source: rtos_arduino/trunk/arduino_lib/libraries/NAxesMotion/utility/BNO055.h@ 136

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1/** \mainpage
2*
3****************************************************************************
4* Copyright (C) 2013 - 2014 Bosch Sensortec GmbH
5*
6* File : bno055.h
7*
8* Date : 2014/12/12
9*
10* Revision : 2.0.2 $
11*
12* Usage: Sensor Driver file for BNO055 sensor
13*
14* **************************************************************************
15*
16* Added Arduino M0/M0 Pro support
17*
18* Date: 07/27/2015
19*
20* Modified by: Arduino.org development Team.
21*
22****************************************************************************
23*
24* \section License
25*
26* Redistribution and use in source and binary forms, with or without
27* modification, are permitted provided that the following conditions are met:
28*
29* Redistributions of source code must retain the above copyright
30* notice, this list of conditions and the following disclaimer.
31*
32* Redistributions in binary form must reproduce the above copyright
33* notice, this list of conditions and the following disclaimer in the
34* documentation and/or other materials provided with the distribution.
35*
36* Neither the name of the copyright holder nor the names of the
37* contributors may be used to endorse or promote products derived from
38* this software without specific prior written permission.
39*
40* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
41* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
42* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
43* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
44* DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER
45* OR CONTRIBUTORS BE LIABLE FOR ANY
46* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
47* OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO,
48* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
49* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
50* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
51* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
52* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
53* ANY WAY OUT OF THE USE OF THIS
54* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
55*
56* The information provided is believed to be accurate and reliable.
57* The copyright holder assumes no responsibility
58* for the consequences of use
59* of such information nor for any infringement of patents or
60* other rights of third parties which may result from its use.
61* No license is granted by implication or otherwise under any patent or
62* patent rights of the copyright holder.
63**************************************************************************/
64/*! \file bno055.h
65 \brief BNO055 Sensor Driver Support Header File */
66
67#ifndef __BNO055_H__
68#define __BNO055_H__
69/****************************************************************/
70/**\name DATA TYPES INCLUDES */
71/************************************************************/
72/*!
73* @brief The following definition uses for define the data types
74*
75* @note While porting the API please consider the following
76* @note Please check the version of C standard
77* @note Are you using Linux platform
78*/
79
80/*!
81* @brief For the Linux platform support
82* Please use the types.h for your data types definitions
83*/
84#ifdef __KERNEL__
85
86#include <linux/types.h>
87/* singed integer type*/
88typedef int8_t s_8;/**< used for signed 8bit */
89typedef int16_t s_16;/**< used for signed 16bit */
90typedef int32_t s_32;/**< used for signed 32bit */
91typedef int64_t s_64;/**< used for signed 64bit */
92
93typedef u_int8_t u_8;/**< used for unsigned 8bit */
94typedef u_int16_t u_16;/**< used for unsigned 16bit */
95typedef u_int32_t u_32;/**< used for unsigned 32bit */
96typedef u_int64_t u_64;/**< used for unsigned 64bit */
97
98
99
100#else /* ! __KERNEL__ */
101/**********************************************************
102* These definition uses for define the C
103* standard version data types
104***********************************************************/
105# if !defined(__STDC_VERSION__)
106
107/************************************************
108 * compiler is C11 C standard
109************************************************/
110#if (__STDC_VERSION__ == 201112L)
111
112/************************************************/
113#include <stdint.h>
114/************************************************/
115
116/*unsigned integer types*/
117typedef uint8_t u_8;/**< used for unsigned 8bit */
118typedef uint16_t u_16;/**< used for unsigned 16bit */
119typedef uint32_t u_32;/**< used for unsigned 32bit */
120typedef uint64_t u_64;/**< used for unsigned 64bit */
121
122/*signed integer types*/
123typedef int8_t s_8;/**< used for signed 8bit */
124typedef int16_t s_16;/**< used for signed 16bit */
125typedef int32_t s_32;/**< used for signed 32bit */
126typedef int64_t s_64;/**< used for signed 64bit */
127/************************************************
128 * compiler is C99 C standard
129************************************************/
130
131#elif (__STDC_VERSION__ == 199901L)
132
133/* stdint.h is a C99 supported c library.
134which is used to fixed the integer size*/
135/************************************************/
136#include <stdint.h>
137/************************************************/
138
139/*unsigned integer types*/
140typedef uint8_t u_8;/**< used for unsigned 8bit */
141typedef uint16_t u_16;/**< used for unsigned 16bit */
142typedef uint32_t u_32;/**< used for unsigned 32bit */
143typedef uint64_t u_64;/**< used for unsigned 64bit */
144
145/*signed integer types*/
146typedef int8_t s_8;/**< used for signed 8bit */
147typedef int16_t s_16;/**< used for signed 16bit */
148typedef int32_t s_32;/**< used for signed 32bit */
149typedef int64_t s_64;/**< used for signed 64bit */
150/************************************************
151 * compiler is C89 or other C standard
152************************************************/
153
154#else /* !defined(__STDC_VERSION__) */
155/*!
