno055_set_accel_high_g_axis_enable()
|
---|
| 6300 | *
|
---|
| 6301 | * Threshold :
|
---|
| 6302 | *
|
---|
| 6303 | * bno055_set_accel_high_g_thres()
|
---|
| 6304 | *
|
---|
| 6305 | * Duration :
|
---|
| 6306 | *
|
---|
| 6307 | * bno055_set_accel_high_g_durn()
|
---|
| 6308 | *
|
---|
| 6309 | */
|
---|
| 6310 | BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_high_g(
|
---|
| 6311 | u_8 v_accel_high_g_u_8);
|
---|
| 6312 | /*!
|
---|
| 6313 | * @brief This API used to read the accel anymotion interrupt mask
|
---|
| 6314 | * from page one register from 0x0F bit 6
|
---|
| 6315 | *
|
---|
| 6316 | * @param v_accel_any_motion_u_8 : The value of accel anymotion interrupt mask
|
---|
| 6317 | * v_accel_any_motion_u_8 | result
|
---|
| 6318 | * -------------------- |------------
|
---|
| 6319 | * 0x01 | ENABLED
|
---|
| 6320 | * 0x00 | DISABLED
|
---|
| 6321 | *
|
---|
| 6322 | * @return results of bus communication function
|
---|
| 6323 | * @retval 0 -> Success
|
---|
| 6324 | * @retval 1 -> Error
|
---|
| 6325 | *
|
---|
| 6326 | * @note While enabling the accel highg interrupt
|
---|
| 6327 | * configure the below settings by using
|
---|
| 6328 | * the following functions
|
---|
| 6329 | *
|
---|
| 6330 | * Axis :
|
---|
| 6331 | *
|
---|
| 6332 | * bno055_set_accel_high_g_axis_enable()
|
---|
| 6333 | *
|
---|
| 6334 | * Threshold :
|
---|
| 6335 | *
|
---|
| 6336 | * bno055_set_accel_high_g_thres()
|
---|
| 6337 | *
|
---|
| 6338 | * Duration :
|
---|
| 6339 | *
|
---|
| 6340 | * bno055_set_accel_high_g_durn()
|
---|
| 6341 | *
|
---|
| 6342 | */
|
---|
| 6343 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_any_motion(
|
---|
| 6344 | u_8 *v_accel_any_motion_u_8);
|
---|
| 6345 | /*!
|
---|
| 6346 | * @brief This API used to write the accel anymotion interrupt mask
|
---|
| 6347 | * from page one register from 0x0F bit 6
|
---|
| 6348 | *
|
---|
| 6349 | * @param v_accel_any_motion_u_8 : The value of accel anymotion interrupt mask
|
---|
| 6350 | * v_accel_any_motion_u_8 | result
|
---|
| 6351 | * -------------------- |------------
|
---|
| 6352 | * 0x01 | ENABLED
|
---|
| 6353 | * 0x00 | DISABLED
|
---|
| 6354 | *
|
---|
| 6355 | * @return results of bus communication function
|
---|
| 6356 | * @retval 0 -> Success
|
---|
| 6357 | * @retval 1 -> Error
|
---|
| 6358 | *
|
---|
| 6359 | * @note While enabling the accel anymotion interrupt
|
---|
| 6360 | * configure the following settings
|
---|
| 6361 | *
|
---|
| 6362 | * Axis:
|
---|
| 6363 | *
|
---|
| 6364 | * bno055_set_accel_any_motion_no_motion_axis_enable()
|
---|
| 6365 | *
|
---|
| 6366 | * Duration:
|
---|
| 6367 | *
|
---|
| 6368 | * bno055_set_accel_any_motion_durn()
|
---|
| 6369 | *
|
---|
| 6370 | * Threshold:
|
---|
| 6371 | *
|
---|
| 6372 | * bno055_set_accel_any_motion_thres()
|
---|
| 6373 | *
|
---|
| 6374 | */
|
---|
| 6375 | BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_any_motion(
|
---|
| 6376 | u_8 v_accel_any_motion_u_8);
|
---|
| 6377 | /*!
|
---|
| 6378 | * @brief This API used to read the accel nomotion interrupt mask
|
---|
| 6379 | * from page one register from 0x0F bit 7
|
---|
| 6380 | *
|
---|
| 6381 | * @param v_accel_nomotion_u_8 : The value of accel nomotion interrupt mask
|
---|
| 6382 | * v_accel_nomotion_u_8 | result
|
---|
| 6383 | * -------------------- |------------
|
---|
| 6384 | * 0x01 | ENABLED
|
---|
| 6385 | * 0x00 | DISABLED
|
---|
| 6386 | *
|
---|
| 6387 | * @return results of bus communication function
|
---|
| 6388 | * @retval 0 -> Success
|
---|
| 6389 | *
|
---|
| 6390 | * @note While enabling the accel anymotion interrupt
|
---|
| 6391 | * configure the following settings
|
---|
| 6392 | *
|
---|
| 6393 | * Axis:
|
---|
| 6394 | *
|
---|
| 6395 | * bno055_set_accel_any_motion_no_motion_axis_enable()
|
---|
| 6396 | *
|
---|
| 6397 | * Duration:
|
---|
| 6398 | *
|
---|
| 6399 | * bno055_set_accel_any_motion_durn()
|
---|
| 6400 | *
|
---|
| 6401 | * Threshold:
|
---|
| 6402 | *
|
---|
| 6403 | * bno055_set_accel_any_motion_thres())
|
---|
| 6404 | *
|
---|
| 6405 | */
|
---|
| 6406 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_no_motion(
|
---|
| 6407 | u_8 *v_accel_nomotion_u_8);
|
---|
| 6408 | /*!
|
---|
| 6409 | * @brief This API used to write the accel nomotion interrupt mask
|
---|
| 6410 | * from page one register from 0x0F bit 7
|
---|
| 6411 | *
|
---|
| 6412 | * @param v_accel_nomotion_u_8 : The value of accel nomotion interrupt mask
|
---|
| 6413 | * v_accel_nomotion_u_8 | result
|
---|
| 6414 | * -------------------- |------------
|
---|
| 6415 | * 0x01 | ENABLED
|
---|
| 6416 | * 0x00 | DISABLED
|
---|
| 6417 | *
|
---|
| 6418 | * @return results of bus communication function
|
---|
| 6419 | * @retval 0 -> Success
|
---|
| 6420 | * @retval 1 -> Error
|
---|
| 6421 | *
|
---|
| 6422 | * @note While enabling the accel nomotion interrupt
|
---|
| 6423 | * configure the following settings
|
---|
| 6424 | *
|
---|
| 6425 | * Axis:
|
---|
| 6426 | *
|
---|
| 6427 | * bno055_set_accel_any_motion_no_motion_axis_enable()
|
---|
| 6428 | *
|
---|
| 6429 | * Threshold :
|
---|
| 6430 | *
|
---|
| 6431 | * bno055_set_accel_slow_no_motion_thres()
|
---|
| 6432 | *
|
---|
| 6433 | * Duration :
|
---|
| 6434 | *
|
---|
| 6435 | * bno055_set_accel_slow_no_motion_durn()
|
---|
| 6436 | *
|
---|
| 6437 | * Slow/no motion enable:
|
---|
| 6438 | *
|
---|
| 6439 | * bno055_set_accel_slow_no_motion_enable()
|
---|
| 6440 | *
|
---|
| 6441 | */
|
---|
| 6442 | BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_no_motion(
|
---|
| 6443 | u_8 v_accel_nomotion_u_8);
|
---|
| 6444 | /*****************************************************/
|
---|
| 6445 | /**\name FUNCTIONS FOR GYRO INTERRUPT */
|
---|
| 6446 | /*****************************************************/
|
---|
| 6447 | /*!
|
---|
| 6448 | * @brief This API used to read the gyro anymotion interrupt
|
---|
| 6449 | * from page one register from 0x10 bit 2
|
---|
| 6450 | *
|
---|
| 6451 | * @param v_gyro_any_motion_u_8 : The value of gyro anymotion interrupt
|
---|
| 6452 | * v_gyro_any_motion_u_8 | result
|
---|
| 6453 | * -------------------- |------------
|
---|
| 6454 | * 0x01 | ENABLED
|
---|
| 6455 | * 0x00 | DISABLED
|
---|
| 6456 | *
|
---|
| 6457 | * @return results of bus communication function
|
---|
| 6458 | * @retval 0 -> Success
|
---|
| 6459 | * @retval 1 -> Error
|
---|
| 6460 | *
|
---|
| 6461 | * @note While enabling the gyro anymotion interrupt
|
---|
| 6462 | * configure the following settings
|
---|
| 6463 | *
|
---|
| 6464 | * Axis:
|
---|
| 6465 | * bno055_set_gyro_any_motion_axis_enable()
|
---|
| 6466 | *
|
---|
| 6467 | * Filter setting:
|
---|
| 6468 | * bno055_set_gyro_any_motion_filter()
|
---|
| 6469 | *
|
---|
| 6470 | * Threshold :
|
---|
| 6471 | *
|
---|
| 6472 | * bno055_set_gyro_any_motion_thres()
|
---|
| 6473 | *
|
---|
| 6474 | * Slope samples :
|
---|
| 6475 | *
|
---|
| 6476 | * bno055_set_gyro_any_motion_slope_samples()
|
---|
| 6477 | *
|
---|
| 6478 | * Awake duration :
|
---|
| 6479 | *
|
---|
| 6480 | * bno055_set_gyro_any_motion_awake_durn()
|
---|
| 6481 | */
|
---|
| 6482 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_any_motion(
|
---|
| 6483 | u_8 *v_gyro_any_motion_u_8);
|
---|
| 6484 | /*!
|
---|
| 6485 | * @brief This API used to write the gyro anymotion interrupt
|
---|
| 6486 | * from page one register from 0x10 bit 2
|
---|
| 6487 | *
|
---|
| 6488 | * @param v_gyro_any_motion_u_8 : The value of gyro anymotion interrupt
|
---|
| 6489 | * v_gyro_any_motion_u_8 | result
|
---|
| 6490 | * -------------------- |------------
|
---|
| 6491 | * 0x01 | ENABLED
|
---|
| 6492 | * 0x00 | DISABLED
|
---|
| 6493 | *
|
---|
| 6494 | * @return results of bus communication function
|
---|
| 6495 | * @retval 0 -> Success
|
---|
| 6496 | * @retval 1 -> Error
|
---|
| 6497 | *
|
---|
| 6498 | * @note While enabling the gyro anymotion interrupt
|
---|
| 6499 | * configure the following settings
|
---|
| 6500 | *
|
---|
| 6501 | * Axis:
|
---|
| 6502 | * bno055_set_gyro_any_motion_axis_enable()
|
---|
| 6503 | *
|
---|
| 6504 | * Filter setting:
|
---|
| 6505 | * bno055_set_gyro_any_motion_filter()
|
---|
| 6506 | *
|
---|
| 6507 | * Threshold :
|
---|
| 6508 | *
|
---|
| 6509 | * bno055_set_gyro_any_motion_thres()
|
---|
| 6510 | *
|
---|
| 6511 | * Slope samples :
|
---|
| 6512 | *
|
---|
| 6513 | * bno055_set_gyro_any_motion_slope_samples()
|
---|
| 6514 | *
|
---|
| 6515 | * Awake duration :
|
---|
| 6516 | *
|
---|
| 6517 | * bno055_set_gyro_any_motion_awake_durn()
|
---|
| 6518 | */
|
---|
| 6519 | BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_any_motion(
|
---|
| 6520 | u_8 v_gyro_any_motion_u_8);
|
---|
| 6521 | /*!
