bno055_doc.h File Reference

BNO055 sensor driver config.

Copyright (c) 2018 Microchip Technology Inc. and its subsidiaries.

#include "platform_files.h"
#include "bno055.h"

Data Structures
struct	bno055_accel_double_t
	struct for Accel-output data of precision double More...
struct	bno055_accel_float_t
	struct for Accel-output data of precision float More...
struct	bno055_accel_offset_t
	struct for Accel offset More...
struct	bno055_accel_t
	struct for accel data read from registers More...
struct	bno055_euler_double_t
	struct for Euler-output data of precision double More...
struct	bno055_euler_float_t
	struct for Euler-output data of precision float More...
struct	bno055_euler_t
	struct for Euler data read from registers More...
struct	bno055_gravity_double_t
	struct for Gravity-output data of precision double More...
struct	bno055_gravity_float_t
	struct for Gravity-output data of precision float More...
struct	bno055_gravity_t
	struct for Gravity data read from registers More...
struct	bno055_gyro_double_t
	struct for Gyro-output data of precision double More...
struct	bno055_gyro_float_t
	struct for Gyro-output data of precision float More...
struct	bno055_gyro_offset_t
	struct for Gyro offset More...
struct	bno055_gyro_t
	struct for Gyro data read from registers More...
struct	bno055_linear_accel_double_t
	struct for Linear Accel-output data of precision double More...
struct	bno055_linear_accel_float_t
	struct for Linear accel-output data of precision float More...
struct	bno055_linear_accel_t
	struct for Linear Accel data read from registers More...
struct	bno055_mag_double_t
	struct for Mag-output data of precision double More...
struct	bno055_mag_float_t
	struct for Mag-output data of precision float More...
struct	bno055_mag_offset_t
	struct for Mag offset More...
struct	bno055_mag_t
	struct for Mag data read from registers More...
struct	bno055_quaternion_t
	struct for Quaternion data read from registers More...
struct	bno055_sic_matrix_t
	struct for soft iron calibration matrix More...
struct	bno055_t
	bno055 struct More...

Macros
BUS READ AND WRITE FUNCTIONS
#define	BNO055_WR_FUNC_PTR
#define	BNO055_BUS_WRITE_FUNC(dev_addr, reg_addr, reg_data, wr_len)   bus_write(dev_addr, reg_addr, reg_data, wr_len)
#define	BNO055_RD_FUNC_PTR
#define	BNO055_BUS_READ_FUNC(dev_addr, reg_addr, reg_data, r_len)   bus_read(dev_addr, reg_addr, reg_data, r_len)
#define	BNO055_DELAY_RETURN_TYPE   void
#define	BNO055_DELAY_PARAM_TYPES   u32
#define	BNO055_DELAY_FUNC(delay_in_msec)   delay_func(delay_in_msec)
I2C ADDRESS DEFINITION FOR BNO055
#define	BNO055_I2C_ADDR1   0x28
#define	BNO055_I2C_ADDR2   0x29
REGISTER ADDRESS DEFINITION
#define	BNO055_PAGE_ID_ADDR   0X07
#define	BNO055_CHIP_ID_ADDR   0x00
#define	BNO055_ACCEL_REV_ID_ADDR   0x01
#define	BNO055_MAG_REV_ID_ADDR   0x02
#define	BNO055_GYRO_REV_ID_ADDR   0x03
#define	BNO055_SW_REV_ID_LSB_ADDR   0x04
#define	BNO055_SW_REV_ID_MSB_ADDR   0x05
#define	BNO055_BL_REV_ID_ADDR   0X06
#define	BNO055_ACCEL_DATA_X_LSB_ADDR   0X08
#define	BNO055_ACCEL_DATA_X_MSB_ADDR   0X09
#define	BNO055_ACCEL_DATA_Y_LSB_ADDR   0X0A
#define	BNO055_ACCEL_DATA_Y_MSB_ADDR   0X0B
#define	BNO055_ACCEL_DATA_Z_LSB_ADDR   0X0C
#define	BNO055_ACCEL_DATA_Z_MSB_ADDR   0X0D
#define	BNO055_MAG_DATA_X_LSB_ADDR   0X0E
#define	BNO055_MAG_DATA_X_MSB_ADDR   0X0F
#define	BNO055_MAG_DATA_Y_LSB_ADDR   0X10
#define	BNO055_MAG_DATA_Y_MSB_ADDR   0X11
#define	BNO055_MAG_DATA_Z_LSB_ADDR   0X12
#define	BNO055_MAG_DATA_Z_MSB_ADDR   0X13
#define	BNO055_GYRO_DATA_X_LSB_ADDR   0X14
#define	BNO055_GYRO_DATA_X_MSB_ADDR   0X15
#define	BNO055_GYRO_DATA_Y_LSB_ADDR   0X16
#define	BNO055_GYRO_DATA_Y_MSB_ADDR   0X17
#define	BNO055_GYRO_DATA_Z_LSB_ADDR   0X18
#define	BNO055_GYRO_DATA_Z_MSB_ADDR   0X19
#define	BNO055_EULER_H_LSB_ADDR   0X1A
#define	BNO055_EULER_H_MSB_ADDR   0X1B
#define	BNO055_EULER_R_LSB_ADDR   0X1C
#define	BNO055_EULER_R_MSB_ADDR   0X1D
#define	BNO055_EULER_P_LSB_ADDR   0X1E
#define	BNO055_EULER_P_MSB_ADDR   0X1F
#define	BNO055_QUATERNION_DATA_W_LSB_ADDR   0X20
#define	BNO055_QUATERNION_DATA_W_MSB_ADDR   0X21
#define	BNO055_QUATERNION_DATA_X_LSB_ADDR   0X22
#define	BNO055_QUATERNION_DATA_X_MSB_ADDR   0X23
#define	BNO055_QUATERNION_DATA_Y_LSB_ADDR   0X24
#define	BNO055_QUATERNION_DATA_Y_MSB_ADDR   0X25
#define	BNO055_QUATERNION_DATA_Z_LSB_ADDR   0X26
#define	BNO055_QUATERNION_DATA_Z_MSB_ADDR   0X27
#define	BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR   0X28
#define	BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR   0X29
#define	BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR   0X2A
#define	BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR   0X2B
#define	BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR   0X2C
#define	BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR   0X2D