156* @brief By default it is defined as 32 bit machine configuration
157* define your data types based on your
158* machine/compiler/controller configuration
159*/
160#define MACHINE_32_BIT
161
162/*! @brief
163 * If your machine support 16 bit
164 * define the MACHINE_16_BIT
165 */
166#ifdef MACHINE_16_BIT
167#include <limits.h>
168/*signed integer types*/
169typedef signed char s_8;/**< used for signed 8bit */
170typedef signed short int s_16;/**< used for signed 16bit */
171typedef signed long int s_32;/**< used for signed 32bit */
172
173#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL
174typedef long int s_64;/**< used for signed 64bit */
175typedef unsigned long int u_64;/**< used for unsigned 64bit */
176#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)
177typedef long long int s_64;/**< used for signed 64bit */
178typedef unsigned long long int u_64;/**< used for unsigned 64bit */
179#else
180#warning Either the correct data type for signed 64 bit integer \
181could not be found, or 64 bit integers are not supported in your environment.
182#warning If 64 bit integers are supported on your platform, \
183please set s_64 manually.
184#endif
185
186/*unsigned integer types*/
187typedef unsigned char u_8;/**< used for unsigned 8bit */
188typedef unsigned short int u_16;/**< used for unsigned 16bit */
189typedef unsigned long int u_32;/**< used for unsigned 32bit */
190
191/* If your machine support 32 bit
192define the MACHINE_32_BIT*/
193#elif defined MACHINE_32_BIT
194/*signed integer types*/
195typedef signed char s_8;/**< used for signed 8bit */
196typedef signed short int s_16;/**< used for signed 16bit */
197typedef signed int s_32;/**< used for signed 32bit */
198typedef signed long long int s_64;/**< used for signed 64bit */
199
200/*unsigned integer types*/
201typedef unsigned char u_8;/**< used for unsigned 8bit */
202typedef unsigned short int u_16;/**< used for unsigned 16bit */
203typedef unsigned int u_32;/**< used for unsigned 32bit */
204typedef unsigned long long int u_64;/**< used for unsigned 64bit */
205
206/* If your machine support 64 bit
207define the MACHINE_64_BIT*/
208#elif defined MACHINE_64_BIT
209/*signed integer types*/
210typedef signed char s_8;/**< used for signed 8bit */
211typedef signed short int s_16;/**< used for signed 16bit */
212typedef signed int s_32;/**< used for signed 32bit */
213typedef signed long int s_64;/**< used for signed 64bit */
214
215/*unsigned integer types*/
216typedef unsigned char u_8;/**< used for unsigned 8bit */
217typedef unsigned short int u_16;/**< used for unsigned 16bit */
218typedef unsigned int u_32;/**< used for unsigned 32bit */
219typedef unsigned long int u_64;/**< used for unsigned 64bit */
220
221#else
222#warning The data types defined above which not supported \
223define the data types manually
224#endif
225#endif
226
227/*** This else will execute for the compilers
228 * which are not supported the C standards
229 * Like C89/C99/C11***/
230#else
231/*!
232* @brief By default it is defined as 32 bit machine configuration
233* define your data types based on your
234* machine/compiler/controller configuration
235*/
236#define MACHINE_32_BIT
237
238/* If your machine support 16 bit
239define the MACHINE_16_BIT*/
240#ifdef MACHINE_16_BIT
241#include <limits.h>
242/*signed integer types*/
243typedef signed char s_8;/**< used for signed 8bit */
244typedef signed short int s_16;/**< used for signed 16bit */
245typedef signed long int s_32;/**< used for signed 32bit */
246
247#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL
248typedef long int s_64;/**< used for signed 64bit */
249typedef unsigned long int u_64;/**< used for unsigned 64bit */
250#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)
251typedef long long int s_64;/**< used for signed 64bit */
252typedef unsigned long long int u_64;/**< used for unsigned 64bit */
253#else
254#warning Either the correct data type for signed 64 bit integer \
255could not be found, or 64 bit integers are not supported in your environment.
256#warning If 64 bit integers are supported on your platform, \
257please set s_64 manually.