|
---|
| 6522 | * @brief This API used to read the gyro highrate interrupt
|
---|
| 6523 | * from page one register from 0x10 bit 3
|
---|
| 6524 | *
|
---|
| 6525 | * @param v_gyro_highrate_u_8 : The value of gyro highrate interrupt
|
---|
| 6526 | * v_gyro_highrate_u_8 | result
|
---|
| 6527 | * -------------------- |------------
|
---|
| 6528 | * 0x01 | ENABLED
|
---|
| 6529 | * 0x00 | DISABLED
|
---|
| 6530 | *
|
---|
| 6531 | * @return results of bus communication function
|
---|
| 6532 | * @retval 0 -> Success
|
---|
| 6533 | * @retval 1 -> Error
|
---|
| 6534 | *
|
---|
| 6535 | * @note While enabling the gyro highrate interrupt
|
---|
| 6536 | * configure the below settings by using
|
---|
| 6537 | * the following functions
|
---|
| 6538 | *
|
---|
| 6539 | * Axis :
|
---|
| 6540 | *
|
---|
| 6541 | * bno055_set_gyro_highrate_axis_enable()
|
---|
| 6542 | *
|
---|
| 6543 | * Filter :
|
---|
| 6544 | *
|
---|
| 6545 | * bno055_set_gyro_highrate_filter()
|
---|
| 6546 | *
|
---|
| 6547 | * Threshold :
|
---|
| 6548 | *
|
---|
| 6549 | * bno055_get_gyro_highrate_x_thres()
|
---|
| 6550 | *
|
---|
| 6551 | * bno055_get_gyro_highrate_y_thres()
|
---|
| 6552 | *
|
---|
| 6553 | * bno055_get_gyro_highrate_z_thres()
|
---|
| 6554 | *
|
---|
| 6555 | * Hysteresis :
|
---|
| 6556 | *
|
---|
| 6557 | * bno055_set_gyro_highrate_x_hyst()
|
---|
| 6558 | *
|
---|
| 6559 | * bno055_set_gyro_highrate_y_hyst()
|
---|
| 6560 | *
|
---|
| 6561 | * bno055_set_gyro_highrate_z_hyst()
|
---|
| 6562 | *
|
---|
| 6563 | * Duration :
|
---|
| 6564 | *
|
---|
| 6565 | * bno055_set_gyro_highrate_x_durn()
|
---|
| 6566 | *
|
---|
| 6567 | * bno055_set_gyro_highrate_y_durn()
|
---|
| 6568 | *
|
---|
| 6569 | * bno055_set_gyro_highrate_z_durn()
|
---|
| 6570 | *
|
---|
| 6571 | */
|
---|
| 6572 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_highrate(
|
---|
| 6573 | u_8 *v_gyro_highrate_u_8);
|
---|
| 6574 | /*!
|
---|
| 6575 | * @brief This API used to write the gyro highrate interrupt
|
---|
| 6576 | * from page one register from 0x10 bit 3
|
---|
| 6577 | *
|
---|
| 6578 | * @param v_gyro_highrate_u_8 : The value of gyro highrate interrupt
|
---|
| 6579 | * v_gyro_highrate_u_8 | result
|
---|
| 6580 | * -------------------- |------------
|
---|
| 6581 | * 0x01 | ENABLED
|
---|
| 6582 | * 0x00 | DISABLED
|
---|
| 6583 | *
|
---|
| 6584 | * @return results of bus communication function
|
---|
| 6585 | * @retval 0 -> Success
|
---|
| 6586 | * @retval 1 -> Error
|
---|
| 6587 | *
|
---|
| 6588 | * @note While enabling the gyro highrate interrupt
|
---|
| 6589 | * configure the below settings by using
|
---|
| 6590 | * the following functions
|
---|
| 6591 | *
|
---|
| 6592 | * Axis :
|
---|
| 6593 | *
|
---|
| 6594 | * bno055_set_gyro_highrate_axis_enable()
|
---|
| 6595 | *
|
---|
| 6596 | * Filter :
|
---|
| 6597 | *
|
---|
| 6598 | * bno055_set_gyro_highrate_filter()
|
---|
| 6599 | *
|
---|
| 6600 | * Threshold :
|
---|
| 6601 | *
|
---|
| 6602 | * bno055_get_gyro_highrate_x_thres()
|
---|
| 6603 | *
|
---|
| 6604 | * bno055_get_gyro_highrate_y_thres()
|
---|
| 6605 | *
|
---|
| 6606 | * bno055_get_gyro_highrate_z_thres()
|
---|
| 6607 | *
|
---|
| 6608 | * Hysteresis :
|
---|
| 6609 | *
|
---|
| 6610 | * bno055_set_gyro_highrate_x_hyst()
|
---|
| 6611 | *
|
---|
| 6612 | * bno055_set_gyro_highrate_y_hyst()
|
---|
| 6613 | *
|
---|
| 6614 | * bno055_set_gyro_highrate_z_hyst()
|
---|
| 6615 | *
|
---|
| 6616 | * Duration :
|
---|
| 6617 | *
|
---|
| 6618 | * bno055_set_gyro_highrate_x_durn()
|
---|
| 6619 | *
|
---|
| 6620 | * bno055_set_gyro_highrate_y_durn()
|
---|
| 6621 | *
|
---|
| 6622 | * bno055_set_gyro_highrate_z_durn()
|
---|
| 6623 | *
|
---|
| 6624 | */
|
---|
| 6625 | BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_highrate(
|
---|
| 6626 | u_8 v_gyro_highrate_u_8);
|
---|
| 6627 | /*****************************************************/
|
---|
| 6628 | /**\name FUNCTIONS FOR ACCEL INTERRUPT */
|
---|
| 6629 | /*****************************************************/
|
---|
| 6630 | /*!
|
---|
| 6631 | * @brief This API used to read the accel highg interrupt
|
---|
| 6632 | * from page one register from 0x10 bit 5
|
---|
| 6633 | *
|
---|
| 6634 | * @param v_accel_high_g_u_8 : The value of accel highg interrupt
|
---|
| 6635 | * v_accel_high_g_u_8 | result
|
---|
| 6636 | * -------------------- |------------
|
---|
| 6637 | * 0x01 | ENABLED
|
---|
| 6638 | * 0x00 | DISABLED
|
---|
| 6639 | *
|
---|
| 6640 | * @return results of bus communication function
|
---|
| 6641 | * @retval 0 -> Success
|
---|
| 6642 | * @retval 1 -> Error
|
---|
| 6643 | *
|
---|
| 6644 | * @note While enabling the accel highg interrupt
|
---|
| 6645 | * configure the below settings by using
|
---|
| 6646 | * the following functions
|
---|
| 6647 | *
|
---|
| 6648 | * Axis :
|
---|
| 6649 | *
|
---|
| 6650 | * bno055_set_accel_high_g_axis_enable()
|
---|
| 6651 | *
|
---|
| 6652 | * Threshold :
|
---|
| 6653 | *
|
---|
| 6654 | * bno055_set_accel_high_g_thres()
|
---|
| 6655 | *
|
---|
| 6656 | * Duration :
|
---|
| 6657 | *
|
---|
| 6658 | * bno055_set_accel_high_g_durn()
|
---|
| 6659 | *
|
---|
| 6660 | */
|
---|
| 6661 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_high_g(
|
---|
| 6662 | u_8 *v_accel_high_g_u_8);
|
---|
| 6663 | /*!
|
---|
| 6664 | * @brief This API used to write the accel highg interrupt
|
---|
| 6665 | * from page one register from 0x10 bit 5
|
---|
| 6666 | *
|
---|
| 6667 | * @param v_accel_high_g_u_8 : The value of accel highg interrupt
|
---|
| 6668 | * v_accel_high_g_u_8 | result
|
---|
| 6669 | * -------------------- |------------
|
---|
| 6670 | * 0x01 | ENABLED
|
---|
| 6671 | * 0x00 | DISABLED
|
---|
| 6672 | *
|
---|
| 6673 | * @return results of bus communication function
|
---|
| 6674 | * @retval 0 -> Success
|
---|
| 6675 | * @retval 1 -> Error
|
---|
| 6676 | *
|
---|
| 6677 | * @note While enabling the accel highg interrupt
|
---|
| 6678 | * configure the below settings by using
|
---|
| 6679 | * the following functions
|
---|
| 6680 | *
|
---|
| 6681 | * Axis :
|
---|
| 6682 | *
|
---|
| 6683 | * bno055_set_accel_high_g_axis_enable()
|
---|
| 6684 | *
|
---|
| 6685 | * Threshold :
|
---|
| 6686 | *
|
---|
| 6687 | * bno055_set_accel_high_g_thres()
|
---|
| 6688 | *
|
---|
| 6689 | * Duration :
|
---|
| 6690 | *
|
---|
| 6691 | * bno055_set_accel_high_g_durn()
|
---|
| 6692 | *
|
---|
| 6693 | */
|
---|
| 6694 | BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_high_g(
|
---|
| 6695 | u_8 v_accel_high_g_u_8);
|
---|
| 6696 | /*!
|
---|
| 6697 | * @brief This API used to read the accel anymotion interrupt
|
---|
| 6698 | * from page one register from 0x10 bit 6
|
---|
| 6699 | *
|
---|
| 6700 | * @param v_accel_any_motion_u_8 : The value of accel anymotion interrupt
|
---|
| 6701 | * v_accel_any_motion_u_8 | result
|
---|
| 6702 | * -------------------- |------------
|
---|
| 6703 | * 0x01 | ENABLED
|
---|
| 6704 | * 0x00 | DISABLED
|
---|
| 6705 | *
|
---|
| 6706 | * @return results of bus communication function
|
---|
| 6707 | * @retval 0 -> Success
|
---|
| 6708 | * @retval 1 -> Error
|
---|
| 6709 | *
|
---|
| 6710 | * @note While enabling the accel anymotion interrupt
|
---|
| 6711 | * configure the following settings
|
---|
| 6712 | *
|
---|
| 6713 | * Axis:
|
---|
| 6714 | *
|
---|
| 6715 | * bno055_set_accel_any_motion_no_motion_axis_enable()
|
---|
| 6716 | *
|
---|
| 6717 | * Duration:
|
---|
| 6718 | *
|
---|
| 6719 | * bno055_set_accel_any_motion_durn()
|
---|
| 6720 | *
|
---|
| 6721 | * Threshold:
|
---|
| 6722 | *
|
---|
| 6723 | * bno055_set_accel_any_motion_thres()
|
---|
| 6724 | *
|
---|
| 6725 | */
|
---|
| 6726 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_any_motion(
|
---|
| 6727 | u_8 *v_accel_any_motion_u_8);
|
---|
| 6728 | /*!
|
---|
| 6729 | * @brief This API used to write the accel anymotion interrupt
|
---|
| 6730 | * from page one register from 0x10 bit 6
|
---|
| 6731 | *
|
---|
| 6732 | * @param v_accel_any_motion_u_8 : The value of accel anymotion interrupt
|
---|
| 6733 | * v_accel_any_motion_u_8 | result
|
---|
| 6734 | * -------------------- |------------
|
---|
| 6735 | * 0x01 | ENABLED
|
---|
| 6736 | * 0x00 | DISABLED
|
---|
| 6737 | *
|
---|
| 6738 | * @return results of bus communication function
|
---|
| 6739 | * @retval 0 -> Success
|
---|
| 6740 | * @retval 1 -> Error
|
---|
| 6741 | *
|
---|
| 6742 | * @note While enabling the accel anymotion interrupt
|
---|
| 6743 | * configure the following settings
|
---|
| 6744 | *
|
---|
| 6745 | * Axis:
|
---|
| 6746 | *
|
---|
| 6747 | * bno055_set_accel_any_motion_no_motion_axis_enable()
|
---|
| 6748 | *
|
---|
| 6749 | * Duration:
|
---|
| 6750 | *
|
---|
| 6751 | * bno055_set_accel_any_motion_durn()
|
---|
| 6752 | *
|
---|
| 6753 | * Threshold:
|
---|
| 6754 | *
|
---|
| 6755 | * bno055_set_accel_any_motion_thres()
|
---|
| 6756 | *
|
---|
| 6757 | */
|
---|
| 6758 | BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_any_motion(
|
---|
| 6759 | u_8 v_accel_any_motion_u_8);
|
---|
| 6760 | /*!