#define	BNO055_GRAVITY_DATA_X_LSB_ADDR   0X2E
#define	BNO055_GRAVITY_DATA_X_MSB_ADDR   0X2F
#define	BNO055_GRAVITY_DATA_Y_LSB_ADDR   0X30
#define	BNO055_GRAVITY_DATA_Y_MSB_ADDR   0X31
#define	BNO055_GRAVITY_DATA_Z_LSB_ADDR   0X32
#define	BNO055_GRAVITY_DATA_Z_MSB_ADDR   0X33
#define	BNO055_TEMP_ADDR   0X34
#define	BNO055_CALIB_STAT_ADDR   0X35
#define	BNO055_SELFTEST_RESULT_ADDR   0X36
#define	BNO055_INTR_STAT_ADDR   0X37
#define	BNO055_SYS_CLK_STAT_ADDR   0X38
#define	BNO055_SYS_STAT_ADDR   0X39
#define	BNO055_SYS_ERR_ADDR   0X3A
#define	BNO055_UNIT_SEL_ADDR   0X3B
#define	BNO055_DATA_SELECT_ADDR   0X3C
#define	BNO055_OPR_MODE_ADDR   0X3D
#define	BNO055_PWR_MODE_ADDR   0X3E
#define	BNO055_SYS_TRIGGER_ADDR   0X3F
#define	BNO055_TEMP_SOURCE_ADDR   0X40
#define	BNO055_AXIS_MAP_CONFIG_ADDR   0X41
#define	BNO055_AXIS_MAP_SIGN_ADDR   0X42
#define	BNO055_SIC_MATRIX_0_LSB_ADDR   0X43
#define	BNO055_SIC_MATRIX_0_MSB_ADDR   0X44
#define	BNO055_SIC_MATRIX_1_LSB_ADDR   0X45
#define	BNO055_SIC_MATRIX_1_MSB_ADDR   0X46
#define	BNO055_SIC_MATRIX_2_LSB_ADDR   0X47
#define	BNO055_SIC_MATRIX_2_MSB_ADDR   0X48
#define	BNO055_SIC_MATRIX_3_LSB_ADDR   0X49
#define	BNO055_SIC_MATRIX_3_MSB_ADDR   0X4A
#define	BNO055_SIC_MATRIX_4_LSB_ADDR   0X4B
#define	BNO055_SIC_MATRIX_4_MSB_ADDR   0X4C
#define	BNO055_SIC_MATRIX_5_LSB_ADDR   0X4D
#define	BNO055_SIC_MATRIX_5_MSB_ADDR   0X4E
#define	BNO055_SIC_MATRIX_6_LSB_ADDR   0X4F
#define	BNO055_SIC_MATRIX_6_MSB_ADDR   0X50
#define	BNO055_SIC_MATRIX_7_LSB_ADDR   0X51
#define	BNO055_SIC_MATRIX_7_MSB_ADDR   0X52
#define	BNO055_SIC_MATRIX_8_LSB_ADDR   0X53
#define	BNO055_SIC_MATRIX_8_MSB_ADDR   0X54
#define	ACCEL_OFFSET_X_LSB_ADDR   0X55
#define	ACCEL_OFFSET_X_MSB_ADDR   0X56
#define	ACCEL_OFFSET_Y_LSB_ADDR   0X57
#define	ACCEL_OFFSET_Y_MSB_ADDR   0X58
#define	ACCEL_OFFSET_Z_LSB_ADDR   0X59
#define	ACCEL_OFFSET_Z_MSB_ADDR   0X5A
#define	MAG_OFFSET_X_LSB_ADDR   0X5B
#define	MAG_OFFSET_X_MSB_ADDR   0X5C
#define	MAG_OFFSET_Y_LSB_ADDR   0X5D
#define	MAG_OFFSET_Y_MSB_ADDR   0X5E
#define	MAG_OFFSET_Z_LSB_ADDR   0X5F
#define	MAG_OFFSET_Z_MSB_ADDR   0X60
#define	GYRO_OFFSET_X_LSB_ADDR   0X61
#define	GYRO_OFFSET_X_MSB_ADDR   0X62
#define	GYRO_OFFSET_Y_LSB_ADDR   0X63
#define	GYRO_OFFSET_Y_MSB_ADDR   0X64
#define	GYRO_OFFSET_Z_LSB_ADDR   0X65
#define	GYRO_OFFSET_Z_MSB_ADDR   0X66
#define	ACCEL_RADIUS_LSB_ADDR   0X67
#define	ACCEL_RADIUS_MSB_ADDR   0X68
#define	MAG_RADIUS_LSB_ADDR   0X69
#define	MAG_RADIUS_MSB_ADDR   0X6A
#define	ACCEL_CONFIG_ADDR   0X08
#define	MAG_CONFIG_ADDR   0X09
#define	GYRO_CONFIG_ADDR   0X0A
#define	GYRO_MODE_CONFIG_ADDR   0X0B
#define	ACCEL_SLEEP_CONFIG_ADDR   0X0C
#define	GYRO_SLEEP_CONFIG_ADDR   0X0D
#define	MAG_SLEEP_CONFIG_ADDR   0x0E
#define	INT_MASK_ADDR   0X0F
#define	INT_ADDR   0X10
#define	ACCEL_ANY_MOTION_THRES_ADDR   0X11
#define	ACCEL_INTR_SETTINGS_ADDR   0X12
#define	ACCEL_HIGH_G_DURN_ADDR   0X13
#define	ACCEL_HIGH_G_THRES_ADDR   0X14
#define	ACCEL_NO_MOTION_THRES_ADDR   0X15
#define	ACCEL_NO_MOTION_SET_ADDR   0X16
#define	GYRO_INTR_SETING_ADDR   0X17
#define	GYRO_HIGHRATE_X_SET_ADDR   0X18
#define	GYRO_DURN_X_ADDR   0X19
#define	GYRO_HIGHRATE_Y_SET_ADDR   0X1A
#define	GYRO_DURN_Y_ADDR   0X1B
#define	GYRO_HIGHRATE_Z_SET_ADDR   0X1C
#define	GYRO_DURN_Z_ADDR   0X1D
#define	GYRO_ANY_MOTION_THRES_ADDR   0X1E
#define	GYRO_ANY_MOTION_SET_ADDR   0X1F
#define	BNO055_MDELAY_DATA_TYPE   u32
#define	BNO055_RETURN_FUNCTION_TYPE   s8
#define	BNO055_FLOAT_ENABLE
#define	BNO055_DOUBLE_ENABLE
CONSTANT DEFINITIONS
#define	BNO055_ZERO_U8X   ((u8)0)
#define	BNO055_ONE_U8X   ((u8)1)
#define	BNO055_TWO_U8X   ((u8)2)
#define	BNO055_FOUR_U8X   ((u8)4)
#define	BNO055_FIVE_U8X   ((u8)5)
#define	BNO055_SIX_U8X   ((u8)6)
#define	BNO055_SEVEN_U8X   ((u8)7)
#define	BNO055_ELEVEN_U8X   ((u8)11)
#define	BNO055_SIXTEEN_U8X   ((u8)16)
#define	BNO055_EIGHT_U8X   ((u8)8)
#define	BNO055_TWENTY_U8X   ((u8)20)
#define	BNO055_EIGHTEEN_U8X   ((u8)18)
#define	BNO055_SHIFT_8_POSITION   ((u8)8)
#define	E_NULL_PTR   ((s8)-127)
#define	E_BNO055_OUT_OF_RANGE   ((s8)-2)
#define	SUCCESS   ((u8)0)
#define	ERROR   ((s8)-1)
#define	ENABLED   0x01
#define	DISABLED   0x00
#define	PAGE_ZERO   0X00
#define	PAGE_ONE   0X01
#define	ACCEL_TEMP_EN   0x00
#define	GYRO_TEMP_EN   0x01
#define	MCU_TEMP_EN   0x03
#define	ACCEL_UNIT_MSQ   0x00
#define	ACCEL_UNIT_MG   0x01
#define	GYRO_UNIT_DPS   0x00
#define	GYRO_UNIT_RPS   0x01
#define	EULER_UNIT_DEG   0x00
#define	EULER_UNIT_RAD   0x01
#define	TEMP_UNIT_CELSIUS   0x00
#define	TEMP_UNIT_FAHRENHEIT   0x01
#define	ACCEL_DIV_MSQ   100.0
#define	ACCEL_DIV_MG   1
#define	MAG_DIV_UT   16.0
#define	GYRO_DIV_DPS   16.0
#define	GYRO_DIV_RPS   900.0
#define	EULER_DIV_DEG   16.0
#define	EULER_DIV_RAD   900.0
#define	LINEAR_ACCEL_DIV_MSQ   100.0
#define	GRAVITY_DIV_MSQ   100.0