258#endif
259
260/*unsigned integer types*/
261typedef unsigned char u_8;/**< used for unsigned 8bit */
262typedef unsigned short int u_16;/**< used for unsigned 16bit */
263typedef unsigned long int u_32;/**< used for unsigned 32bit */
264
265/*! @brief If your machine support 32 bit
266define the MACHINE_32_BIT*/
267#elif defined MACHINE_32_BIT
268/*signed integer types*/
269typedef signed char s_8;/**< used for signed 8bit */
270typedef signed short int s_16;/**< used for signed 16bit */
271typedef signed int s_32;/**< used for signed 32bit */
272typedef signed long long int s_64;/**< used for signed 64bit */
273
274/*unsigned integer types*/
275typedef unsigned char u_8;/**< used for unsigned 8bit */
276typedef unsigned short int u_16;/**< used for unsigned 16bit */
277typedef unsigned int u_32;/**< used for unsigned 32bit */
278typedef unsigned long long int u_64;/**< used for unsigned 64bit */
279
280/* If your machine support 64 bit
281define the MACHINE_64_BIT*/
282#elif defined MACHINE_64_BIT
283/*signed integer types*/
284typedef signed char s_8;/**< used for signed 8bit */
285typedef signed short int s_16;/**< used for signed 16bit */
286typedef signed int s_32;/**< used for signed 32bit */
287typedef signed long int s_64;/**< used for signed 64bit */
288
289/*unsigned integer types*/
290typedef unsigned char u_8;/**< used for unsigned 8bit */
291typedef unsigned short int u_16;/**< used for unsigned 16bit */
292typedef unsigned int u_32;/**< used for unsigned 32bit */
293typedef unsigned long int u_64;/**< used for unsigned 64bit */
294
295#else
296#warning The data types defined above which not supported \
297define the data types manually
298#endif
299#endif
300#endif
301/***************************************************************/
302/**\name BUS READ AND WRITE FUNCTIONS */
303/***************************************************************/
304#define BNO055_WR_FUNC_PTR s_8 (*bus_write)\
305(u_8, u_8 , u_8 *, u_8)
306
307#define BNO055_BUS_WRITE_FUNC(dev_addr, reg_addr, reg_data, wr_len)\
308 bus_write(dev_addr, reg_addr, reg_data, wr_len)
309
310#define BNO055_RD_FUNC_PTR s_8 \
311(*bus_read)(u_8, u_8 , u_8 *, u_8)
312
313#define BNO055_BUS_READ_FUNC(dev_addr, reg_addr, reg_data, r_len)\
314bus_read(dev_addr, reg_addr, reg_data, r_len)
315
316#define BNO055_DELAY_RETURN_TYPE void
317
318#define BNO055_DELAY_PARAM_TYPES u_32
319
320#define BNO055_DELAY_FUNC(delay_in_msec)\
321 delay_func(delay_in_msec)
322
323/********************************************************/
324/**\name I2C ADDRESS DEFINITION FOR BNO055 */
325/********************************************************/
326/* bno055 I2C Address */
327#define BNO055_I2C_ADDR1 0x28
328#define BNO055_I2C_ADDR2 0x29
329
330/***************************************************/
331/**\name REGISTER ADDRESS DEFINITION */
332/***************************************************/
333/* Page id register definition*/
334#define BNO055_PAGE_ID_ADDR 0X07
335
336/* PAGE0 REGISTER DEFINITION START*/
337#define BNO055_CHIP_ID_ADDR 0x00
338#define BNO055_ACCEL_REV_ID_ADDR 0x01
339#define BNO055_MAG_REV_ID_ADDR 0x02
340#define BNO055_GYRO_REV_ID_ADDR 0x03
341#define BNO055_SW_REV_ID_LSB_ADDR 0x04
342#define BNO055_SW_REV_ID_MSB_ADDR 0x05
343#define BNO055_BL_REV_ID_ADDR 0X06
344
345/* Accel data register*/
346#define BNO055_ACCEL_DATA_X_LSB_ADDR 0X08
347#define BNO055_ACCEL_DATA_X_MSB_ADDR 0X09
348#define BNO055_ACCEL_DATA_Y_LSB_ADDR 0X0A
349#define BNO055_ACCEL_DATA_Y_MSB_ADDR 0X0B
350#define BNO055_ACCEL_DATA_Z_LSB_ADDR 0X0C
351#define BNO055_ACCEL_DATA_Z_MSB_ADDR 0X0D
352
353/*Mag data register*/