|
---|
| 6761 | * @brief This API used to read the accel nomotion interrupt
|
---|
| 6762 | * from page one register from 0x10 bit 6
|
---|
| 6763 | *
|
---|
| 6764 | * @param v_accel_nomotion_u_8 : The value of accel nomotion interrupt
|
---|
| 6765 | * v_accel_nomotion_u_8 | result
|
---|
| 6766 | * -------------------- |------------
|
---|
| 6767 | * 0x01 | ENABLED
|
---|
| 6768 | * 0x00 | DISABLED
|
---|
| 6769 | *
|
---|
| 6770 | * @return results of bus communication function
|
---|
| 6771 | * @retval 0 -> Success
|
---|
| 6772 | * @retval 1 -> Error
|
---|
| 6773 | *
|
---|
| 6774 | * @note While enabling the accel nomotion interrupt
|
---|
| 6775 | * configure the following settings
|
---|
| 6776 | *
|
---|
| 6777 | * Axis:
|
---|
| 6778 | *
|
---|
| 6779 | * bno055_set_accel_any_motion_no_motion_axis_enable()
|
---|
| 6780 | *
|
---|
| 6781 | * Threshold :
|
---|
| 6782 | *
|
---|
| 6783 | * bno055_set_accel_slow_no_motion_thres()
|
---|
| 6784 | *
|
---|
| 6785 | * Duration :
|
---|
| 6786 | *
|
---|
| 6787 | * bno055_set_accel_slow_no_motion_durn()
|
---|
| 6788 | *
|
---|
| 6789 | * Slow/no motion enable:
|
---|
| 6790 | *
|
---|
| 6791 | * bno055_set_accel_slow_no_motion_enable()
|
---|
| 6792 | *
|
---|
| 6793 | */
|
---|
| 6794 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_no_motion(
|
---|
| 6795 | u_8 *v_accel_nomotion_u_8);
|
---|
| 6796 | /*!
|
---|
| 6797 | * @brief This API used to write the accel nomotion interrupt
|
---|
| 6798 | * from page one register from 0x10 bit 6
|
---|
| 6799 | *
|
---|
| 6800 | * @param v_accel_nomotion_u_8 : The value of accel nomotion interrupt
|
---|
| 6801 | * v_accel_nomotion_u_8 | result
|
---|
| 6802 | * -------------------- |------------
|
---|
| 6803 | * 0x01 | ENABLED
|
---|
| 6804 | * 0x00 | DISABLED
|
---|
| 6805 | *
|
---|
| 6806 | * @return results of bus communication function
|
---|
| 6807 | * @retval 0 -> Success
|
---|
| 6808 | * @retval 1 -> Error
|
---|
| 6809 | *
|
---|
| 6810 | * @note While enabling the accel nomotion interrupt
|
---|
| 6811 | * configure the following settings
|
---|
| 6812 | *
|
---|
| 6813 | * Axis:
|
---|
| 6814 | *
|
---|
| 6815 | * bno055_set_accel_any_motion_no_motion_axis_enable()
|
---|
| 6816 | *
|
---|
| 6817 | * Threshold :
|
---|
| 6818 | *
|
---|
| 6819 | * bno055_set_accel_slow_no_motion_thres()
|
---|
| 6820 | *
|
---|
| 6821 | * Duration :
|
---|
| 6822 | *
|
---|
| 6823 | * bno055_set_accel_slow_no_motion_durn()
|
---|
| 6824 | *
|
---|
| 6825 | * Slow/no motion enable:
|
---|
| 6826 | *
|
---|
| 6827 | * bno055_set_accel_slow_no_motion_enable()
|
---|
| 6828 | *
|
---|
| 6829 | */
|
---|
| 6830 | BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_no_motion(
|
---|
| 6831 | u_8 v_accel_nomotion_u_8);
|
---|
| 6832 | /*****************************************************/
|
---|
| 6833 | /**\name FUNCTIONS FOR ACCEL ANY_MOTION THRESHOLD */
|
---|
| 6834 | /*****************************************************/
|
---|
| 6835 | /*!
|
---|
| 6836 | * @brief This API used to read the accel any motion threshold
|
---|
| 6837 | * from page one register from 0x11 bit 0 to 7
|
---|
| 6838 | *
|
---|
| 6839 | * @param v_accel_any_motion_thres_u_8 : The value of any motion threshold
|
---|
| 6840 | * v_accel_any_motion_thres_u_8 | result
|
---|
| 6841 | * ------------------------ | -------------
|
---|
| 6842 | * 0x01 | ENABLED
|
---|
| 6843 | * 0x00 | DISABLED
|
---|
| 6844 | *
|
---|
| 6845 | * @return results of bus communication function
|
---|
| 6846 | * @retval 0 -> Success
|
---|
| 6847 | * @retval 1 -> Error
|
---|
| 6848 | *
|
---|
| 6849 | * @note Accel anymotion threshold dependent on the
|
---|
| 6850 | * range values
|
---|
| 6851 | *
|
---|
| 6852 | * v_accel_range_u_8 | threshold | LSB
|
---|
| 6853 | * ------------- | ------------- | ---------
|
---|
| 6854 | * 2g | 3.19mg | 1LSB
|
---|
| 6855 | * 4g | 7.81mg | 1LSB
|
---|
| 6856 | * 8g | 15.63mg | 1LSB
|
---|
| 6857 | * 16g | 31.25mg | 1LSB
|
---|
| 6858 | *
|
---|
| 6859 | */
|
---|
| 6860 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_thres(
|
---|
| 6861 | u_8 *v_accel_any_motion_thres_u_8);
|
---|
| 6862 | /*!
|
---|
| 6863 | * @brief This API used to write the accel any motion threshold
|
---|
| 6864 | * from page one register from 0x11 bit 0 to 7
|
---|
| 6865 | *
|
---|
| 6866 | * @param v_accel_any_motion_thres_u_8 : The value of any motion threshold
|
---|
| 6867 | * v_accel_any_motion_thres_u_8 | result
|
---|
| 6868 | * ------------------------ | -------------
|
---|
| 6869 | * 0x01 | ENABLED
|
---|
| 6870 | * 0x00 | DISABLED
|
---|
| 6871 | *
|
---|
| 6872 | * @return results of bus communication function
|
---|
| 6873 | * @retval 0 -> Success
|
---|
| 6874 | * @retval 1 -> Error
|
---|
| 6875 | *
|
---|
| 6876 | * @note Accel anymotion threshold dependent on the
|
---|
| 6877 | * range values
|
---|
| 6878 | *
|
---|
| 6879 | * v_accel_range_u_8 | threshold | LSB
|
---|
| 6880 | * ------------- | ------------- | ---------
|
---|
| 6881 | * 2g | 3.19mg | 1LSB
|
---|
| 6882 | * 4g | 7.81mg | 1LSB
|
---|
| 6883 | * 8g | 15.63mg | 1LSB
|
---|
| 6884 | * 16g | 31.25mg | 1LSB
|
---|
| 6885 | *
|
---|
| 6886 | */
|
---|
| 6887 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_thres(
|
---|
| 6888 | u_8 v_accel_any_motion_thres_u_8);
|
---|
| 6889 | /*****************************************************/
|
---|
| 6890 | /**\name FUNCTIONS FOR ACCEL ANY_MOTION DURATION */
|
---|
| 6891 | /*****************************************************/
|
---|
| 6892 | /*!
|
---|
| 6893 | * @brief This API used to read the accel anymotion duration
|
---|
| 6894 | * from page one register from 0x12 bit 0 to 1
|
---|
| 6895 | *
|
---|
| 6896 | * @param v_accel_any_motion_durn_u_8 : The value of accel anymotion duration
|
---|
| 6897 | * v_accel_any_motion_durn_u_8 | result
|
---|
| 6898 | * ------------------------- | -------------
|
---|
| 6899 | * 0x01 | ENABLED
|
---|
| 6900 | * 0x00 | DISABLED
|
---|
| 6901 | *
|
---|
| 6902 | * @return results of bus communication function
|
---|
| 6903 | * @retval 0 -> Success
|
---|
| 6904 | * @retval 1 -> Error
|
---|
| 6905 | *
|
---|
| 6906 | *
|
---|
| 6907 | */
|
---|
| 6908 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_durn(
|
---|
| 6909 | u_8 *v_accel_any_motion_durn_u_8);
|
---|
| 6910 | /*!
|
---|
| 6911 | * @brief This API used to write the accel anymotion duration
|
---|
| 6912 | * from page one register from 0x12 bit 0 to 1
|
---|
| 6913 | *
|
---|
| 6914 | * @param v_accel_any_motion_durn_u_8 : The value of accel anymotion duration
|
---|
| 6915 | *
|
---|
| 6916 | * v_accel_any_motion_durn_u_8 | result
|
---|
| 6917 | * ------------------------- | -------------
|
---|
| 6918 | * 0x01 | ENABLED
|
---|
| 6919 | * 0x00 | DISABLED
|
---|
| 6920 | *
|
---|
| 6921 | * @return results of bus communication function
|
---|
| 6922 | * @retval 0 -> Success
|
---|
| 6923 | * @retval 1 -> Error
|
---|
| 6924 | *
|
---|
| 6925 | *
|
---|
| 6926 | */
|
---|
| 6927 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_durn(
|
---|
| 6928 | u_8 v_accel_any_motion_durn_u_8);
|
---|
| 6929 | /*****************************************************/
|
---|
| 6930 | /**\name FUNCTIONS FOR ACCEL ANY_MOTION AXIS ENABLE */
|
---|
| 6931 | /*****************************************************/
|
---|
| 6932 | /*!
|
---|
| 6933 | * @brief This API used to read the accel anymotion enable
|
---|
| 6934 | * from page one register from 0x12 bit 2 to 4
|
---|
| 6935 | *
|
---|
| 6936 | * @param v_data_u_8 : The value of accel anymotion enable
|
---|
| 6937 | * v_data_u_8 | result
|
---|
| 6938 | * ------------ | -------------
|
---|
| 6939 | * 0x01 | ENABLED
|
---|
| 6940 | * 0x00 | DISABLED
|
---|
| 6941 | * @param v_channel_u_8 : The value of accel anymotion axis selection
|
---|
| 6942 | * v_channel_u_8 | value
|
---|
| 6943 | * -------------------------- | ----------
|
---|
| 6944 | * BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS | 0
|
---|
| 6945 | * BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 1
|
---|
| 6946 | * BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 2
|
---|
| 6947 | *
|
---|
| 6948 | * @return results of bus communication function
|
---|
| 6949 | * @retval 0 -> Success
|
---|
| 6950 | * @retval 1 -> Error
|
---|
| 6951 | *
|
---|
| 6952 | *
|
---|
| 6953 | */
|
---|
| 6954 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_no_motion_axis_enable(
|
---|
| 6955 | u_8 v_channel_u_8, u_8 *v_data_u_8);
|
---|
| 6956 | /*!