#define	TEMP_DIV_FAHRENHEIT   0.5
#define	TEMP_DIV_CELSIUS   1
#define	BNO055_SIX_HUNDRES_U8X   600
#define	OPERATION_MODE_CONFIG   0X00
#define	OPERATION_MODE_ACCONLY   0X01
#define	OPERATION_MODE_MAGONLY   0X02
#define	OPERATION_MODE_GYRONLY   0X03
#define	OPERATION_MODE_ACCMAG   0X04
#define	OPERATION_MODE_ACCGYRO   0X05
#define	OPERATION_MODE_MAGGYRO   0X06
#define	OPERATION_MODE_AMG   0X07
#define	OPERATION_MODE_IMUPLUS   0X08
#define	OPERATION_MODE_COMPASS   0X09
#define	OPERATION_MODE_M4G   0X0A
#define	OPERATION_MODE_NDOF_FMC_OFF   0X0B
#define	OPERATION_MODE_NDOF   0X0C
#define	POWER_MODE_NORMAL   0X00
#define	POWER_MODE_LOWPOWER   0X01
#define	POWER_MODE_SUSPEND   0X02
#define	ACCEL_RANGE_2G   0X00
#define	ACCEL_RANGE_4G   0X01
#define	ACCEL_RANGE_8G   0X02
#define	ACCEL_RANGE_16G   0X03
#define	ACCEL_BW_7_81HZ   0x00
#define	ACCEL_BW_15_63HZ   0x01
#define	ACCEL_BW_31_25HZ   0x02
#define	ACCEL_BW_62_5HZ   0X03
#define	ACCEL_BW_125HZ   0X04
#define	ACCEL_BW_250HZ   0X05
#define	ACCEL_BW_500HZ   0X06
#define	ACCEL_BW_1000HZ   0X07
#define	ACCEL_NORMAL   0X00
#define	ACCEL_SUSPEND   0X01
#define	ACCEL_LOWPOWER_1   0X02
#define	ACCEL_STANDBY   0X03
#define	ACCEL_LOWPOWER_2   0X04
#define	ACCEL_DEEPSUSPEND   0X05
#define	MAG_DATA_OUTRATE_2HZ   0X00
#define	MAG_DATA_OUTRATE_6HZ   0X01
#define	MAG_DATA_OUTRATE_8HZ   0X02
#define	MAG_DATA_OUTRATE_10HZ   0X03
#define	MAG_DATA_OUTRATE_15HZ   0X04
#define	MAG_DATA_OUTRATE_20HZ   0X05
#define	MAG_DATA_OUTRATE_25HZ   0X06
#define	MAG_DATA_OUTRATE_30HZ   0X07
#define	MAG_OPERATION_MODE_LOWPOWER   0X00
#define	MAG_OPERATION_MODE_REGULAR   0X01
#define	MAG_OPERATION_MODE_ENHANCED_REGULAR   0X02
#define	MAG_OPERATION_MODE_HIGH_ACCURACY   0X03
#define	MAG_POWER_MODE_NORMAL   0X00
#define	MAG_POWER_MODE_SLEEP   0X01
#define	MAG_POWER_MODE_SUSPEND   0X02
#define	MAG_POWER_MODE_FORCE_MODE   0X03
#define	GYRO_RANGE_2000DPS   0x00
#define	GYRO_RANGE_1000DPS   0x01
#define	GYRO_RANGE_500DPS   0x02
#define	GYRO_RANGE_250DPS   0x03
#define	GYRO_RANGE_125DPS   0x04
#define	GYRO_BW_523HZ   0x00
#define	GYRO_BW_230HZ   0x01
#define	GYRO_BW_116HZ   0x02
#define	GYRO_BW_47HZ   0x03
#define	GYRO_BW_23HZ   0x04
#define	GYRO_BW_12HZ   0x05
#define	GYRO_BW_64HZ   0x06
#define	GYRO_BW_32HZ   0x07
#define	GYRO_POWER_MODE_NORMAL   0X00
#define	GYRO_POWER_MODE_FASTPOWERUP   0X01
#define	GYRO_POWER_MODE_DEEPSUSPEND   0X02
#define	GYRO_POWER_MODE_SUSPEND   0X03
#define	GYRO_POWER_MODE_ADVANCE_POWERSAVE   0X04
#define	BNO055_ACCEL_SLEEP_DURN_0_5MS   0x05
#define	BNO055_ACCEL_SLEEP_DURN_1MS   0x06
#define	BNO055_ACCEL_SLEEP_DURN_2MS   0x07
#define	BNO055_ACCEL_SLEEP_DURN_4MS   0x08
#define	BNO055_ACCEL_SLEEP_DURN_6MS   0x09
#define	BNO055_ACCEL_SLEEP_DURN_10MS   0x0A
#define	BNO055_ACCEL_SLEEP_DURN_25MS   0x0B
#define	BNO055_ACCEL_SLEEP_DURN_50MS   0x0C
#define	BNO055_ACCEL_SLEEP_DURN_100MS   0x0D
#define	BNO055_ACCEL_SLEEP_DURN_500MS   0x0E
#define	BNO055_ACCEL_SLEEP_DURN_1S   0x0F
#define	BNO055_GYRO_No_AUTOSLPDUR   0x00
#define	BNO055_GYRO_4MS_AUTOSLPDUR   0x01
#define	BNO055_GYRO_5MS_AUTOSLPDUR   0x02
#define	BNO055_GYRO_8MS_AUTOSLPDUR   0x03
#define	BNO055_GYRO_10MS_AUTOSLPDUR   0x04
#define	BNO055_GYRO_15MS_AUTOSLPDUR   0x05
#define	BNO055_GYRO_20MS_AUTOSLPDUR   0x06
#define	BNO055_GYRO_40MS_AUTOSLPDUR   0x07
#define	BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS   0
#define	BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS   1
#define	BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS   2
#define	BNO055_ACCEL_HIGH_G_X_AXIS   0
#define	BNO055_ACCEL_HIGH_G_Y_AXIS   1
#define	BNO055_ACCEL_HIGH_G_Z_AXIS   2
#define	BNO055_GYRO_ANY_MOTION_X_AXIS   0
#define	BNO055_GYRO_ANY_MOTION_Y_AXIS   1
#define	BNO055_GYRO_ANY_MOTION_Z_AXIS   2
#define	BNO055_GYRO_HIGHRATE_X_AXIS   0
#define	BNO055_GYRO_HIGHRATE_Y_AXIS   1
#define	BNO055_GYRO_HIGHRATE_Z_AXIS   2
#define	REMAP_X_Y   0X21
#define	REMAP_Y_Z   0X18
#define	REMAP_Z_X   0X06
#define	REMAP_X_Y_Z_TYPE0   0X12
#define	REMAP_X_Y_Z_TYPE1   0X09
#define	DEFAULT_AXIS   0X24
#define	REMAP_AXIS_POSITIVE   0X00
#define	REMAP_AXIS_NEGATIVE   0X01
#define	FILTERED   0x00
#define	UNFILTERED   0x01
#define	BNO055_SIC_HEX_0_0_F_F_DATA   0x00FF
ARRAY SIZE DEFINITIONS
#define	ARRAY_SIZE_TWO   2
#define	ARRAY_SIZE_THREE   3
#define	ARRAY_SIZE_SIX   6
#define	ARRAY_SIZE_FIVE   5
#define	ARRAY_SIZE_EIGHT   8
#define	ARRAY_SIZE_TWELVE   12
#define	ARRAY_SIZE_FOURTEEN   14
#define	ARRAY_SIZE_EIGHTEEN   18
#define	ARRAY_SIZE_TWENTY_SIX   26
#define	INDEX_ZERO   0
#define	INDEX_ONE   1
#define	INDEX_TWO   2
#define	INDEX_THREE   3
#define	INDEX_FOUR   4
#define	INDEX_FIVE   5
#define	INDEX_SIX   6
#define	INDEX_SEVEN   7
#define	INDEX_EIGHT   8
#define	INDEX_NINE   9
#define	INDEX_TEN   10
#define	INDEX_ELEVEN   11
#define	INDEX_TWELVE   12