354#define BNO055_MAG_DATA_X_LSB_ADDR 0X0E
355#define BNO055_MAG_DATA_X_MSB_ADDR 0X0F
356#define BNO055_MAG_DATA_Y_LSB_ADDR 0X10
357#define BNO055_MAG_DATA_Y_MSB_ADDR 0X11
358#define BNO055_MAG_DATA_Z_LSB_ADDR 0X12
359#define BNO055_MAG_DATA_Z_MSB_ADDR 0X13
360
361/*Gyro data registers*/
362#define BNO055_GYRO_DATA_X_LSB_ADDR 0X14
363#define BNO055_GYRO_DATA_X_MSB_ADDR 0X15
364#define BNO055_GYRO_DATA_Y_LSB_ADDR 0X16
365#define BNO055_GYRO_DATA_Y_MSB_ADDR 0X17
366#define BNO055_GYRO_DATA_Z_LSB_ADDR 0X18
367#define BNO055_GYRO_DATA_Z_MSB_ADDR 0X19
368
369/*Euler data registers*/
370#define BNO055_EULER_H_LSB_ADDR 0X1A
371#define BNO055_EULER_H_MSB_ADDR 0X1B
372
373#define BNO055_EULER_R_LSB_ADDR 0X1C
374#define BNO055_EULER_R_MSB_ADDR 0X1D
375
376#define BNO055_EULER_P_LSB_ADDR 0X1E
377#define BNO055_EULER_P_MSB_ADDR 0X1F
378
379/*Quaternion data registers*/
380#define BNO055_QUATERNION_DATA_W_LSB_ADDR 0X20
381#define BNO055_QUATERNION_DATA_W_MSB_ADDR 0X21
382#define BNO055_QUATERNION_DATA_X_LSB_ADDR 0X22
383#define BNO055_QUATERNION_DATA_X_MSB_ADDR 0X23
384#define BNO055_QUATERNION_DATA_Y_LSB_ADDR 0X24
385#define BNO055_QUATERNION_DATA_Y_MSB_ADDR 0X25
386#define BNO055_QUATERNION_DATA_Z_LSB_ADDR 0X26
387#define BNO055_QUATERNION_DATA_Z_MSB_ADDR 0X27
388
389/* Linear acceleration data registers*/
390#define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0X28
391#define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0X29
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*/
526struct bno055_t {
527u_8 chip_id;/**< chip_id of bno055 */
528u_16 sw_rev_id;/**< software revision id of bno055 */
529u_8 page_id;/**< page_id of bno055 */
530u_8 accel_rev_id;/**< accel revision id of bno055 */
531u_8 mag_rev_id;/**< mag revision id of bno055 */
532u_8 gyro_rev_id;/**< gyro revision id of bno055 */
533u_8 bl_rev_id;/**< boot loader revision id of bno055 */
534u_8 dev_addr;/**< i2c device address of bno055 */
535BNO055_WR_FUNC_PTR;/**< bus write function pointer */
536BNO055_RD_FUNC_PTR;/**<bus read function pointer */
537void (*delay_msec)(BNO055_MDELAY_DATA_TYPE);/**< delay function pointer */
538};
539/*!
540* @brief struct for accel data read from registers
541*/
542struct bno055_accel_t {
543s_16 x;/**< accel x data */
544s_16 y;/**< accel y data */
545s_16 z;/**< accel z data */
546};
547/*!
548* @brief struct for Mag data read from registers
549*/
550struct bno055_mag_t {
551s_16 x;/**< mag x data */
552s_16 y;/**< mag y data */
553s_16 z;/**< mag z data */
554};
555/*!
556* @brief struct for Gyro data read from registers
557*/
558struct bno055_gyro_t {
559s_16 x;/**< gyro x data */
560s_16 y;/**< gyro y data */
561s_16 z;/**< gyro z data */
562};
563/*!
564* @brief struct for Euler data read from registers
565*/
566struct bno055_euler_t {
567s_16 h;/**< Euler h data */
568s_16 r;/**< Euler r data */
569s_16 p;/**< Euler p data */
570};
571/*!
572* @brief struct for Quaternion data read from registers
573*/
574struct bno055_quaternion_t {
575s_16 w;/**< Quaternion w data */
576s_16 x;/**< Quaternion x data */
577s_16 y;/**< Quaternion y data */
578s_16 z;/**< Quaternion z data */
579};
580/*!
581* @brief struct for Linear Accel data read from registers
582*/
583struct bno055_linear_accel_t {
584s_16 x; /**< Linear Accel x data */
585s_16 y; /**< Linear Accel y data */
586s_16 z; /**< Linear Accel z data */
587};
588/*!
589* @brief struct for Gravity data read from registers
590*/
591struct bno055_gravity_t {
592s_16 x;/**< Gravity x data */
593s_16 y;/**< Gravity y data */
594s_16 z;/**< Gravity z data */
595};
596#ifdef BNO055_DOUBLE_ENABLE
597/*!