|
---|
| 6957 | * @brief This API used to write the accel anymotion enable
|
---|
| 6958 | * from page one register from 0x12 bit 2 to 4
|
---|
| 6959 | *
|
---|
| 6960 | * @param v_data_u_8 : The value of accel anymotion enable
|
---|
| 6961 | * v_data_u_8 | result
|
---|
| 6962 | * ------------ | -------------
|
---|
| 6963 | * 0x01 | ENABLED
|
---|
| 6964 | * 0x00 | DISABLED
|
---|
| 6965 | * @param v_channel_u_8 : The value of accel anymotion axis selection
|
---|
| 6966 | * v_channel_u_8 | value
|
---|
| 6967 | * -------------------------- | ----------
|
---|
| 6968 | * BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS | 0
|
---|
| 6969 | * BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 1
|
---|
| 6970 | * BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 2
|
---|
| 6971 | *
|
---|
| 6972 | * @return results of bus communication function
|
---|
| 6973 | * @retval 0 -> Success
|
---|
| 6974 | * @retval 1 -> Error
|
---|
| 6975 | *
|
---|
| 6976 | *
|
---|
| 6977 | */
|
---|
| 6978 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_no_motion_axis_enable(
|
---|
| 6979 | u_8 v_channel_u_8, u_8 v_data_u_8);
|
---|
| 6980 | /*****************************************************/
|
---|
| 6981 | /**\name FUNCTIONS FOR ACCEL HIGHG AXIS ENABLE */
|
---|
| 6982 | /*****************************************************/
|
---|
| 6983 | /*!
|
---|
| 6984 | * @brief This API used to read the accel highg enable
|
---|
| 6985 | * from page one register from 0x12 bit 5 to 7
|
---|
| 6986 | *
|
---|
| 6987 | * @param v_data_u_8 : The value of accel highg enable
|
---|
| 6988 | * v_data_u_8| result
|
---|
| 6989 | * ------------ | -------------
|
---|
| 6990 | * 0x01 | ENABLED
|
---|
| 6991 | * 0x00 | DISABLED
|
---|
| 6992 | * @param v_channel_u_8 : The value of accel highg axis selection
|
---|
| 6993 | * v_channel_u_8 | value
|
---|
| 6994 | * -------------------------- | ----------
|
---|
| 6995 | * BNO055_ACCEL_HIGH_G_X_AXIS | 0
|
---|
| 6996 | * BNO055_ACCEL_HIGH_G_Y_AXIS | 1
|
---|
| 6997 | * BNO055_ACCEL_HIGH_G_Z_AXIS | 2
|
---|
| 6998 | *
|
---|
| 6999 | * @return results of bus communication function
|
---|
| 7000 | * @retval 0 -> Success
|
---|
| 7001 | * @retval 1 -> Error
|
---|
| 7002 | *
|
---|
| 7003 | *
|
---|
| 7004 | */
|
---|
| 7005 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_axis_enable(
|
---|
| 7006 | u_8 v_channel_u_8, u_8 *v_data_u_8);
|
---|
| 7007 | /*!
|
---|
| 7008 | * @brief This API used to write the accel highg enable
|
---|
| 7009 | * from page one register from 0x12 bit 5 to 7
|
---|
| 7010 | *
|
---|
| 7011 | * @param v_data_u_8 : The value of accel highg enable
|
---|
| 7012 | * v_data_u_8| result
|
---|
| 7013 | * ------------ | -------------
|
---|
| 7014 | * 0x01 | ENABLED
|
---|
| 7015 | * 0x00 | DISABLED
|
---|
| 7016 | * @param v_channel_u_8 : The value of accel highg axis selection
|
---|
| 7017 | * v_channel_u_8 | value
|
---|
| 7018 | * -------------------------- | ----------
|
---|
| 7019 | * BNO055_ACCEL_HIGH_G_X_AXIS | 0
|
---|
| 7020 | * BNO055_ACCEL_HIGH_G_Y_AXIS | 1
|
---|
| 7021 | * BNO055_ACCEL_HIGH_G_Z_AXIS | 2
|
---|
| 7022 | *
|
---|
| 7023 | * @return results of bus communication function
|
---|
| 7024 | * @retval 0 -> Success
|
---|
| 7025 | * @retval 1 -> Error
|
---|
| 7026 | *
|
---|
| 7027 | *
|
---|
| 7028 | */
|
---|
| 7029 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_axis_enable(
|
---|
| 7030 | u_8 v_channel_u_8, u_8 v_data_u_8);
|
---|
| 7031 | /*****************************************************/
|
---|
| 7032 | /**\name FUNCTIONS FOR ACCEL HIGHG DURATION */
|
---|
| 7033 | /*****************************************************/
|
---|
| 7034 | /*!
|
---|
| 7035 | * @brief This API used to read the accel highg duration
|
---|
| 7036 | * from page one register from 0x13 bit 0 to 7
|
---|
| 7037 | *
|
---|
| 7038 | * @param v_accel_high_g_durn_u_8 : The value of accel highg duration
|
---|
| 7039 | *
|
---|
| 7040 | * @return results of bus communication function
|
---|
| 7041 | * @retval 0 -> Success
|
---|
| 7042 | * @retval 1 -> Error
|
---|
| 7043 | *
|
---|
| 7044 | * @note The high-g interrupt trigger delay according
|
---|
| 7045 | * to [highg duration + 1] * 2 ms
|
---|
| 7046 | *
|
---|
| 7047 | * in a range from 2 ms to 512 ms
|
---|
| 7048 | *
|
---|
| 7049 | */
|
---|
| 7050 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_durn(
|
---|
| 7051 | u_8 *v_accel_high_g_durn_u_8);
|
---|
| 7052 | /*!
|
---|
| 7053 | * @brief This API used to write the accel highg duration
|
---|
| 7054 | * from page one register from 0x13 bit 0 to 7
|
---|
| 7055 | *
|
---|
| 7056 | * @param v_accel_high_g_durn_u_8 : The value of accel highg duration
|
---|
| 7057 | *
|
---|
| 7058 | * @return results of bus communication function
|
---|
| 7059 | * @retval 0 -> Success
|
---|
| 7060 | * @retval 1 -> Error
|
---|
| 7061 | *
|
---|
| 7062 | * @note The high-g interrupt trigger delay according
|
---|
| 7063 | * to [highg duration + 1] * 2 ms
|
---|
| 7064 | *
|
---|
| 7065 | * in a range from 2 ms to 512 ms
|
---|
| 7066 | *
|
---|
| 7067 | */
|
---|
| 7068 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_durn(
|
---|
| 7069 | u_8 v_accel_high_g_durn_u_8);
|
---|
| 7070 | /*****************************************************/
|
---|
| 7071 | /**\name FUNCTIONS FOR ACCEL HIGHG THRESHOLD */
|
---|
| 7072 | /*****************************************************/
|
---|
| 7073 | /*!
|
---|
| 7074 | * @brief This API used to read the accel highg threshold
|
---|
| 7075 | * from page one register from 0x14 bit 0 to 7
|
---|
| 7076 | *
|
---|
| 7077 | * @param v_accel_high_g_thres_u_8 : The value of accel highg threshold
|
---|
| 7078 | *
|
---|
| 7079 | * @return results of bus communication function
|
---|
| 7080 | * @retval 0 -> Success
|
---|
| 7081 | * @retval 1 -> Error
|
---|
| 7082 | *
|
---|
| 7083 | * @note Accel highg interrupt threshold dependent
|
---|
| 7084 | * for accel g range
|
---|
| 7085 | *
|
---|
| 7086 | * v_accel_range_u_8 | threshold | LSB
|
---|
| 7087 | * ------------- | ------------- | ---------
|
---|
| 7088 | * 2g | 7.81mg | 1LSB
|
---|
| 7089 | * 4g | 15.63mg | 1LSB
|
---|
| 7090 | * 8g | 31.25mg | 1LSB
|
---|
| 7091 | * 16g | 62.5mg | 1LSB
|
---|
| 7092 | *
|
---|
| 7093 | */
|
---|
| 7094 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_thres(
|
---|
| 7095 | u_8 *v_accel_high_g_thres_u_8);
|
---|
| 7096 | /*!
|
---|
| 7097 | * @brief This API used to write the accel highg threshold
|
---|
| 7098 | * from page one register from 0x14 bit 0 to 7
|
---|
| 7099 | *
|
---|
| 7100 | * @param v_accel_high_g_thres_u_8 : The value of accel highg threshold
|
---|
| 7101 | *
|
---|
| 7102 | * @return results of bus communication function
|
---|
| 7103 | * @retval 0 -> Success
|
---|
| 7104 | * @retval 1 -> Error
|
---|
| 7105 | *
|
---|
| 7106 | * @note Accel highg interrupt threshold dependent
|
---|
| 7107 | * for accel g range
|
---|
| 7108 | *
|
---|
| 7109 | * v_accel_range_u_8 | threshold | LSB
|
---|
| 7110 | * ------------- | ------------- | ---------
|
---|
| 7111 | * 2g | 7.81mg | 1LSB
|
---|
| 7112 | * 4g | 15.63mg | 1LSB
|
---|
| 7113 | * 8g | 31.25mg | 1LSB
|
---|
| 7114 | * 16g | 62.5mg | 1LSB
|
---|
| 7115 | *
|
---|
| 7116 | */
|
---|
| 7117 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_thres(
|
---|
| 7118 | u_8 v_accel_high_g_thres_u_8);
|
---|
| 7119 | /**************************************************************/
|
---|
| 7120 | /**\name FUNCTIONS FOR ACCEL SLOWNOMOTION THRESHOLD */
|
---|
| 7121 | /**************************************************************/
|
---|
| 7122 | /*!
|
---|
| 7123 | * @brief This API used to read the accel slownomotion threshold
|
---|
| 7124 | * from page one register from 0x15 bit 0 to 7
|
---|
| 7125 | *
|
---|
| 7126 | * @param v_accel_slow_no_motion_thres_u_8 :
|
---|
| 7127 | * The value of accel slownomotion threshold
|
---|
| 7128 | *
|
---|
| 7129 | * @return results of bus communication function
|
---|
| 7130 | * @retval 0 -> Success
|
---|
| 7131 | * @retval 1 -> Error
|
---|
| 7132 | *
|
---|
| 7133 | * @note Accel slow no motion interrupt threshold dependent
|
---|
| 7134 | * for accel g range
|
---|
| 7135 | *
|
---|
| 7136 | * v_accel_range_u_8 | threshold | LSB
|
---|
| 7137 | * ------------- | ------------- | ---------
|
---|
| 7138 | * 2g | 3.19mg | 1LSB
|
---|
| 7139 | * 4g | 7.81mg | 1LSB
|
---|
| 7140 | * 8g | 15.63mg | 1LSB
|
---|
| 7141 | * 16g | 31.25mg | 1LSB
|
---|
| 7142 | */
|
---|
| 7143 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_thres(
|
---|
| 7144 | u_8 *v_accel_slow_no_motion_thres_u_8);
|
---|
| 7145 | /*!
|
---|
| 7146 | * @brief This API used to write the accel slownomotion threshold
|
---|
| 7147 | * from page one register from 0x15 bit 0 to 7
|
---|
| 7148 | *
|
---|
| 7149 | * @param v_accel_slow_no_motion_thres_u_8 :
|
---|
| 7150 | * The value of accel slownomotion threshold
|
---|
| 7151 | *
|
---|
| 7152 | * @return results of bus communication function
|
---|
| 7153 | * @retval 0 -> Success
|
---|
| 7154 | * @retval 1 -> Error
|
---|
| 7155 | *
|
---|
| 7156 | * @note Accel slow no motion interrupt threshold dependent
|
---|
| 7157 | * for accel g range
|
---|
| 7158 | *
|
---|
| 7159 | * v_accel_range_u_8 | threshold | LSB
|
---|
| 7160 | * ------------- | ------------- | ---------
|
---|
| 7161 | * 2g | 3.19mg | 1LSB
|
---|
| 7162 | * 4g | 7.81mg | 1LSB
|
---|
| 7163 | * 8g | 15.63mg | 1LSB
|
---|
| 7164 | * 16g | 31.25mg | 1LSB
|
---|
| 7165 | */
|
---|
| 7166 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_thres(
|
---|
| 7167 | u_8 v_accel_slow_no_motion_thres_u_8);
|
---|
| 7168 | /**************************************************************/
|
---|
| 7169 | /**\name FUNCTIONS FOR ACCEL SLOWNOMOTION ENABLE */
|
---|
| 7170 | /**************************************************************/
|
---|
| 7171 | /*!