#define	INDEX_THIRTEEN   13
#define	INDEX_FOURTEEN   14
#define	INDEX_FIVETEEN   15
#define	INDEX_SIXTEEN   16
#define	INDEX_SEVENTEEN   17
#define	INDEX_EIGHTEEN   18
#define	INDEX_NINETEEN   19
#define	INDEX_TWENTY   20
#define	INDEX_TWENTY_ONE   21
#define	INDEX_TWENTY_TWO   22
#define	INDEX_TWENTY_THREE   23
#define	INDEX_TWENTY_FIVE   25
ARRAY PARAMETERS
#define	LSB_ZERO   0
#define	MSB_ONE   1
#define	LSB_TWO   2
#define	MSB_THREE   3
#define	LSB_FOUR   4
#define	MSB_FIVE   5
#define	LSB_SIX   6
#define	MSB_SEVEN   7
PAGE0 DATA REGISTERS DEFINITION
#define	BNO055_CHIP_ID__POS   0
#define	BNO055_CHIP_ID__MSK   0xFF
#define	BNO055_CHIP_ID__LEN   8
#define	BNO055_CHIP_ID__REG   BNO055_CHIP_ID_ADDR
#define	BNO055_ACCEL_REV_ID__POS   0
#define	BNO055_ACCEL_REV_ID__MSK   0xFF
#define	BNO055_ACCEL_REV_ID__LEN   8
#define	BNO055_ACCEL_REV_ID__REG   BNO055_ACCEL_REV_ID_ADDR
#define	BNO055_MAG_REV_ID__POS   0
#define	BNO055_MAG_REV_ID__MSK   0xFF
#define	BNO055_MAG_REV_ID__LEN   8
#define	BNO055_MAG_REV_ID__REG   BNO055_MAG_REV_ID_ADDR
#define	BNO055_GYRO_REV_ID__POS   0
#define	BNO055_GYRO_REV_ID__MSK   0xFF
#define	BNO055_GYRO_REV_ID__LEN   8
#define	BNO055_GYRO_REV_ID__REG   BNO055_GYRO_REV_ID_ADDR
#define	BNO055_SW_REV_ID_LSB__POS   0
#define	BNO055_SW_REV_ID_LSB__MSK   0xFF
#define	BNO055_SW_REV_ID_LSB__LEN   8
#define	BNO055_SW_REV_ID_LSB__REG   BNO055_SW_REV_ID_LSB_ADDR
#define	BNO055_SW_REV_ID_MSB__POS   0
#define	BNO055_SW_REV_ID_MSB__MSK   0xFF
#define	BNO055_SW_REV_ID_MSB__LEN   8
#define	BNO055_SW_REV_ID_MSB__REG   BNO055_SW_REV_ID_MSB_ADDR
#define	BNO055_BL_REV_ID__POS   0
#define	BNO055_BL_REV_ID__MSK   0xFF
#define	BNO055_BL_REV_ID__LEN   8
#define	BNO055_BL_REV_ID__REG   BNO055_BL_REV_ID_ADDR
#define	BNO055_PAGE_ID__POS   0
#define	BNO055_PAGE_ID__MSK   0xFF
#define	BNO055_PAGE_ID__LEN   8
#define	BNO055_PAGE_ID__REG   BNO055_PAGE_ID_ADDR
#define	BNO055_ACCEL_DATA_X_LSB_VALUEX__POS   0
#define	BNO055_ACCEL_DATA_X_LSB_VALUEX__MSK   0xFF
#define	BNO055_ACCEL_DATA_X_LSB_VALUEX__LEN   8
#define	BNO055_ACCEL_DATA_X_LSB_VALUEX__REG   BNO055_ACCEL_DATA_X_LSB_ADDR
#define	BNO055_ACCEL_DATA_X_MSB_VALUEX__POS   0
#define	BNO055_ACCEL_DATA_X_MSB_VALUEX__MSK   0xFF
#define	BNO055_ACCEL_DATA_X_MSB_VALUEX__LEN   8
#define	BNO055_ACCEL_DATA_X_MSB_VALUEX__REG   BNO055_ACCEL_DATA_X_MSB_ADDR
#define	BNO055_ACCEL_DATA_Y_LSB_VALUEY__POS   0
#define	BNO055_ACCEL_DATA_Y_LSB_VALUEY__MSK   0xFF
#define	BNO055_ACCEL_DATA_Y_LSB_VALUEY__LEN   8
#define	BNO055_ACCEL_DATA_Y_LSB_VALUEY__REG   BNO055_ACCEL_DATA_Y_LSB_ADDR
#define	BNO055_ACCEL_DATA_Y_MSB_VALUEY__POS   0
#define	BNO055_ACCEL_DATA_Y_MSB_VALUEY__MSK   0xFF
#define	BNO055_ACCEL_DATA_Y_MSB_VALUEY__LEN   8
#define	BNO055_ACCEL_DATA_Y_MSB_VALUEY__REG   BNO055_ACCEL_DATA_Y_MSB_ADDR
#define	BNO055_ACCEL_DATA_Z_LSB_VALUEZ__POS   0
#define	BNO055_ACCEL_DATA_Z_LSB_VALUEZ__MSK   0xFF
#define	BNO055_ACCEL_DATA_Z_LSB_VALUEZ__LEN   8
#define	BNO055_ACCEL_DATA_Z_LSB_VALUEZ__REG   BNO055_ACCEL_DATA_Z_LSB_ADDR
#define	BNO055_ACCEL_DATA_Z_MSB_VALUEZ__POS   0
#define	BNO055_ACCEL_DATA_Z_MSB_VALUEZ__MSK   0xFF
#define	BNO055_ACCEL_DATA_Z_MSB_VALUEZ__LEN   8
#define	BNO055_ACCEL_DATA_Z_MSB_VALUEZ__REG   BNO055_ACCEL_DATA_Z_MSB_ADDR
#define	BNO055_MAG_DATA_X_LSB_VALUEX__POS   0
#define	BNO055_MAG_DATA_X_LSB_VALUEX__MSK   0xFF
#define	BNO055_MAG_DATA_X_LSB_VALUEX__LEN   8
#define	BNO055_MAG_DATA_X_LSB_VALUEX__REG   BNO055_MAG_DATA_X_LSB_ADDR
#define	BNO055_MAG_DATA_X_MSB_VALUEX__POS   0
#define	BNO055_MAG_DATA_X_MSB_VALUEX__MSK   0xFF
#define	BNO055_MAG_DATA_X_MSB_VALUEX__LEN   8
#define	BNO055_MAG_DATA_X_MSB_VALUEX__REG   BNO055_MAG_DATA_X_MSB_ADDR
#define	BNO055_MAG_DATA_Y_LSB_VALUEY__POS   0
#define	BNO055_MAG_DATA_Y_LSB_VALUEY__MSK   0xFF
#define	BNO055_MAG_DATA_Y_LSB_VALUEY__LEN   8
#define	BNO055_MAG_DATA_Y_LSB_VALUEY__REG   BNO055_MAG_DATA_Y_LSB_ADDR
#define	BNO055_MAG_DATA_Y_MSB_VALUEY__POS   0
#define	BNO055_MAG_DATA_Y_MSB_VALUEY__MSK   0xFF
#define	BNO055_MAG_DATA_Y_MSB_VALUEY__LEN   8
#define	BNO055_MAG_DATA_Y_MSB_VALUEY__REG   BNO055_MAG_DATA_Y_MSB_ADDR
#define	BNO055_MAG_DATA_Z_LSB_VALUEZ__POS   0
#define	BNO055_MAG_DATA_Z_LSB_VALUEZ__MSK   0xFF
#define	BNO055_MAG_DATA_Z_LSB_VALUEZ__LEN   8
#define	BNO055_MAG_DATA_Z_LSB_VALUEZ__REG   BNO055_MAG_DATA_Z_LSB_ADDR
#define	BNO055_MAG_DATA_Z_MSB_VALUEZ__POS   0
#define	BNO055_MAG_DATA_Z_MSB_VALUEZ__MSK   0xFF
#define	BNO055_MAG_DATA_Z_MSB_VALUEZ__LEN   8
#define	BNO055_MAG_DATA_Z_MSB_VALUEZ__REG   BNO055_MAG_DATA_Z_MSB_ADDR
#define	BNO055_GYRO_DATA_X_LSB_VALUEX__POS   0
#define	BNO055_GYRO_DATA_X_LSB_VALUEX__MSK   0xFF
#define	BNO055_GYRO_DATA_X_LSB_VALUEX__LEN   8
#define	BNO055_GYRO_DATA_X_LSB_VALUEX__REG   BNO055_GYRO_DATA_X_LSB_ADDR
#define	BNO055_GYRO_DATA_X_MSB_VALUEX__POS   0
#define	BNO055_GYRO_DATA_X_MSB_VALUEX__MSK   0xFF