598* @brief struct for Accel-output data of precision double
599*/
600struct bno055_accel_double_t {
601double x;/**< Accel x double data */
602double y;/**< Accel y double data */
603double z;/**< Accel z double data */
604};
605/*!
606* @brief struct for Mag-output data of precision double
607*/
608struct bno055_mag_double_t {
609double x;/**< Mag x double data */
610double y;/**< Mag y double data */
611double z;/**< Mag z double data */
612};
613/*!
614* @brief struct for Gyro-output data of precision double
615*/
616struct bno055_gyro_double_t {
617double x;/**< Gyro x double data */
618double y;/**< Gyro y double data */
619double z;/**< Gyro z double data */
620};
621/*!
622* @brief struct for Euler-output data of precision double
623*/
624struct bno055_euler_double_t {
625double h;/**< Euler h double data */
626double r;/**< Euler r double data */
627double p;/**< Euler p double data */
628};
629/*!
630* @brief struct for Linear Accel-output data of precision double
631*/
632struct bno055_linear_accel_double_t {
633double x;/**< linear accel x double data */
634double y;/**< linear accel y double data */
635double z;/**< linear accel z double data */
636};
637/*!
638* @brief struct for Gravity-output data of precision double
639*/
640struct bno055_gravity_double_t {
641double x;/**< Gravity x double data */
642double y;/**< Gravity y double data */
643double 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*/
650struct bno055_accel_float_t {
651float x;/**< accel x float data */
652float y;/**< accel y float data */
653float z;/**< accel z float data */
654};
655/*!
656* @brief struct for Mag-output data of precision float
657*/
658struct bno055_mag_float_t {
659float x;/**< Mag x float data */
660float y;/**< Mag y float data */
661float z;/**< Mag z float data */
662};
663/*!
664* @brief struct for Gyro-output data of precision float
665*/
666struct bno055_gyro_float_t {
667float x;/**< Gyro x float data */
668float y;/**< Gyro y float data */
669float z;/**< Gyro z float data */
670};
671/*!
672* @brief struct for Euler-output data of precision float
673*/
674struct bno055_euler_float_t {
675float h;/**< Euler h float data */
676float r;/**< Euler r float data */
677float p;/**< Euler p float data */
678};
679/*!
680* @brief struct for Linear accel-output data of precision float
681*/
682struct bno055_linear_accel_float_t {
683float x;/**< Linear accel x float data */
684float y;/**< Linear accel y float data */
685float z;/**< Linear accel z float data */
686};
687/*!
688* @brief struct for Gravity-output data of precision float
689*/
690struct bno055_gravity_float_t {
691float x;/**< Gravity x float data */
692float y;/**< Gravity y float data */
693float z;/**< Gravity z float data */
694};
695#endif
696/*!
697* @brief struct for Accel offset
698*/
699struct bno055_accel_offset_t {
700s_16 x;/**< Accel offset x data */
701s_16 y;/**< Accel offset y data */
702s_16 z;/**< Accel offset z data */
703s_16 r;/**< Accel radius r data */
704};
705/*!
706* @brief struct for Gyro offset
707*/
708struct bno055_gyro_offset_t {
709s_16 x;/**< Gyro offset x data */
710s_16 y;/**< Gyro offset y data */
711s_16 z;/**< Gyro offset z data */
712};
713/*!
714* @brief struct for Mag offset
715*/
716struct bno055_mag_offset_t {
717s_16 x;/**< Mag offset x data */
718s_16 y;/**< Mag offset y data */
719s_16 z;/**< Mag offset z data */
720s_16 r;/**< Mag radius x data */
721};
722/*!