|
---|
| 7172 | * @brief This API used to read accel slownomotion enable
|
---|
| 7173 | * from page one register from 0x16 bit 0
|
---|
| 7174 | *
|
---|
| 7175 | * @param v_accel_slow_no_motion_en_u_8 : The value of accel slownomotion enable
|
---|
| 7176 | * v_accel_slow_no_motion_en_u_8 | result
|
---|
| 7177 | * ------------------------ | --------
|
---|
| 7178 | * 0x01 | Slow motion
|
---|
| 7179 | * 0x00 | No motion
|
---|
| 7180 | *
|
---|
| 7181 | * @return results of bus communication function
|
---|
| 7182 | * @retval 0 -> Success
|
---|
| 7183 | * @retval 1 -> Error
|
---|
| 7184 | *
|
---|
| 7185 | */
|
---|
| 7186 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_enable(
|
---|
| 7187 | u_8 *v_accel_slow_no_motion_en_u_8);
|
---|
| 7188 | /*!
|
---|
| 7189 | * @brief This API used to write accel slownomotion enable
|
---|
| 7190 | * from page one register from 0x16 bit 0
|
---|
| 7191 | *
|
---|
| 7192 | * @param v_accel_slow_no_motion_en_u_8 : The value of accel slownomotion enable
|
---|
| 7193 | * v_accel_slow_no_motion_en_u_8 | result
|
---|
| 7194 | * ------------------------ | --------
|
---|
| 7195 | * 0x01 | Slow motion
|
---|
| 7196 | * 0x00 | No motion
|
---|
| 7197 | *
|
---|
| 7198 | * @return results of bus communication function
|
---|
| 7199 | * @retval 0 -> Success
|
---|
| 7200 | * @retval 1 -> Error
|
---|
| 7201 | *
|
---|
| 7202 | */
|
---|
| 7203 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_enable(
|
---|
| 7204 | u_8 v_accel_slow_no_motion_en_u_8);
|
---|
| 7205 | /**************************************************************/
|
---|
| 7206 | /**\name FUNCTIONS FOR ACCEL SLOWNOMOTION DURATION */
|
---|
| 7207 | /**************************************************************/
|
---|
| 7208 | /*!
|
---|
| 7209 | * @brief This API used to read accel slownomotion duration
|
---|
| 7210 | * from page one register from 0x16 bit 1 to 6
|
---|
| 7211 | *
|
---|
| 7212 | * @param v_accel_slow_no_motion_durn_u_8 :
|
---|
| 7213 | * The value of accel slownomotion duration
|
---|
| 7214 | *
|
---|
| 7215 | * @return results of bus communication function
|
---|
| 7216 | * @retval 0 -> Success
|
---|
| 7217 | * @retval 1 -> Error
|
---|
| 7218 | *
|
---|
| 7219 | */
|
---|
| 7220 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_durn(
|
---|
| 7221 | u_8 *v_accel_slow_no_motion_durn_u_8);
|
---|
| 7222 | /*!
|
---|
| 7223 | * @brief This API used to write accel slownomotion duration
|
---|
| 7224 | * from page one register from 0x16 bit 1 to 6
|
---|
| 7225 | *
|
---|
| 7226 | * @param v_accel_slow_no_motion_durn_u_8 :
|
---|
| 7227 | * The value of accel slownomotion duration
|
---|
| 7228 | *
|
---|
| 7229 | * @return results of bus communication function
|
---|
| 7230 | * @retval 0 -> Success
|
---|
| 7231 | * @retval 1 -> Error
|
---|
| 7232 | *
|
---|
| 7233 | */
|
---|
| 7234 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_durn(
|
---|
| 7235 | u_8 v_accel_slow_no_motion_durn_u_8);
|
---|
| 7236 | /**************************************************************/
|
---|
| 7237 | /**\name FUNCTIONS FOR GYRO ANY_MOTION AXIS ENABLE */
|
---|
| 7238 | /**************************************************************/
|
---|
| 7239 | /*!
|
---|
| 7240 | * @brief This API used to read the gyro anymotion enable
|
---|
| 7241 | * from page one register from 0x17 bit 0 to 2
|
---|
| 7242 | *
|
---|
| 7243 | * @param v_data_u_8 : The value of gyro anymotion enable
|
---|
| 7244 | * v_data_u_8 | result
|
---|
| 7245 | * ----------------- |-------------
|
---|
| 7246 | * 0x01 | ENABLED
|
---|
| 7247 | * 0x00 | DISABLED
|
---|
| 7248 | * @param v_channel_u_8 : The value of gyro anymotion axis selection
|
---|
| 7249 | * v_channel_u_8 | value
|
---|
| 7250 | * --------------------------- | ----------
|
---|
| 7251 | * BNO055_GYRO_ANY_MOTIONX_AXIS | 0
|
---|
| 7252 | * BNO055_GYRO_ANY_MOTIONY_AXIS | 1
|
---|
| 7253 | * BNO055_GYRO_ANY_MOTIONZ_AXIS | 2
|
---|
| 7254 | *
|
---|
| 7255 | *
|
---|
| 7256 | * @return results of bus communication function
|
---|
| 7257 | * @retval 0 -> Success
|
---|
| 7258 | * @retval 1 -> Error
|
---|
| 7259 | *
|
---|
| 7260 | *
|
---|
| 7261 | */
|
---|
| 7262 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_axis_enable(
|
---|
| 7263 | u_8 v_channel_u_8, u_8 *v_data_u_8);
|
---|
| 7264 | /*!
|
---|
| 7265 | * @brief This API used to write the gyro anymotion enable
|
---|
| 7266 | * from page one register from 0x17 bit 0 to 2
|
---|
| 7267 | *
|
---|
| 7268 | * @param v_data_u_8 : The value of gyro anymotion enable
|
---|
| 7269 | * v_data_u_8 | result
|
---|
| 7270 | * ----------------- |-------------
|
---|
| 7271 | * 0x01 | ENABLED
|
---|
| 7272 | * 0x00 | DISABLED
|
---|
| 7273 | * @param v_channel_u_8 : The value of gyro anymotion axis selection
|
---|
| 7274 | * v_channel_u_8 | value
|
---|
| 7275 | * --------------------------- | ----------
|
---|
| 7276 | * BNO055_GYRO_ANY_MOTIONX_AXIS | 0
|
---|
| 7277 | * BNO055_GYRO_ANY_MOTIONY_AXIS | 1
|
---|
| 7278 | * BNO055_GYRO_ANY_MOTIONZ_AXIS | 2
|
---|
| 7279 | *
|
---|
| 7280 | * @return results of bus communication function
|
---|
| 7281 | * @retval 0 -> Success
|
---|
| 7282 | * @retval 1 -> Error
|
---|
| 7283 | *
|
---|
| 7284 | *
|
---|
| 7285 | */
|
---|
| 7286 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_axis_enable(
|
---|
| 7287 | u_8 v_channel_u_8, u_8 v_data_u_8);
|
---|
| 7288 | /**************************************************************/
|
---|
| 7289 | /**\name FUNCTIONS FOR GYRO HIGHRATE ENABLE */
|
---|
| 7290 | /**************************************************************/
|
---|
| 7291 | /*!
|
---|
| 7292 | * @brief This API used to read the gyro highrate enable
|
---|
| 7293 | * from page one register from 0x17 bit 3 to 5
|
---|
| 7294 | *
|
---|
| 7295 | * @param v_data_u_8 : The value of gyro highrate enable
|
---|
| 7296 | * v_data_u_8 | result
|
---|
| 7297 | * ---------------- |-------------
|
---|
| 7298 | * 0x01 | ENABLED
|
---|
| 7299 | * 0x00 | DISABLED
|
---|
| 7300 | * @param v_channel_u_8 : The value of gyro highrate axis selection
|
---|
| 7301 | * v_channel_u_8 | value
|
---|
| 7302 | * ------------------------ | ----------
|
---|
| 7303 | * BNO055_GYRO_HIGHRATE_X_AXIS | 0
|
---|
| 7304 | * BNO055_GYRO_HIGHRATE_Y_AXIS | 1
|
---|
| 7305 | * BNO055_GYRO_HIGHRATE_Z_AXIS | 2
|
---|
| 7306 | *
|
---|
| 7307 | *
|
---|
| 7308 | * @return results of bus communication function
|
---|
| 7309 | * @retval 0 -> Success
|
---|
| 7310 | * @retval 1 -> Error
|
---|
| 7311 | *
|
---|
| 7312 | *
|
---|
| 7313 | */
|
---|
| 7314 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_axis_enable(
|
---|
| 7315 | u_8 v_channel_u_8, u_8 *v_data_u_8);
|
---|
| 7316 | /**************************************************************/
|
---|
| 7317 | /**\name FUNCTIONS FOR GYRO HIGHRATE AXIS ENABLE */
|
---|
| 7318 | /**************************************************************/
|
---|
| 7319 | /*!
|
---|
| 7320 | * @brief This API used to write the gyro highrate enable
|
---|
| 7321 | * from page one register from 0x17 bit 3 to 5
|
---|
| 7322 | *
|
---|
| 7323 | * @param v_data_u_8 : The value of gyro highrate enable
|
---|
| 7324 | * v_data_u_8 | result
|
---|
| 7325 | * ---------------- |-------------
|
---|
| 7326 | * 0x01 | ENABLED
|
---|
| 7327 | * 0x00 | DISABLED
|
---|
| 7328 | * @param v_channel_u_8 : The value of gyro highrate axis selection
|
---|
| 7329 | * v_channel_u_8 | value
|
---|
| 7330 | * ------------------------ | ----------
|
---|
| 7331 | * BNO055_GYRO_HIGHRATE_X_AXIS | 0
|
---|
| 7332 | * BNO055_GYRO_HIGHRATE_Y_AXIS | 1
|
---|
| 7333 | * BNO055_GYRO_HIGHRATE_Z_AXIS | 2
|
---|
| 7334 | *
|
---|
| 7335 | * @return results of bus communication function
|
---|
| 7336 | * @retval 0 -> Success
|
---|
| 7337 | * @retval 1 -> Error
|
---|
| 7338 | *
|
---|
| 7339 | *
|
---|
| 7340 | */
|
---|
| 7341 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_axis_enable(
|
---|
| 7342 | u_8 v_channel_u_8, u_8 v_data_u_8);
|
---|
| 7343 | /**************************************************************/
|
---|
| 7344 | /**\name FUNCTIONS FOR GYRO ANY_MOTION FILTER */
|
---|
| 7345 | /**************************************************************/
|
---|
| 7346 | /*!
|
---|
| 7347 | * @brief This API used to read gyro anymotion filter
|
---|
| 7348 | * from page one register from 0x17 bit 6
|
---|
| 7349 | *
|
---|
| 7350 | * @param v_gyro_any_motion_filter_u_8 : The value of gyro anymotion filter
|
---|
| 7351 | * v_gyro_any_motion_filter_u_8 | result
|
---|
| 7352 | * --------------------------- |------------
|
---|
| 7353 | * 0x00 | FILTERED
|
---|
| 7354 | * 0x01 | UNFILTERED
|
---|
| 7355 | *
|
---|
| 7356 | * @return results of bus communication function
|
---|
| 7357 | * @retval 0 -> Success
|
---|
| 7358 | * @retval 1 -> Error
|
---|
| 7359 | *
|
---|
| 7360 | */
|
---|
| 7361 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_filter(
|
---|
| 7362 | u_8 *v_gyro_any_motion_filter_u_8);
|
---|
| 7363 | /*!