#define	BNO055_GYRO_DATA_X_MSB_VALUEX__LEN   8
#define	BNO055_GYRO_DATA_X_MSB_VALUEX__REG   BNO055_GYRO_DATA_X_MSB_ADDR
#define	BNO055_GYRO_DATA_Y_LSB_VALUEY__POS   0
#define	BNO055_GYRO_DATA_Y_LSB_VALUEY__MSK   0xFF
#define	BNO055_GYRO_DATA_Y_LSB_VALUEY__LEN   8
#define	BNO055_GYRO_DATA_Y_LSB_VALUEY__REG   BNO055_GYRO_DATA_Y_LSB_ADDR
#define	BNO055_GYRO_DATA_Y_MSB_VALUEY__POS   0
#define	BNO055_GYRO_DATA_Y_MSB_VALUEY__MSK   0xFF
#define	BNO055_GYRO_DATA_Y_MSB_VALUEY__LEN   8
#define	BNO055_GYRO_DATA_Y_MSB_VALUEY__REG   BNO055_GYRO_DATA_Y_MSB_ADDR
#define	BNO055_GYRO_DATA_Z_LSB_VALUEZ__POS   0
#define	BNO055_GYRO_DATA_Z_LSB_VALUEZ__MSK   0xFF
#define	BNO055_GYRO_DATA_Z_LSB_VALUEZ__LEN   8
#define	BNO055_GYRO_DATA_Z_LSB_VALUEZ__REG   BNO055_GYRO_DATA_Z_LSB_ADDR
#define	BNO055_GYRO_DATA_Z_MSB_VALUEZ__POS   0
#define	BNO055_GYRO_DATA_Z_MSB_VALUEZ__MSK   0xFF
#define	BNO055_GYRO_DATA_Z_MSB_VALUEZ__LEN   8
#define	BNO055_GYRO_DATA_Z_MSB_VALUEZ__REG   BNO055_GYRO_DATA_Z_MSB_ADDR
#define	BNO055_EULER_H_LSB_VALUEH__POS   0
#define	BNO055_EULER_H_LSB_VALUEH__MSK   0xFF
#define	BNO055_EULER_H_LSB_VALUEH__LEN   8
#define	BNO055_EULER_H_LSB_VALUEH__REG   BNO055_EULER_H_LSB_ADDR
#define	BNO055_EULER_H_MSB_VALUEH__POS   0
#define	BNO055_EULER_H_MSB_VALUEH__MSK   0xFF
#define	BNO055_EULER_H_MSB_VALUEH__LEN   8
#define	BNO055_EULER_H_MSB_VALUEH__REG   BNO055_EULER_H_MSB_ADDR
#define	BNO055_EULER_R_LSB_VALUER__POS   0
#define	BNO055_EULER_R_LSB_VALUER__MSK   0xFF
#define	BNO055_EULER_R_LSB_VALUER__LEN   8
#define	BNO055_EULER_R_LSB_VALUER__REG   BNO055_EULER_R_LSB_ADDR
#define	BNO055_EULER_R_MSB_VALUER__POS   0
#define	BNO055_EULER_R_MSB_VALUER__MSK   0xFF
#define	BNO055_EULER_R_MSB_VALUER__LEN   8
#define	BNO055_EULER_R_MSB_VALUER__REG   BNO055_EULER_R_MSB_ADDR
#define	BNO055_EULER_P_LSB_VALUEP__POS   0
#define	BNO055_EULER_P_LSB_VALUEP__MSK   0xFF
#define	BNO055_EULER_P_LSB_VALUEP__LEN   8
#define	BNO055_EULER_P_LSB_VALUEP__REG   BNO055_EULER_P_LSB_ADDR
#define	BNO055_EULER_P_MSB_VALUEP__POS   0
#define	BNO055_EULER_P_MSB_VALUEP__MSK   0xFF
#define	BNO055_EULER_P_MSB_VALUEP__LEN   8
#define	BNO055_EULER_P_MSB_VALUEP__REG   BNO055_EULER_P_MSB_ADDR
#define	BNO055_QUATERNION_DATA_W_LSB_VALUEW__POS   0
#define	BNO055_QUATERNION_DATA_W_LSB_VALUEW__MSK   0xFF
#define	BNO055_QUATERNION_DATA_W_LSB_VALUEW__LEN   8
#define	BNO055_QUATERNION_DATA_W_LSB_VALUEW__REG   BNO055_QUATERNION_DATA_W_LSB_ADDR
#define	BNO055_QUATERNION_DATA_W_MSB_VALUEW__POS   0
#define	BNO055_QUATERNION_DATA_W_MSB_VALUEW__MSK   0xFF
#define	BNO055_QUATERNION_DATA_W_MSB_VALUEW__LEN   8
#define	BNO055_QUATERNION_DATA_W_MSB_VALUEW__REG   BNO055_QUATERNION_DATA_W_MSB_ADDR
#define	BNO055_QUATERNION_DATA_X_LSB_VALUEX__POS   0
#define	BNO055_QUATERNION_DATA_X_LSB_VALUEX__MSK   0xFF
#define	BNO055_QUATERNION_DATA_X_LSB_VALUEX__LEN   8
#define	BNO055_QUATERNION_DATA_X_LSB_VALUEX__REG   BNO055_QUATERNION_DATA_X_LSB_ADDR
#define	BNO055_QUATERNION_DATA_X_MSB_VALUEX__POS   0
#define	BNO055_QUATERNION_DATA_X_MSB_VALUEX__MSK   0xFF
#define	BNO055_QUATERNION_DATA_X_MSB_VALUEX__LEN   8
#define	BNO055_QUATERNION_DATA_X_MSB_VALUEX__REG   BNO055_QUATERNION_DATA_X_MSB_ADDR
#define	BNO055_QUATERNION_DATA_Y_LSB_VALUEY__POS   0
#define	BNO055_QUATERNION_DATA_Y_LSB_VALUEY__MSK   0xFF
#define	BNO055_QUATERNION_DATA_Y_LSB_VALUEY__LEN   8
#define	BNO055_QUATERNION_DATA_Y_LSB_VALUEY__REG   BNO055_QUATERNION_DATA_Y_LSB_ADDR
#define	BNO055_QUATERNION_DATA_Y_MSB_VALUEY__POS   0
#define	BNO055_QUATERNION_DATA_Y_MSB_VALUEY__MSK   0xFF
#define	BNO055_QUATERNION_DATA_Y_MSB_VALUEY__LEN   8
#define	BNO055_QUATERNION_DATA_Y_MSB_VALUEY__REG   NO055_QUATERNION_DATA_Y_MSB_ADDR
#define	BNO055_QUATERNION_DATA_Z_LSB_VALUEZ__POS   0
#define	BNO055_QUATERNION_DATA_Z_LSB_VALUEZ__MSK   0xFF
#define	BNO055_QUATERNION_DATA_Z_LSB_VALUEZ__LEN   8
#define	BNO055_QUATERNION_DATA_Z_LSB_VALUEZ__REG   BNO055_QUATERNION_DATA_Z_LSB_ADDR
#define	BNO055_QUATERNION_DATA_Z_MSB_VALUEZ__POS   0
#define	BNO055_QUATERNION_DATA_Z_MSB_VALUEZ__MSK   0xFF
#define	BNO055_QUATERNION_DATA_Z_MSB_VALUEZ__LEN   8
#define	BNO055_QUATERNION_DATA_Z_MSB_VALUEZ__REG   BNO055_QUATERNION_DATA_Z_MSB_ADDR
#define	BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX__POS   0
#define	BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX__MSK   0xFF
#define	BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX__LEN   8
#define	BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX__REG   BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR
#define	BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX__POS   0
#define	BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX__MSK   0xFF
#define	BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX__LEN   8
#define	BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX__REG   BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR
#define	BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY__POS   0
#define	BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY__MSK   0xFF
#define	BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY__LEN   8
#define	BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY__REG   BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR
#define	BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY__POS   0
#define	BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY__MSK   0xFF
#define	BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY__LEN   8
#define	BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY__REG   BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR
#define	BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ__POS   0
#define	BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ__MSK   0xFF
#define	BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ__LEN   8
#define	BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ__REG   BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR
#define	BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ__POS   0
#define	BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ__MSK   0xFF
#define	BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ__LEN   8
#define	BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ__REG   BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR
#define	BNO055_GRAVITY_DATA_X_LSB_VALUEX__POS   0
#define	BNO055_GRAVITY_DATA_X_LSB_VALUEX__MSK   0xFF
#define	BNO055_GRAVITY_DATA_X_LSB_VALUEX__LEN   8
#define	BNO055_GRAVITY_DATA_X_LSB_VALUEX__REG   BNO055_GRAVITY_DATA_X_LSB_ADDR
#define	BNO055_GRAVITY_DATA_X_MSB_VALUEX__POS   0
#define	BNO055_GRAVITY_DATA_X_MSB_VALUEX__MSK   0xFF
#define	BNO055_GRAVITY_DATA_X_MSB_VALUEX__LEN   8
#define	BNO055_GRAVITY_DATA_X_MSB_VALUEX__REG   BNO055_GRAVITY_DATA_X_MSB_ADDR
#define	BNO055_GRAVITY_DATA_Y_LSB_VALUEY__POS   0
#define	BNO055_GRAVITY_DATA_Y_LSB_VALUEY__MSK   0xFF
#define	BNO055_GRAVITY_DATA_Y_LSB_VALUEY__LEN   8
#define	BNO055_GRAVITY_DATA_Y_LSB_VALUEY__REG   BNO055_GRAVITY_DATA_Y_LSB_ADDR
#define	BNO055_GRAVITY_DATA_Y_MSB_VALUEY__POS   0
#define	BNO055_GRAVITY_DATA_Y_MSB_VALUEY__MSK   0xFF
#define	BNO055_GRAVITY_DATA_Y_MSB_VALUEY__LEN   8
#define	BNO055_GRAVITY_DATA_Y_MSB_VALUEY__REG   BNO055_GRAVITY_DATA_Y_MSB_ADDR
#define	BNO055_GRAVITY_DATA_Z_LSB_VALUEZ__POS   0
#define	BNO055_GRAVITY_DATA_Z_LSB_VALUEZ__MSK   0xFF
#define	BNO055_GRAVITY_DATA_Z_LSB_VALUEZ__LEN   8
#define	BNO055_GRAVITY_DATA_Z_LSB_VALUEZ__REG   BNO055_GRAVITY_DATA_Z_LSB_ADDR
#define	BNO055_GRAVITY_DATA_Z_MSB_VALUEZ__POS   0
#define	BNO055_GRAVITY_DATA_Z_MSB_VALUEZ__MSK   0xFF
#define	BNO055_GRAVITY_DATA_Z_MSB_VALUEZ__LEN   8
#define	BNO055_GRAVITY_DATA_Z_MSB_VALUEZ__REG   BNO055_GRAVITY_DATA_Z_MSB_ADDR
#define	BNO055_TEMP__POS   0
#define	BNO055_TEMP__MSK   0xFF
#define	BNO055_TEMP__LEN   8
#define	BNO055_TEMP__REG   BNO055_TEMP_ADDR
#define	BNO055_MAG_CALIB_STAT__POS   0
#define	BNO055_MAG_CALIB_STAT__MSK   0X03
#define	BNO055_MAG_CALIB_STAT__LEN   2
#define	BNO055_MAG_CALIB_STAT__REG   BNO055_CALIB_STAT_ADDR
#define	BNO055_ACCEL_CALIB_STAT__POS   2
#define	BNO055_ACCEL_CALIB_STAT__MSK   0X0C
#define	BNO055_ACCEL_CALIB_STAT__LEN   2
#define	BNO055_ACCEL_CALIB_STAT__REG   BNO055_CALIB_STAT_ADDR
#define	BNO055_GYRO_CALIB_STAT__POS   4
#define	BNO055_GYRO_CALIB_STAT__MSK   0X30
#define	BNO055_GYRO_CALIB_STAT__LEN   2
#define	BNO055_GYRO_CALIB_STAT__REG   BNO055_CALIB_STAT_ADDR
#define	BNO055_SYS_CALIB_STAT__POS   6
#define	BNO055_SYS_CALIB_STAT__MSK   0XC0
#define	BNO055_SYS_CALIB_STAT__LEN   2
#define	BNO055_SYS_CALIB_STAT__REG   BNO055_CALIB_STAT_ADDR
#define	BNO055_SELFTEST_ACCEL__POS   0
#define	BNO055_SELFTEST_ACCEL__MSK   0X01
#define	BNO055_SELFTEST_ACCEL__LEN   1
#define	BNO055_SELFTEST_ACCEL__REG   BNO055_SELFTEST_RESULT_ADDR
#define	BNO055_SELFTEST_MAG__POS   1
#define	BNO055_SELFTEST_MAG__MSK   0X02
#define	BNO055_SELFTEST_MAG__LEN   1
#define	BNO055_SELFTEST_MAG__REG   BNO055_SELFTEST_RESULT_ADDR
#define	BNO055_SELFTEST_GYRO__POS   2
#define	BNO055_SELFTEST_GYRO__MSK   0X04
#define	BNO055_SELFTEST_GYRO__LEN   1
#define	BNO055_SELFTEST_GYRO__REG   BNO055_SELFTEST_RESULT_ADDR
#define	BNO055_SELFTEST_MCU__POS   3
#define	BNO055_SELFTEST_MCU__MSK   0X08
#define	BNO055_SELFTEST_MCU__LEN   1
#define	BNO055_SELFTEST_MCU__REG   BNO055_SELFTEST_RESULT_ADDR
#define	BNO055_INTR_STAT_GYRO_ANY_MOTION__POS   2
#define	BNO055_INTR_STAT_GYRO_ANY_MOTION__MSK   0X04
#define	BNO055_INTR_STAT_GYRO_ANY_MOTION__LEN   1
#define	BNO055_INTR_STAT_GYRO_ANY_MOTION__REG   BNO055_INTR_STAT_ADDR
#define	BNO055_INTR_STAT_GYRO_HIGHRATE__POS   3
#define	BNO055_INTR_STAT_GYRO_HIGHRATE__MSK   0X08
#define	BNO055_INTR_STAT_GYRO_HIGHRATE__LEN   1