723* @brief struct for soft iron calibration matrix
724*/
725struct bno055_sic_matrix_t {
726s_16 sic_0;/**< soft iron calibration matrix 0 data */
727s_16 sic_1;/**< soft iron calibration matrix 1 data */
728s_16 sic_2;/**< soft iron calibration matrix 2 data */
729s_16 sic_3;/**< soft iron calibration matrix 3 data */
730s_16 sic_4;/**< soft iron calibration matrix 4 data */
731s_16 sic_5;/**< soft iron calibration matrix 5 data */
732s_16 sic_6;/**< soft iron calibration matrix 6 data */
733s_16 sic_7;/**< soft iron calibration matrix 7 data */
734s_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 \
1090BNO055_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 \
1097BNO055_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 \
1104BNO055_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 \
1111BNO055_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 \
1118BNO055_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 \
1125BNO055_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 \
1132BNO055_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 \
1241BNO055_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 \
1248BNO055_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 \
1255BNO055_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 \
1262BNO055_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 \
1269BNO055_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 \
1276NO055_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 \
1283BNO055_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 \
1290BNO055_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 \
1297BNO055_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 \
1304BNO055_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 \
1311BNO055_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 \
1318BNO055_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 \
1325BNO055_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 \
1332BNO055_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 \
1339BNO055_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 \
1346BNO055_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 \
1353BNO055_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 \
1360BNO055_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 \
1367BNO055_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 \
1374BNO055_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 \
1994ACCEL_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 \
2105GYRO_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 */
2158BNO055_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*/
2174BNO055_RETURN_FUNCTION_TYPE bno055_write_register(u_8 v_addr_u_8,
2175u_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 */
2191BNO055_RETURN_FUNCTION_TYPE bno055_read_register(u_8 v_addr_u_8,
2192u_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 */
2204BNO055_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 */
2217BNO055_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 */
2234BNO055_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 */
2250BNO055_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 */
2263BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_rev_id(
2264u_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 */
2277BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_rev_id(
2278u_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 */
2293BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_rev_id(
2294u_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 */
2308BNO055_RETURN_FUNCTION_TYPE bno055_read_bl_rev_id(
2309u_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 */
2330BNO055_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 */
2348BNO055_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 */
2366BNO055_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 */
2387BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_xyz(
2388struct 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 */
2410BNO055_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 */
2428BNO055_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 */
2447BNO055_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 */
2468BNO055_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 */
2489BNO055_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 */
2507BNO055_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 */
2520BNO055_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 */
2541BNO055_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 */
2556BNO055_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 */
2568BNO055_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 */
2581BNO055_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 */
2601BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_hrp(
2602struct 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 */
2618BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_w(
2619s_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 */
2632BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_x(
2633s_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 */
2646BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_y(
2647s_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 */
2660BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_z(
2661s_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 */
2683BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_wxyz(
2684struct 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 */
2700BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_x(
2701s_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 */
2714BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_y(
2715s_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 */
2728BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_z(
2729s_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 */
2748BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_xyz(
2749struct 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 */
2765BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_x(
2766s_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 */
2779BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_y(
2780s_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 */
2793BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_z(
2794s_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 */
2814BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_xyz(
2815struct 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 */
2831BNO055_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 */
2850BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_msq(
2851float *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 */
2866BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_msq(
2867float *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 */
2882BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_msq(
2883float *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 */
2897BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_mg(
2898float *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 */
2912BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_mg(
2913float *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 */
2928BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_mg(
2929float *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 */
2948BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_msq(
2949struct 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 */
2969BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_mg(
2970struct 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 */
2988BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_x_uT(
2989float *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 */
3003BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_y_uT(
3004float *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 */
3018BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_z_uT(
3019float *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 */
3038BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_xyz_uT(
3039struct 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 */
3055BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_dps(
3056float *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 */
3070BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_rps(
3071float *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 */
3085BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_dps(
3086float *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 */
3101BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_rps(
3102float *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 */
3116BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_dps(
3117float *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 */
3131BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_rps(
3132float *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 */
3152BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_dps(
3153struct 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 */
3173BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_rps(
3174struct 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 */
3190BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_deg(
3191float *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 */
3204BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_rad(
3205float *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 */
3217BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_deg(
3218float *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 */
3230BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_rad(
3231float *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 */
3243BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_deg(
3244float *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 */
3257BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_rad(
3258float *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 */
3277BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_deg(
3278struct 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 */
3297BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_rad(
3298struct 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 */
3312BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_x_msq(
3313float *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 */
3324BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_y_msq(
3325float *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 */
3337BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_z_msq(
3338float *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 */
3358BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_xyz_msq(
3359struct 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 */
3375BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_x_msq(
3376float *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 */
3389BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_y_msq(
3390float *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 */
3402BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_z_msq(
3403float *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 */
3423BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gravity_xyz_msq(
3424struct 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 */
3440BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_fahrenheit(
3441float *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 */
3455BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_celsius(
3456float *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 */
3476BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_msq(
3477double *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 */
3493BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_msq(
3494double *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 */
3507BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_msq(
3508double *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 */
3524BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_mg(
3525double *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 */
3540BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_mg(