|
---|
| 7364 | * @brief This API used to write gyro anymotion filter
|
---|
| 7365 | * from page one register from 0x17 bit 6
|
---|
| 7366 | *
|
---|
| 7367 | * @param v_gyro_any_motion_filter_u_8 : The value of gyro anymotion filter
|
---|
| 7368 | * v_gyro_any_motion_filter_u_8 | result
|
---|
| 7369 | * --------------------------- |------------
|
---|
| 7370 | * 0x00 | FILTERED
|
---|
| 7371 | * 0x01 | UNFILTERED
|
---|
| 7372 | *
|
---|
| 7373 | * @return results of bus communication function
|
---|
| 7374 | * @retval 0 -> Success
|
---|
| 7375 | * @retval 1 -> Error
|
---|
| 7376 | *
|
---|
| 7377 | */
|
---|
| 7378 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_filter(
|
---|
| 7379 | u_8 v_gyro_any_motion_filter_u_8);
|
---|
| 7380 | /**************************************************************/
|
---|
| 7381 | /**\name FUNCTIONS FOR GYRO HIGHRATE FILTER */
|
---|
| 7382 | /**************************************************************/
|
---|
| 7383 | /*!
|
---|
| 7384 | * @brief This API used to read gyro highrate filter
|
---|
| 7385 | * from page one register from 0x17 bit 7
|
---|
| 7386 | *
|
---|
| 7387 | * @param v_gyro_highrate_filter_u_8 : The value of gyro highrate filter
|
---|
| 7388 | * v_gyro_highrate_filter_u_8 | result
|
---|
| 7389 | * --------------------------- |------------
|
---|
| 7390 | * 0x00 | FILTERED
|
---|
| 7391 | * 0x01 | UNFILTERED
|
---|
| 7392 | *
|
---|
| 7393 | * @return results of bus communication function
|
---|
| 7394 | * @retval 0 -> Success
|
---|
| 7395 | * @retval 1 -> Error
|
---|
| 7396 | *
|
---|
| 7397 | */
|
---|
| 7398 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_filter(
|
---|
| 7399 | u_8 *v_gyro_highrate_filter_u_8);
|
---|
| 7400 | /*!
|
---|
| 7401 | * @brief This API used to write gyro highrate filter
|
---|
| 7402 | * from page one register from 0x17 bit 7
|
---|
| 7403 | *
|
---|
| 7404 | * @param v_gyro_highrate_filter_u_8 : The value of gyro highrate filter
|
---|
| 7405 | * v_gyro_highrate_filter_u_8 | result
|
---|
| 7406 | * --------------------------- |------------
|
---|
| 7407 | * 0x00 | FILTERED
|
---|
| 7408 | * 0x01 | UNFILTERED
|
---|
| 7409 | *
|
---|
| 7410 | * @return results of bus communication function
|
---|
| 7411 | * @retval 0 -> Success
|
---|
| 7412 | * @retval 1 -> Error
|
---|
| 7413 | *
|
---|
| 7414 | */
|
---|
| 7415 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_filter(
|
---|
| 7416 | u_8 v_gyro_highrate_filter_u_8);
|
---|
| 7417 | /**************************************************************/
|
---|
| 7418 | /**\name FUNCTIONS FOR GYRO HIGHRATE X THRESHOLD */
|
---|
| 7419 | /**************************************************************/
|
---|
| 7420 | /*!
|
---|
| 7421 | * @brief This API used to read gyro highrate x threshold
|
---|
| 7422 | * from page one register from 0x18 bit 0 to 4
|
---|
| 7423 | *
|
---|
| 7424 | * @param v_gyro_highrate_x_thres_u_8 : The value of gyro x highrate threshold
|
---|
| 7425 | *
|
---|
| 7426 | * @return results of bus communication function
|
---|
| 7427 | * @retval 0 -> Success
|
---|
| 7428 | * @retval 1 -> Error
|
---|
| 7429 | *
|
---|
| 7430 | * @note Gyro highrate threshold dependent on the
|
---|
| 7431 | * selection of gyro range
|
---|
| 7432 | *
|
---|
| 7433 | * v_gyro_range_u_8 | threshold | LSB
|
---|
| 7434 | * ----------------- | ------------- | ---------
|
---|
| 7435 | * 2000 | 62.5dps | 1LSB
|
---|
| 7436 | * 1000 | 31.25dps | 1LSB
|
---|
| 7437 | * 500 | 15.625dps | 1LSB
|
---|
| 7438 | * 125 | 7.8125dps | 1LSB
|
---|
| 7439 | *
|
---|
| 7440 | */
|
---|
| 7441 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_thres(
|
---|
| 7442 | u_8 *v_gyro_highrate_x_thres_u_8);
|
---|
| 7443 | /*!
|
---|
| 7444 | * @brief This API used to write gyro highrate x threshold
|
---|
| 7445 | * from page one register from 0x18 bit 0 to 4
|
---|
| 7446 | *
|
---|
| 7447 | * @param v_gyro_highrate_x_thres_u_8 : The value of gyro x highrate threshold
|
---|
| 7448 | *
|
---|
| 7449 | * @return results of bus communication function
|
---|
| 7450 | * @retval 0 -> Success
|
---|
| 7451 | * @retval 1 -> Error
|
---|
| 7452 | *
|
---|
| 7453 | * @note Gyro highrate threshold dependent on the
|
---|
| 7454 | * selection of gyro range
|
---|
| 7455 | *
|
---|
| 7456 | * v_gyro_range_u_8 | threshold | LSB
|
---|
| 7457 | * ----------------- | ------------- | ---------
|
---|
| 7458 | * 2000 | 62.5dps | 1LSB
|
---|
| 7459 | * 1000 | 31.25dps | 1LSB
|
---|
| 7460 | * 500 | 15.625dps | 1LSB
|
---|
| 7461 | * 125 | 7.8125dps | 1LSB
|
---|
| 7462 | *
|
---|
| 7463 | */
|
---|
| 7464 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_thres(
|
---|
| 7465 | u_8 v_gyro_highrate_x_thres_u_8);
|
---|
| 7466 | /**************************************************************/
|
---|
| 7467 | /**\name FUNCTIONS FOR GYRO HIGHRATE X HYSTERESIS */
|
---|
| 7468 | /**************************************************************/
|
---|
| 7469 | /*!
|
---|
| 7470 | * @brief This API used to read gyro highrate x hysteresis
|
---|
| 7471 | * from page one register from 0x18 bit 5 to 6
|
---|
| 7472 | *
|
---|
| 7473 | * @param v_gyro_highrate_x_hyst_u_8 : The value of gyro highrate x hysteresis
|
---|
| 7474 | *
|
---|
| 7475 | * @return results of bus communication function
|
---|
| 7476 | * @retval 0 -> Success
|
---|
| 7477 | * @retval 1 -> Error
|
---|
| 7478 | *
|
---|
| 7479 | * @note Gyro high rate hysteresis calculated by
|
---|
| 7480 | *
|
---|
| 7481 | * using this (255 + 256 * v_gyro_highrate_x_hyst_u_8) *4 LSB
|
---|
| 7482 | *
|
---|
| 7483 | * The high rate value scales with the range setting
|
---|
| 7484 | *
|
---|
| 7485 | * v_gyro_range_u_8 | hysteresis | LSB
|
---|
| 7486 | * ----------------- | ------------- | ---------
|
---|
| 7487 | * 2000 | 62.26dps | 1LSB
|
---|
| 7488 | * 1000 | 31.13dps | 1LSB
|
---|
| 7489 | * 500 | 15.56dps | 1LSB
|
---|
| 7490 | *
|
---|
| 7491 | */
|
---|
| 7492 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_hyst(
|
---|
| 7493 | u_8 *v_gyro_highrate_x_hyst_u_8);
|
---|
| 7494 | /*!
|
---|
| 7495 | * @brief This API used to write gyro highrate x hysteresis
|
---|
| 7496 | * from page one register from 0x18 bit 5 to 6
|
---|
| 7497 | *
|
---|
| 7498 | * @param v_gyro_highrate_x_hyst_u_8 : The value of gyro highrate x hysteresis
|
---|
| 7499 | *
|
---|
| 7500 | * @return results of bus communication function
|
---|
| 7501 | * @retval 0 -> Success
|
---|
| 7502 | * @retval 1 -> Error
|
---|
| 7503 | *
|
---|
| 7504 | * @note Gyro high rate hysteresis calculated by
|
---|
| 7505 | *
|
---|
| 7506 | * using this (255 + 256 * v_gyro_highrate_x_hyst_u_8) *4 LSB
|
---|
| 7507 | *
|
---|
| 7508 | * The high rate value scales with the range setting
|
---|
| 7509 | *
|
---|
| 7510 | * v_gyro_range_u_8 | hysteresis | LSB
|
---|
| 7511 | * ----------------- | ------------- | ---------
|
---|
| 7512 | * 2000 | 62.26dps | 1LSB
|
---|
| 7513 | * 1000 | 31.13dps | 1LSB
|
---|
| 7514 | * 500 | 15.56dps | 1LSB
|
---|
| 7515 | *
|
---|
| 7516 | */
|
---|
| 7517 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_hyst(
|
---|
| 7518 | u_8 v_gyro_highrate_x_hyst_u_8);
|
---|
| 7519 | /**************************************************************/
|
---|
| 7520 | /**\name FUNCTIONS FOR GYRO HIGHRATE X DURATION */
|
---|
| 7521 | /**************************************************************/
|
---|
| 7522 | /*!
|
---|
| 7523 | * @brief This API used to read gyro highrate x duration
|
---|
| 7524 | * from page one register from 0x19 bit 0 to 7
|
---|
| 7525 | *
|
---|
| 7526 | * @param v_gyro_highrate_x_durn_u_8 : The value of gyro highrate x duration
|
---|
| 7527 | *
|
---|
| 7528 | * @return results of bus communication function
|
---|
| 7529 | * @retval 0 -> Success
|
---|
| 7530 | * @retval 1 -> Error
|
---|
| 7531 | *
|
---|
| 7532 | * @note Gyro highrate duration calculate by using the formula
|
---|
| 7533 | *
|
---|
| 7534 | * (1 + v_gyro_highrate_x_durn_u_8)*2.5ms
|
---|
| 7535 | *
|
---|
| 7536 | */
|
---|
| 7537 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_durn(
|
---|
| 7538 | u_8 *v_gyro_highrate_x_durn_u_8);
|
---|
| 7539 | /*!
|
---|
| 7540 | * @brief This API used to write gyro highrate x duration
|
---|
| 7541 | * from page one register from 0x19 bit 0 to 7
|
---|
| 7542 | *
|
---|
| 7543 | * @param v_gyro_highrate_x_durn_u_8 : The value of gyro highrate x duration
|
---|
| 7544 | *
|
---|
| 7545 | * @return results of bus communication function
|
---|
| 7546 | * @retval 0 -> Success
|
---|
| 7547 | * @retval 1 -> Error
|
---|
| 7548 | *
|
---|
| 7549 | * @note Gyro highrate duration calculate by using the formula
|
---|
| 7550 | *
|
---|
| 7551 | * (1 + v_gyro_highrate_x_durn_u_8)*2.5ms
|
---|
| 7552 | */
|
---|
| 7553 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_durn(
|
---|
| 7554 | u_8 v_gyro_highrate_x_durn_u_8);
|
---|
| 7555 | /**************************************************************/
|
---|
| 7556 | /**\name FUNCTIONS FOR GYRO HIGHRATE Y THRESHOLD */
|
---|
| 7557 | /**************************************************************/
|
---|
| 7558 | /*!