#define	BNO055_INTR_STAT_GYRO_HIGHRATE__REG   BNO055_INTR_STAT_ADDR
#define	BNO055_INTR_STAT_ACCEL_HIGH_G__POS   5
#define	BNO055_INTR_STAT_ACCEL_HIGH_G__MSK   0X20
#define	BNO055_INTR_STAT_ACCEL_HIGH_G__LEN   1
#define	BNO055_INTR_STAT_ACCEL_HIGH_G__REG   BNO055_INTR_STAT_ADDR
#define	BNO055_INTR_STAT_ACCEL_ANY_MOTION__POS   6
#define	BNO055_INTR_STAT_ACCEL_ANY_MOTION__MSK   0X40
#define	BNO055_INTR_STAT_ACCEL_ANY_MOTION__LEN   1
#define	BNO055_INTR_STAT_ACCEL_ANY_MOTION__REG   BNO055_INTR_STAT_ADDR
#define	BNO055_INTR_STAT_ACCEL_NO_MOTION__POS   7
#define	BNO055_INTR_STAT_ACCEL_NO_MOTION__MSK   0X80
#define	BNO055_INTR_STAT_ACCEL_NO_MOTION__LEN   1
#define	BNO055_INTR_STAT_ACCEL_NO_MOTION__REG   BNO055_INTR_STAT_ADDR
#define	BNO055_SYS_MAIN_CLK__POS   0
#define	BNO055_SYS_MAIN_CLK__MSK   0X10
#define	BNO055_SYS_MAIN_CLK__LEN   1
#define	BNO055_SYS_MAIN_CLK__REG   BNO055_SYS_CLK_STAT_ADDR
#define	BNO055_SYS_STAT_CODE__POS   0
#define	BNO055_SYS_STAT_CODE__MSK   0XFF
#define	BNO055_SYS_STAT_CODE__LEN   8
#define	BNO055_SYS_STAT_CODE__REG   BNO055_SYS_STAT_ADDR
#define	BNO055_SYS_ERROR_CODE__POS   0
#define	BNO055_SYS_ERROR_CODE__MSK   0XFF
#define	BNO055_SYS_ERROR_CODE__LEN   8
#define	BNO055_SYS_ERROR_CODE__REG   BNO055_SYS_ERR_ADDR
#define	BNO055_ACCEL_UNIT__POS   0
#define	BNO055_ACCEL_UNIT__MSK   0X01
#define	BNO055_ACCEL_UNIT__LEN   1
#define	BNO055_ACCEL_UNIT__REG   BNO055_UNIT_SEL_ADDR
#define	BNO055_GYRO_UNIT__POS   1
#define	BNO055_GYRO_UNIT__MSK   0X02
#define	BNO055_GYRO_UNIT__LEN   1
#define	BNO055_GYRO_UNIT__REG   BNO055_UNIT_SEL_ADDR
#define	BNO055_EULER_UNIT__POS   2
#define	BNO055_EULER_UNIT__MSK   0X04
#define	BNO055_EULER_UNIT__LEN   1
#define	BNO055_EULER_UNIT__REG   BNO055_UNIT_SEL_ADDR
#define	BNO055_TILT_UNIT__POS   3
#define	BNO055_TILT_UNIT__MSK   0X08
#define	BNO055_TILT_UNIT__LEN   1
#define	BNO055_TILT_UNIT__REG   BNO055_UNIT_SEL_ADDR
#define	BNO055_TEMP_UNIT__POS   4
#define	BNO055_TEMP_UNIT__MSK   0X10
#define	BNO055_TEMP_UNIT__LEN   1
#define	BNO055_TEMP_UNIT__REG   BNO055_UNIT_SEL_ADDR
#define	BNO055_DATA_OUTPUT_FORMAT__POS   7
#define	BNO055_DATA_OUTPUT_FORMAT__MSK   0X80
#define	BNO055_DATA_OUTPUT_FORMAT__LEN   1
#define	BNO055_DATA_OUTPUT_FORMAT__REG   BNO055_UNIT_SEL_ADDR
#define	BNO055_OPERATION_MODE__POS   0
#define	BNO055_OPERATION_MODE__MSK   0X0F
#define	BNO055_OPERATION_MODE__LEN   4
#define	BNO055_OPERATION_MODE__REG   BNO055_OPR_MODE_ADDR
#define	BNO055_POWER_MODE__POS   0
#define	BNO055_POWER_MODE__MSK   0X03
#define	BNO055_POWER_MODE__LEN   2
#define	BNO055_POWER_MODE__REG   BNO055_PWR_MODE_ADDR
#define	BNO055_SELFTEST__POS   0
#define	BNO055_SELFTEST__MSK   0X01
#define	BNO055_SELFTEST__LEN   1
#define	BNO055_SELFTEST__REG   BNO055_SYS_TRIGGER_ADDR
#define	BNO055_SYS_RST__POS   5
#define	BNO055_SYS_RST__MSK   0X20
#define	BNO055_SYS_RST__LEN   1
#define	BNO055_SYS_RST__REG   BNO055_SYS_TRIGGER_ADDR
#define	BNO055_INTR_RST__POS   6
#define	BNO055_INTR_RST__MSK   0X40
#define	BNO055_INTR_RST__LEN   1
#define	BNO055_INTR_RST__REG   BNO055_SYS_TRIGGER_ADDR
#define	BNO055_CLK_SRC__POS   7
#define	BNO055_CLK_SRC__MSK   0X80
#define	BNO055_CLK_SRC__LEN   1
#define	BNO055_CLK_SRC__REG   BNO055_SYS_TRIGGER_ADDR
#define	BNO055_TEMP_SOURCE__POS   0
#define	BNO055_TEMP_SOURCE__MSK   0X03
#define	BNO055_TEMP_SOURCE__LEN   2
#define	BNO055_TEMP_SOURCE__REG   BNO055_TEMP_SOURCE_ADDR
#define	BNO055_REMAP_AXIS_VALUE__POS   0
#define	BNO055_REMAP_AXIS_VALUE__MSK   0X3F
#define	BNO055_REMAP_AXIS_VALUE__LEN   6
#define	BNO055_REMAP_AXIS_VALUE__REG   BNO055_AXIS_MAP_CONFIG_ADDR
#define	BNO055_REMAP_Z_SIGN__POS   0
#define	BNO055_REMAP_Z_SIGN__MSK   0X01
#define	BNO055_REMAP_Z_SIGN__LEN   1
#define	BNO055_REMAP_Z_SIGN__REG   BNO055_AXIS_MAP_SIGN_ADDR
#define	BNO055_REMAP_Y_SIGN__POS   1
#define	BNO055_REMAP_Y_SIGN__MSK   0X02
#define	BNO055_REMAP_Y_SIGN__LEN   1
#define	BNO055_REMAP_Y_SIGN__REG   BNO055_AXIS_MAP_SIGN_ADDR
#define	BNO055_REMAP_X_SIGN__POS   2
#define	BNO055_REMAP_X_SIGN__MSK   0X04
#define	BNO055_REMAP_X_SIGN__LEN   1
#define	BNO055_REMAP_X_SIGN__REG   BNO055_AXIS_MAP_SIGN_ADDR
#define	BNO055_SIC_MATRIX_0_LSB__POS   0
#define	BNO055_SIC_MATRIX_0_LSB__MSK   0XFF
#define	BNO055_SIC_MATRIX_0_LSB__LEN   8
#define	BNO055_SIC_MATRIX_0_LSB__REG   BNO055_SIC_MATRIX_0_LSB_ADDR
#define	BNO055_SIC_MATRIX_0_MSB__POS   0
#define	BNO055_SIC_MATRIX_0_MSB__MSK   0XFF
#define	BNO055_SIC_MATRIX_0_MSB__LEN   8
#define	BNO055_SIC_MATRIX_0_MSB__REG   BNO055_SIC_MATRIX_0_MSB_ADDR
#define	BNO055_SIC_MATRIX_1_LSB__POS   0
#define	BNO055_SIC_MATRIX_1_LSB__MSK   0XFF
#define	BNO055_SIC_MATRIX_1_LSB__LEN   8
#define	BNO055_SIC_MATRIX_1_LSB__REG   BNO055_SIC_MATRIX_1_LSB_ADDR
#define	BNO055_SIC_MATRIX_1_MSB__POS   0
#define	BNO055_SIC_MATRIX_1_MSB__MSK   0XFF
#define	BNO055_SIC_MATRIX_1_MSB__LEN   8