3541double *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 */
3555BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_mg(
3556double *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 */
3576BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_msq(
3577struct 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 */
3596BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_mg(
3597struct 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 */
3616BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_x_uT(
3617double *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 */
3633BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_y_uT(
3634double *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 */
3649BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_z_uT(
3650double *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 */
3669BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_xyz_uT(
3670struct 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 */
3688BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_dps(
3689double *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 */
3704BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_dps(
3705double *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 */
3720BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_dps(
3721double *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 */
3736BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_rps(
3737double *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 */
3752BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_rps(
3753double *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 */
3768BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_rps(
3769double *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 */
3788BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_dps(
3789struct 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 */
3808BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_rps(
3809struct 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 */
3825BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_deg(
3826double *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 */
3839BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_deg(
3840double *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 */
3853BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_deg(
3854double *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 */
3867BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_rad(
3868double *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
3882BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_rad(
3883double *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 */
3896BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_rad(
3897double *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 */
3916BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_deg(
3917struct 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 */
3936BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_rad(
3937struct 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 */
3954BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_x_msq(
3955double *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 */
3969BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_y_msq(
3970double *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
3985BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_z_msq(
3986double *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
4006BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_xyz_msq(
4007struct 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 */
4023BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_x_msq(
4024double *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 */
4037BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_y_msq(
4038double *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 */
4051BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_z_msq(
4052double *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 */
4071BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gravity_xyz_msq(
4072struct 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 */
4088BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_fahrenheit(
4089double *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 */
4102BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_celsius(
4103double *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 */
4120BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_calib_stat(
4121u_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 */
4134BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_calib_stat(
4135u_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 */
4148BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_calib_stat(
4149u_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 */
4162BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_calib_stat(
4163u_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 */
4183BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_accel(
4184u_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 */
4201BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mag(
4202u_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 */
4219BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_gyro(
4220u_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 */
4237BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mcu(
4238u_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 */
4265BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_any_motion(
4266u_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 */
4289BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_highrate(
4290u_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 */
4317BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_high_g(
4318u_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 */
4341BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_any_motion(
4342u_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 */
4366BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_no_motion(
4367u_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 */
4383BNO055_RETURN_FUNCTION_TYPE bno055_get_stat_main_clk(
4384u_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 */
4397BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_stat_code(
4398u_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 */
4412BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_error_code(
4413u_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 */
4433BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_unit(
4434u_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 */
4452BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_unit(
4453u_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 */
4474BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_unit(
4475u_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 */
4493BNO055_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 */
4514BNO055_RETURN_FUNCTION_TYPE bno055_get_euler_unit(
4515u_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 */
4533BNO055_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 */
4554BNO055_RETURN_FUNCTION_TYPE bno055_get_tilt_unit(
4555u_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 */
4577BNO055_RETURN_FUNCTION_TYPE bno055_set_tilt_unit(
4578u_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 */
4598BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_unit(
4599u_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 */
4617BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_unit(
4618u_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 */
4638BNO055_RETURN_FUNCTION_TYPE bno055_get_data_output_format(
4639u_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 */
4656BNO055_RETURN_FUNCTION_TYPE bno055_set_data_output_format(
4657u_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 */
4699BNO055_RETURN_FUNCTION_TYPE bno055_get_operation_mode(
4700u_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 */
4739BNO055_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 */
4768BNO055_RETURN_FUNCTION_TYPE bno055_get_power_mode(
4769u_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 */
4795BNO055_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 */
4816BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_rst(
4817u_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 */
4835BNO055_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 */
4855BNO055_RETURN_FUNCTION_TYPE bno055_get_clk_src(
4856u_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 */
4873BNO055_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 */
4894BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_rst(
4895u_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 */
4913BNO055_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 */
4934BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest(
4935u_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 */
4955BNO055_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 */
4976BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_source(
4977u_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 */
4995BNO055_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 */
5032BNO055_RETURN_FUNCTION_TYPE bno055_get_axis_remap_value(
5033u_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 */
5067BNO055_RETURN_FUNCTION_TYPE bno055_set_axis_remap_value(
5068u_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 */
5088BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_x_sign(
5089u_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 */
5106BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_x_sign(
5107u_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 */
5124BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_y_sign(
5125u_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 */
5142BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_y_sign(
5143u_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 */
5160BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_z_sign(
5161u_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 */
5178BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_z_sign(
5179u_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 */
5208BNO055_RETURN_FUNCTION_TYPE bno055_read_sic_matrix(
5209struct 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 */
5235BNO055_RETURN_FUNCTION_TYPE bno055_write_sic_matrix(
5236struct 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 */
5271BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_offset(
5272struct 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 */
5304BNO055_RETURN_FUNCTION_TYPE bno055_write_accel_offset(
5305struct 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
5330BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_offset(
5331struct 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 */
5352BNO055_RETURN_FUNCTION_TYPE bno055_write_mag_offset(
5353struct 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 */
5388BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_offset(
5389struct 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 */
5421BNO055_RETURN_FUNCTION_TYPE bno055_write_gyro_offset(
5422struct 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 */
5447BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_range(
5448u_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 */
5468BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_range(
5469u_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 */
5493BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_bw(
5494u_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 */
5518BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_bw(
5519u_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 */
5540BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_power_mode(
5541u_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 */
5562BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_power_mode(
5563u_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 */
5590BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_data_output_rate(
5591u_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 */