|
---|
| 7559 | * @brief This API used to read gyro highrate y threshold
|
---|
| 7560 | * from page one register from 0x1A bit 0 to 4
|
---|
| 7561 | *
|
---|
| 7562 | * @param v_gyro_highrate_y_thres_u_8 : The value of gyro highrate y threshold
|
---|
| 7563 | *
|
---|
| 7564 | * @return results of bus communication function
|
---|
| 7565 | * @retval 0 -> Success
|
---|
| 7566 | * @retval 1 -> Error
|
---|
| 7567 | *
|
---|
| 7568 | * @note Gyro highrate threshold dependent on the
|
---|
| 7569 | * selection of gyro range
|
---|
| 7570 | *
|
---|
| 7571 | * v_gyro_range_u_8 | threshold | LSB
|
---|
| 7572 | * ----------------- | ------------- | ---------
|
---|
| 7573 | * 2000 | 62.5dps | 1LSB
|
---|
| 7574 | * 1000 | 31.25dps | 1LSB
|
---|
| 7575 | * 500 | 15.625dps | 1LSB
|
---|
| 7576 | * 125 | 7.8125dps | 1LSB
|
---|
| 7577 | *
|
---|
| 7578 | */
|
---|
| 7579 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_thres(
|
---|
| 7580 | u_8 *v_gyro_highrate_y_thres_u_8);
|
---|
| 7581 | /*!
|
---|
| 7582 | * @brief This API used to write gyro highrate y threshold
|
---|
| 7583 | * from page one register from 0x1A bit 0 to 4
|
---|
| 7584 | *
|
---|
| 7585 | * @param v_gyro_highrate_y_thres_u_8 : The value of gyro highrate y threshold
|
---|
| 7586 | *
|
---|
| 7587 | * @return results of bus communication function
|
---|
| 7588 | * @retval 0 -> Success
|
---|
| 7589 | * @retval 1 -> Error
|
---|
| 7590 | *
|
---|
| 7591 | * @note Gyro highrate threshold dependent on the
|
---|
| 7592 | * selection of gyro range
|
---|
| 7593 | *
|
---|
| 7594 | * v_gyro_range_u_8 | threshold | LSB
|
---|
| 7595 | * ----------------- | ------------- | ---------
|
---|
| 7596 | * 2000 | 62.5dps | 1LSB
|
---|
| 7597 | * 1000 | 31.25dps | 1LSB
|
---|
| 7598 | * 500 | 15.625dps | 1LSB
|
---|
| 7599 | * 125 | 7.8125dps | 1LSB
|
---|
| 7600 | *
|
---|
| 7601 | */
|
---|
| 7602 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_thres(
|
---|
| 7603 | u_8 v_gyro_highrate_y_thres_u_8);
|
---|
| 7604 | /**************************************************************/
|
---|
| 7605 | /**\name FUNCTIONS FOR GYRO HIGHRATE Y HYSTERESIS */
|
---|
| 7606 | /**************************************************************/
|
---|
| 7607 | /*!
|
---|
| 7608 | * @brief This API used to read gyro highrate y hysteresis
|
---|
| 7609 | * from page one register from 0x1A bit 5 to 6
|
---|
| 7610 | *
|
---|
| 7611 | * @param v_gyro_highrate_y_hyst_u_8 : The value of gyro highrate y hysteresis
|
---|
| 7612 | *
|
---|
| 7613 | * @return results of bus communication function
|
---|
| 7614 | * @retval 0 -> Success
|
---|
| 7615 | * @retval 1 -> Error
|
---|
| 7616 | *
|
---|
| 7617 | * @note Gyro high rate hysteresis calculated by
|
---|
| 7618 | *
|
---|
| 7619 | * using this (255 + 256 * v_gyro_highrate_y_hyst_u_8) *4 LSB
|
---|
| 7620 | *
|
---|
| 7621 | * The high rate value scales with the range setting
|
---|
| 7622 | *
|
---|
| 7623 | * v_gyro_range_u_8 | hysteresis | LSB
|
---|
| 7624 | * ----------------- | ------------- | ---------
|
---|
| 7625 | * 2000 | 62.26dps | 1LSB
|
---|
| 7626 | * 1000 | 31.13dps | 1LSB
|
---|
| 7627 | * 500 | 15.56dps | 1LSB
|
---|
| 7628 | */
|
---|
| 7629 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_hyst(
|
---|
| 7630 | u_8 *v_gyro_highrate_y_hyst_u_8);
|
---|
| 7631 | /*!
|
---|
| 7632 | * @brief This API used to write gyro highrate y hysteresis
|
---|
| 7633 | * from page one register from 0x1A bit 5 to 6
|
---|
| 7634 | *
|
---|
| 7635 | * @param v_gyro_highrate_y_hyst_u_8 : The value of gyro highrate y hysteresis
|
---|
| 7636 | *
|
---|
| 7637 | * @return results of bus communication function
|
---|
| 7638 | * @retval 0 -> Success
|
---|
| 7639 | * @retval 1 -> Error
|
---|
| 7640 | *
|
---|
| 7641 | * @note Gyro high rate hysteresis calculated by
|
---|
| 7642 | *
|
---|
| 7643 | * using this (255 + 256 * v_gyro_highrate_y_hyst_u_8) *4 LSB
|
---|
| 7644 | *
|
---|
| 7645 | * The high rate value scales with the range setting
|
---|
| 7646 | *
|
---|
| 7647 | * v_gyro_range_u_8 | hysteresis | LSB
|
---|
| 7648 | * ----------------- | ------------- | ---------
|
---|
| 7649 | * 2000 | 62.26dps | 1LSB
|
---|
| 7650 | * 1000 | 31.13dps | 1LSB
|
---|
| 7651 | * 500 | 15.56dps | 1LSB
|
---|
| 7652 | */
|
---|
| 7653 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_hyst(
|
---|
| 7654 | u_8 v_gyro_highrate_y_hyst_u_8);
|
---|
| 7655 | /**************************************************************/
|
---|
| 7656 | /**\name FUNCTIONS FOR GYRO HIGHRATE Y DURATION */
|
---|
| 7657 | /**************************************************************/
|
---|
| 7658 | /*!
|
---|
| 7659 | * @brief This API used to read gyro highrate y duration
|
---|
| 7660 | * from page one register from 0x1B bit 0 to 7
|
---|
| 7661 | *
|
---|
| 7662 | * @param v_gyro_highrate_y_durn_u_8 : The value of gyro highrate y duration
|
---|
| 7663 | *
|
---|
| 7664 | * @return results of bus communication function
|
---|
| 7665 | * @retval 0 -> Success
|
---|
| 7666 | * @retval 1 -> Error
|
---|
| 7667 | *
|
---|
| 7668 | * @note Gyro highrate duration calculate by using the formula
|
---|
| 7669 | *
|
---|
| 7670 | * (1 + v_gyro_highrate_y_durn_u_8)*2.5ms
|
---|
| 7671 | */
|
---|
| 7672 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_durn(
|
---|
| 7673 | u_8 *v_gyro_highrate_y_durn_u_8);
|
---|
| 7674 | /*!
|
---|
| 7675 | * @brief This API used to write gyro highrate y duration
|
---|
| 7676 | * from page one register from 0x1B bit 0 to 7
|
---|
| 7677 | *
|
---|
| 7678 | * @param v_gyro_highrate_y_durn_u_8 : The value of gyro highrate y duration
|
---|
| 7679 | *
|
---|
| 7680 | * @return results of bus communication function
|
---|
| 7681 | * @retval 0 -> Success
|
---|
| 7682 | * @retval 1 -> Error
|
---|
| 7683 | *
|
---|
| 7684 | * @note Gyro highrate duration calculate by using the formula
|
---|
| 7685 | *
|
---|
| 7686 | * (1 + v_gyro_highrate_y_durn_u_8)*2.5ms
|
---|
| 7687 | */
|
---|
| 7688 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_durn(
|
---|
| 7689 | u_8 v_gyro_highrate_y_durn_u_8);
|
---|
| 7690 | /**************************************************************/
|
---|
| 7691 | /**\name FUNCTIONS FOR GYRO HIGHRATE Z THRESHOLD */
|
---|
| 7692 | /**************************************************************/
|
---|
| 7693 | /*!
|
---|
| 7694 | * @brief This API used to read gyro highrate z threshold
|
---|
| 7695 | * from page one register from 0x1C bit 0 to 4
|
---|
| 7696 | *
|
---|
| 7697 | * @param v_gyro_highrate_z_thres_u_8 : The value of gyro highrate z threshold
|
---|
| 7698 | *
|
---|
| 7699 | * @return results of bus communication function
|
---|
| 7700 | * @retval 0 -> Success
|
---|
| 7701 | * @retval 1 -> Error
|
---|
| 7702 | *
|
---|
| 7703 | * @note Gyro highrate threshold dependent on the
|
---|
| 7704 | * selection of gyro range
|
---|
| 7705 | *
|
---|
| 7706 | * v_gyro_range_u_8 | threshold | LSB
|
---|
| 7707 | * ----------------- | ------------- | ---------
|
---|
| 7708 | * 2000 | 62.5dps | 1LSB
|
---|
| 7709 | * 1000 | 31.25dps | 1LSB
|
---|
| 7710 | * 500 | 15.625dps | 1LSB
|
---|
| 7711 | * 125 | 7.8125dps | 1LSB
|
---|
| 7712 | *
|
---|
| 7713 | */
|
---|
| 7714 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_thres(
|
---|
| 7715 | u_8 *v_gyro_highrate_z_thres_u_8);
|
---|
| 7716 | /*!
|
---|
| 7717 | * @brief This API used to write gyro highrate z threshold
|
---|
| 7718 | * from page one register from 0x1C bit 0 to 4
|
---|
| 7719 | *
|
---|
| 7720 | * @param v_gyro_highrate_z_thres_u_8 : The value of gyro highrate z threshold
|
---|
| 7721 | *
|
---|
| 7722 | * @return results of bus communication function
|
---|
| 7723 | * @retval 0 -> Success
|
---|
| 7724 | * @retval 1 -> Error
|
---|
| 7725 | *
|
---|
| 7726 | * @note Gyro highrate threshold dependent on the
|
---|
| 7727 | * selection of gyro range
|
---|
| 7728 | *
|
---|
| 7729 | * v_gyro_range_u_8 | threshold | LSB
|
---|
| 7730 | * ----------------- | ------------- | ---------
|
---|
| 7731 | * 2000 | 62.5dps | 1LSB
|
---|
| 7732 | * 1000 | 31.25dps | 1LSB
|
---|
| 7733 | * 500 | 15.625dps | 1LSB
|
---|
| 7734 | * 125 | 7.8125dps | 1LSB
|
---|
| 7735 | *
|
---|
| 7736 | */
|
---|
| 7737 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_thres(
|
---|
| 7738 | u_8 v_gyro_highrate_z_thres_u_8);
|
---|
| 7739 | /**************************************************************/
|
---|
| 7740 | /**\name FUNCTIONS FOR GYRO HIGHRATE Z HYSTERESIS */
|
---|
| 7741 | /**************************************************************/
|
---|
| 7742 | /*!