5615BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_data_output_rate(
5616u_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 */
5636BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_operation_mode(
5637u_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 */
5657BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_operation_mode(
5658u_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 */
5678BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_power_mode(
5679u_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 */
5699BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_power_mode(
5700u_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 */
5724BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_range(
5725u_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 */
5746BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_range(
5747u_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 */
5771BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_bw(
5772u_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 */
5796BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_bw(
5797u_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 */
5818BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_power_mode(
5819u_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 */
5840BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_power_mode(
5841u_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 */
5862BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_tmr_mode(
5863u_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 */
5881BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_tmr_mode(
5882u_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 */
5909BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_durn(
5910u_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 */
5937BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_durn(
5938u_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 */
5954BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_sleep_durn(
5955u_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 */
5968BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_sleep_durn(
5969u_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 */
5982BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_auto_sleep_durn(
5983u_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 */
5997BNO055_RETURN_FUNCTION_TYPE bno055_gyro_set_auto_sleep_durn(
5998u_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 */
6014BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_mode(
6015u_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 */
6028BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_mode(
6029u_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 */
6042BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_durn(
6043u_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 */
6056BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_durn(
6057u_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 */
6097BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_any_motion(
6098u_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 */
6135BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_any_motion(
6136u_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 */
6188BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_highrate(
6189u_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 */
6241BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_highrate(
6242u_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 */
6277BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_high_g(
6278u_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 */
6310BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_high_g(
6311u_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 */
6343BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_any_motion(
6344u_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 */
6375BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_any_motion(
6376u_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 */
6406BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_no_motion(
6407u_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 */
6442BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_no_motion(
6443u_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 */
6482BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_any_motion(
6483u_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 */
6519BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_any_motion(
6520u_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 */
6572BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_highrate(
6573u_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 */
6625BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_highrate(
6626u_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 */
6661BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_high_g(
6662u_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 */
6694BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_high_g(
6695u_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 */
6726BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_any_motion(
6727u_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 */
6758BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_any_motion(
6759u_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 */
6794BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_no_motion(
6795u_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 */
6830BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_no_motion(
6831u_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 */
6860BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_thres(
6861u_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 */
6887BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_thres(
6888u_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 */
6908BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_durn(
6909u_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 */
6927BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_durn(
6928u_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 */
6954BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_no_motion_axis_enable(
6955u_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 */
6978BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_no_motion_axis_enable(
6979u_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 */
7005BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_axis_enable(
7006u_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 */
7029BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_axis_enable(
7030u_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 */
7050BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_durn(
7051u_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 */
7068BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_durn(
7069u_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 */
7094BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_thres(
7095u_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 */
7117BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_thres(
7118u_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 */
7143BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_thres(
7144u_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 */
7166BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_thres(
7167u_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 */
7186BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_enable(
7187u_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 */
7203BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_enable(
7204u_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 */
7220BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_durn(
7221u_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 */
7234BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_durn(
7235u_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 */
7262BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_axis_enable(
7263u_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 */
7286BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_axis_enable(
7287u_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 */
7314BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_axis_enable(
7315u_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 */
7341BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_axis_enable(
7342u_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 */
7361BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_filter(
7362u_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 */
7378BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_filter(
7379u_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 */
7398BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_filter(
7399u_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 */
7415BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_filter(
7416u_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 */
7441BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_thres(
7442u_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 */
7464BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_thres(
7465u_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 */
7492BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_hyst(
7493u_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 */
7517BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_hyst(
7518u_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 */
7537BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_durn(
7538u_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 */
7553BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_durn(
7554u_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 */
7579BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_thres(
7580u_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 */
7602BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_thres(
7603u_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 */
7629BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_hyst(
7630u_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 */
7653BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_hyst(
7654u_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 */
7672BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_durn(
7673u_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 */
7688BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_durn(
7689u_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 */
7714BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_thres(
7715u_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 */
7737BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_thres(
7738u_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 */
7764BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_hyst(
7765u_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 */
7788BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_hyst(
7789u_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 */
7807BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_durn(
7808u_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 */
7823BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_durn(
7824u_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 */
7848BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_thres(
7849u_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 */
7870BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_thres(
7871u_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 */
7893BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_slope_samples(
7894u_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 */
7913BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_slope_samples(
7914u_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 */
7929BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_awake_durn(
7930u_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 */
7942BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_awake_durn(
7943u_8 v_gyro_awake_durn_u_8);
7944#endif
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