|
---|
| 7743 | * @brief This API used to read gyro highrate z hysteresis
|
---|
| 7744 | * from page one register from 0x1C bit 5 to 6
|
---|
| 7745 | *
|
---|
| 7746 | * @param v_gyro_highrate_z_hyst_u_8 : The value of gyro highrate z hysteresis
|
---|
| 7747 | *
|
---|
| 7748 | * @return results of bus communication function
|
---|
| 7749 | * @retval 0 -> Success
|
---|
| 7750 | * @retval 1 -> Error
|
---|
| 7751 | *
|
---|
| 7752 | * @note Gyro high rate hysteresis calculated by
|
---|
| 7753 | *
|
---|
| 7754 | * using this (255 + 256 * v_gyro_highrate_z_hyst_u_8) *4 LSB
|
---|
| 7755 | *
|
---|
| 7756 | * The high rate value scales with the range setting
|
---|
| 7757 | *
|
---|
| 7758 | * v_gyro_range_u_8 | hysteresis | LSB
|
---|
| 7759 | * ----------------- | ------------- | ---------
|
---|
| 7760 | * 2000 | 62.26dps | 1LSB
|
---|
| 7761 | * 1000 | 31.13dps | 1LSB
|
---|
| 7762 | * 500 | 15.56dps | 1LSB
|
---|
| 7763 | */
|
---|
| 7764 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_hyst(
|
---|
| 7765 | u_8 *v_gyro_highrate_z_hyst_u_8);
|
---|
| 7766 | /*!
|
---|
| 7767 | * @brief This API used to write gyro highrate z hysteresis
|
---|
| 7768 | * from page one register from 0x1C bit 5 to 6
|
---|
| 7769 | *
|
---|
| 7770 | * @param v_gyro_highrate_z_hyst_u_8 : The value of gyro highrate z hysteresis
|
---|
| 7771 | *
|
---|
| 7772 | * @return results of bus communication function
|
---|
| 7773 | * @retval 0 -> Success
|
---|
| 7774 | * @retval 1 -> Error
|
---|
| 7775 | *
|
---|
| 7776 | * @note Gyro high rate hysteresis calculated by
|
---|
| 7777 | *
|
---|
| 7778 | * using this (255 + 256 * v_gyro_highrate_z_hyst_u_8) *4 LSB
|
---|
| 7779 | *
|
---|
| 7780 | * The high rate value scales with the range setting
|
---|
| 7781 | *
|
---|
| 7782 | * v_gyro_range_u_8 | hysteresis | LSB
|
---|
| 7783 | * ----------------- | ------------- | ---------
|
---|
| 7784 | * 2000 | 62.26dps | 1LSB
|
---|
| 7785 | * 1000 | 31.13dps | 1LSB
|
---|
| 7786 | * 500 | 15.56dps | 1LSB
|
---|
| 7787 | */
|
---|
| 7788 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_hyst(
|
---|
| 7789 | u_8 v_gyro_highrate_z_hyst_u_8);
|
---|
| 7790 | /**************************************************************/
|
---|
| 7791 | /**\name FUNCTIONS FOR GYRO HIGHRATE Z DURATION */
|
---|
| 7792 | /**************************************************************/
|
---|
| 7793 | /*!
|
---|
| 7794 | * @brief This API used to read gyro highrate z duration
|
---|
| 7795 | * from page one register from 0x1D bit 0 to 7
|
---|
| 7796 | *
|
---|
| 7797 | * @param v_gyro_highrate_z_durn_u_8 : The value of gyro highrate z duration
|
---|
| 7798 | *
|
---|
| 7799 | * @return results of bus communication function
|
---|
| 7800 | * @retval 0 -> Success
|
---|
| 7801 | * @retval 1 -> Error
|
---|
| 7802 | *
|
---|
| 7803 | * @note Gyro highrate duration calculate by using the formula
|
---|
| 7804 | *
|
---|
| 7805 | * (1 + v_gyro_highrate_z_durn_u_8)*2.5ms
|
---|
| 7806 | */
|
---|
| 7807 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_durn(
|
---|
| 7808 | u_8 *v_gyro_highrate_z_durn_u_8);
|
---|
| 7809 | /*!
|
---|
| 7810 | * @brief This API used to write gyro highrate z duration
|
---|
| 7811 | * from page one register from 0x1D bit 0 to 7
|
---|
| 7812 | *
|
---|
| 7813 | * @param v_gyro_highrate_z_durn_u_8 : The value of gyro highrate z duration
|
---|
| 7814 | *
|
---|
| 7815 | * @return results of bus communication function
|
---|
| 7816 | * @retval 0 -> Success
|
---|
| 7817 | * @retval 1 -> Error
|
---|
| 7818 | *
|
---|
| 7819 | * @note Gyro highrate duration calculate by using the formula
|
---|
| 7820 | *
|
---|
| 7821 | * (1 + v_gyro_highrate_z_durn_u_8)*2.5ms
|
---|
| 7822 | */
|
---|
| 7823 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_durn(
|
---|
| 7824 | u_8 v_gyro_highrate_z_durn_u_8);
|
---|
| 7825 | /**************************************************************/
|
---|
| 7826 | /**\name FUNCTIONS FOR GYRO ANY_MOTION THRESHOLD */
|
---|
| 7827 | /**************************************************************/
|
---|
| 7828 | /*!
|
---|
| 7829 | * @brief This API used to read gyro anymotion threshold
|
---|
| 7830 | * from page one register from 0x1E bit 0 to 6
|
---|
| 7831 | *
|
---|
| 7832 | * @param v_gyro_any_motion_thres_u_8 : The value of gyro anymotion threshold
|
---|
| 7833 | *
|
---|
| 7834 | * @return results of bus communication function
|
---|
| 7835 | * @retval 0 -> Success
|
---|
| 7836 | * @retval 1 -> Error
|
---|
| 7837 | *
|
---|
| 7838 | * @note Gyro anymotion interrupt threshold dependent
|
---|
| 7839 | * on the selection of gyro range
|
---|
| 7840 | *
|
---|
| 7841 | * v_gyro_range_u_8 | threshold | LSB
|
---|
| 7842 | * ----------------- | ------------- | ---------
|
---|
| 7843 | * 2000 | 1dps | 1LSB
|
---|
| 7844 | * 1000 | 0.5dps | 1LSB
|
---|
| 7845 | * 500 | 0.25dps | 1LSB
|
---|
| 7846 | *
|
---|
| 7847 | */
|
---|
| 7848 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_thres(
|
---|
| 7849 | u_8 *v_gyro_any_motion_thres_u_8);
|
---|
| 7850 | /*!
|
---|
| 7851 | * @brief This API used to write gyro anymotion threshold
|
---|
| 7852 | * from page one register from 0x1E bit 0 to 6
|
---|
| 7853 | *
|
---|
| 7854 | * @param v_gyro_any_motion_thres_u_8 : The value of gyro anymotion threshold
|
---|
| 7855 | *
|
---|
| 7856 | * @return results of bus communication function
|
---|
| 7857 | * @retval 0 -> Success
|
---|
| 7858 | * @retval 1 -> Error
|
---|
| 7859 | *
|
---|
| 7860 | * @note Gyro anymotion interrupt threshold dependent
|
---|
| 7861 | * on the selection of gyro range
|
---|
| 7862 | *
|
---|
| 7863 | * v_gyro_range_u_8 | threshold | LSB
|
---|
| 7864 | * ----------------- | ------------- | ---------
|
---|
| 7865 | * 2000 | 1dps | 1LSB
|
---|
| 7866 | * 1000 | 0.5dps | 1LSB
|
---|
| 7867 | * 500 | 0.25dps | 1LSB
|
---|
| 7868 | *
|
---|
| 7869 | */
|
---|
| 7870 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_thres(
|
---|
| 7871 | u_8 v_gyro_any_motion_thres_u_8);
|
---|
| 7872 | /**************************************************************/
|
---|
| 7873 | /**\name FUNCTIONS FOR GYRO ANY_MOTION SLOPE SAMPLES */
|
---|
| 7874 | /**************************************************************/
|
---|
| 7875 | /*!
|
---|
| 7876 | * @brief This API used to read gyro anymotion slope samples
|
---|
| 7877 | * from page one register from 0x1F bit 0 to 1
|
---|
| 7878 | *
|
---|
| 7879 | * @param v_gyro_any_motion_slope_samples_u_8 :
|
---|
| 7880 | * The value of gyro anymotion slope samples
|
---|
| 7881 | * v_gyro_any_motion_slope_samples_u_8 | result
|
---|
| 7882 | * ---------------------------------- | -----------
|
---|
| 7883 | * 0 | 8 samples
|
---|
| 7884 | * 1 | 16 samples
|
---|
| 7885 | * 2 | 32 samples
|
---|
| 7886 | * 3 | 64 samples
|
---|
| 7887 | *
|
---|
| 7888 | * @return results of bus communication function
|
---|
| 7889 | * @retval 0 -> Success
|
---|
| 7890 | * @retval 1 -> Error
|
---|
| 7891 | *
|
---|
| 7892 | */
|
---|
| 7893 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_slope_samples(
|
---|
| 7894 | u_8 *v_gyro_any_motion_slope_samples_u_8);
|
---|
| 7895 | /*!
|
---|
| 7896 | * @brief This API used to write gyro anymotion slope samples
|
---|
| 7897 | * from page one register from 0x1F bit 0 to 1
|
---|
| 7898 | *
|
---|
| 7899 | * @param v_gyro_any_motion_slope_samples_u_8 :
|
---|
| 7900 | * The value of gyro anymotion slope samples
|
---|
| 7901 | * v_gyro_any_motion_slope_samples_u_8 | result
|
---|
| 7902 | * ---------------------------------- | -----------
|
---|
| 7903 | * 0 | 8 samples
|
---|
| 7904 | * 1 | 16 samples
|
---|
| 7905 | * 2 | 32 samples
|
---|
| 7906 | * 3 | 64 samples
|
---|
| 7907 | *
|
---|
| 7908 | * @return results of bus communication function
|
---|
| 7909 | * @retval 0 -> Success
|
---|
| 7910 | * @retval 1 -> Error
|
---|
| 7911 | *
|
---|
| 7912 | */
|
---|
| 7913 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_slope_samples(
|
---|
| 7914 | u_8 v_gyro_any_motion_slope_samples_u_8);
|
---|
| 7915 | /**************************************************************/
|
---|
| 7916 | /**\name FUNCTIONS FOR GYRO ANY_MOTION AWAKE DURATION */
|
---|
| 7917 | /**************************************************************/
|
---|
| 7918 | /*!
|
---|
| 7919 | * @brief This API used to read gyro anymotion awake duration
|
---|
| 7920 | * from page one register from 0x1F bit 2 to 3
|
---|
| 7921 | *
|
---|
| 7922 | * @param v_gyro_awake_durn_u_8 : The value of gyro anymotion awake duration
|
---|
| 7923 | *
|
---|
| 7924 | * @return results of bus communication function
|
---|
| 7925 | * @retval 0 -> Success
|
---|
| 7926 | * @retval 1 -> Error
|
---|
| 7927 | *
|
---|
| 7928 | */
|
---|
| 7929 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_awake_durn(
|
---|
| 7930 | u_8 *v_gyro_awake_durn_u_8);
|
---|
| 7931 | /*!
|
---|
| 7932 | * @brief This API used to write gyro anymotion awake duration
|
---|
| 7933 | * from page one register from 0x1F bit 2 to 3
|
---|
| 7934 | *
|
---|
| 7935 | * @param v_gyro_awake_durn_u_8 : The value of gyro anymotion awake duration
|
---|
| 7936 | *
|
---|
| 7937 | * @return results of bus communication function
|
---|
| 7938 | * @retval 0 -> Success
|
---|
| 7939 | * @retval 1 -> Error
|
---|
| 7940 | *
|
---|
| 7941 | */
|
---|
| 7942 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_awake_durn(
|
---|
| 7943 | u_8 v_gyro_awake_durn_u_8);
|
---|
| 7944 | #endif
|
---|