#define	BNO055_SIC_MATRIX_1_MSB__REG   BNO055_SIC_MATRIX_1_MSB_ADDR
#define	BNO055_SIC_MATRIX_2_LSB__POS   0
#define	BNO055_SIC_MATRIX_2_LSB__MSK   0XFF
#define	BNO055_SIC_MATRIX_2_LSB__LEN   8
#define	BNO055_SIC_MATRIX_2_LSB__REG   BNO055_SIC_MATRIX_2_LSB_ADDR
#define	BNO055_SIC_MATRIX_2_MSB__POS   0
#define	BNO055_SIC_MATRIX_2_MSB__MSK   0XFF
#define	BNO055_SIC_MATRIX_2_MSB__LEN   8
#define	BNO055_SIC_MATRIX_2_MSB__REG   BNO055_SIC_MATRIX_2_MSB_ADDR
#define	BNO055_SIC_MATRIX_3_LSB__POS   0
#define	BNO055_SIC_MATRIX_3_LSB__MSK   0XFF
#define	BNO055_SIC_MATRIX_3_LSB__LEN   8
#define	BNO055_SIC_MATRIX_3_LSB__REG   BNO055_SIC_MATRIX_3_LSB_ADDR
#define	BNO055_SIC_MATRIX_3_MSB__POS   0
#define	BNO055_SIC_MATRIX_3_MSB__MSK   0XFF
#define	BNO055_SIC_MATRIX_3_MSB__LEN   8
#define	BNO055_SIC_MATRIX_3_MSB__REG   BNO055_SIC_MATRIX_3_MSB_ADDR
#define	BNO055_SIC_MATRIX_4_LSB__POS   0
#define	BNO055_SIC_MATRIX_4_LSB__MSK   0XFF
#define	BNO055_SIC_MATRIX_4_LSB__LEN   8
#define	BNO055_SIC_MATRIX_4_LSB__REG   BNO055_SIC_MATRIX_4_LSB_ADDR
#define	BNO055_SIC_MATRIX_4_MSB__POS   0
#define	BNO055_SIC_MATRIX_4_MSB__MSK   0XFF
#define	BNO055_SIC_MATRIX_4_MSB__LEN   8
#define	BNO055_SIC_MATRIX_4_MSB__REG   BNO055_SIC_MATRIX_4_MSB_ADDR
#define	BNO055_SIC_MATRIX_5_LSB__POS   0
#define	BNO055_SIC_MATRIX_5_LSB__MSK   0XFF
#define	BNO055_SIC_MATRIX_5_LSB__LEN   8
#define	BNO055_SIC_MATRIX_5_LSB__REG   BNO055_SIC_MATRIX_5_LSB_ADDR
#define	BNO055_SIC_MATRIX_5_MSB__POS   0
#define	BNO055_SIC_MATRIX_5_MSB__MSK   0XFF
#define	BNO055_SIC_MATRIX_5_MSB__LEN   8
#define	BNO055_SIC_MATRIX_5_MSB__REG   BNO055_SIC_MATRIX_5_MSB_ADDR
#define	BNO055_SIC_MATRIX_6_LSB__POS   0
#define	BNO055_SIC_MATRIX_6_LSB__MSK   0XFF
#define	BNO055_SIC_MATRIX_6_LSB__LEN   8
#define	BNO055_SIC_MATRIX_6_LSB__REG   BNO055_SIC_MATRIX_6_LSB_ADDR
#define	BNO055_SIC_MATRIX_6_MSB__POS   0
#define	BNO055_SIC_MATRIX_6_MSB__MSK   0XFF
#define	BNO055_SIC_MATRIX_6_MSB__LEN   8
#define	BNO055_SIC_MATRIX_6_MSB__REG   BNO055_SIC_MATRIX_6_MSB_ADDR
#define	BNO055_SIC_MATRIX_7_LSB__POS   0
#define	BNO055_SIC_MATRIX_7_LSB__MSK   0XFF
#define	BNO055_SIC_MATRIX_7_LSB__LEN   8
#define	BNO055_SIC_MATRIX_7_LSB__REG   BNO055_SIC_MATRIX_7_LSB_ADDR
#define	BNO055_SIC_MATRIX_7_MSB__POS   0
#define	BNO055_SIC_MATRIX_7_MSB__MSK   0XFF
#define	BNO055_SIC_MATRIX_7_MSB__LEN   8
#define	BNO055_SIC_MATRIX_7_MSB__REG   BNO055_SIC_MATRIX_7_MSB_ADDR
#define	BNO055_SIC_MATRIX_8_LSB__POS   0
#define	BNO055_SIC_MATRIX_8_LSB__MSK   0XFF
#define	BNO055_SIC_MATRIX_8_LSB__LEN   8
#define	BNO055_SIC_MATRIX_8_LSB__REG   BNO055_SIC_MATRIX_8_LSB_ADDR
#define	BNO055_SIC_MATRIX_8_MSB__POS   0
#define	BNO055_SIC_MATRIX_8_MSB__MSK   0XFF
#define	BNO055_SIC_MATRIX_8_MSB__LEN   8
#define	BNO055_SIC_MATRIX_8_MSB__REG   BNO055_SIC_MATRIX_8_MSB_ADDR
#define	BNO055_ACCEL_OFFSET_X_LSB__POS   0
#define	BNO055_ACCEL_OFFSET_X_LSB__MSK   0XFF
#define	BNO055_ACCEL_OFFSET_X_LSB__LEN   8
#define	BNO055_ACCEL_OFFSET_X_LSB__REG   ACCEL_OFFSET_X_LSB_ADDR
#define	BNO055_ACCEL_OFFSET_X_MSB__POS   0
#define	BNO055_ACCEL_OFFSET_X_MSB__MSK   0XFF
#define	BNO055_ACCEL_OFFSET_X_MSB__LEN   8
#define	BNO055_ACCEL_OFFSET_X_MSB__REG   ACCEL_OFFSET_X_MSB_ADDR
#define	BNO055_ACCEL_OFFSET_Y_LSB__POS   0
#define	BNO055_ACCEL_OFFSET_Y_LSB__MSK   0XFF
#define	BNO055_ACCEL_OFFSET_Y_LSB__LEN   8
#define	BNO055_ACCEL_OFFSET_Y_LSB__REG   ACCEL_OFFSET_Y_LSB_ADDR
#define	BNO055_ACCEL_OFFSET_Y_MSB__POS   0
#define	BNO055_ACCEL_OFFSET_Y_MSB__MSK   0XFF
#define	BNO055_ACCEL_OFFSET_Y_MSB__LEN   8
#define	BNO055_ACCEL_OFFSET_Y_MSB__REG   ACCEL_OFFSET_Y_MSB_ADDR
#define	BNO055_ACCEL_OFFSET_Z_LSB__POS   0
#define	BNO055_ACCEL_OFFSET_Z_LSB__MSK   0XFF
#define	BNO055_ACCEL_OFFSET_Z_LSB__LEN   8
#define	BNO055_ACCEL_OFFSET_Z_LSB__REG   ACCEL_OFFSET_Z_LSB_ADDR
#define	BNO055_ACCEL_OFFSET_Z_MSB__POS   0
#define	BNO055_ACCEL_OFFSET_Z_MSB__MSK   0XFF
#define	BNO055_ACCEL_OFFSET_Z_MSB__LEN   8
#define	BNO055_ACCEL_OFFSET_Z_MSB__REG   ACCEL_OFFSET_Z_MSB_ADDR
#define	BNO055_MAG_OFFSET_X_LSB__POS   0
#define	BNO055_MAG_OFFSET_X_LSB__MSK   0XFF
#define	BNO055_MAG_OFFSET_X_LSB__LEN   8
#define	BNO055_MAG_OFFSET_X_LSB__REG   MAG_OFFSET_X_LSB_ADDR
#define	BNO055_MAG_OFFSET_X_MSB__POS   0
#define	BNO055_MAG_OFFSET_X_MSB__MSK   0XFF
#define	BNO055_MAG_OFFSET_X_MSB__LEN   8
#define	BNO055_MAG_OFFSET_X_MSB__REG   MAG_OFFSET_X_MSB_ADDR
#define	BNO055_MAG_OFFSET_Y_LSB__POS   0
#define	BNO055_MAG_OFFSET_Y_LSB__MSK   0XFF
#define	BNO055_MAG_OFFSET_Y_LSB__LEN   8
#define	BNO055_MAG_OFFSET_Y_LSB__REG   MAG_OFFSET_Y_LSB_ADDR
#define	BNO055_MAG_OFFSET_Y_MSB__POS   0
#define	BNO055_MAG_OFFSET_Y_MSB__MSK   0XFF
#define	BNO055_MAG_OFFSET_Y_MSB__LEN   8
#define	BNO055_MAG_OFFSET_Y_MSB__REG   MAG_OFFSET_Y_MSB_ADDR
#define	BNO055_MAG_OFFSET_Z_LSB__POS   0
#define	BNO055_MAG_OFFSET_Z_LSB__MSK   0XFF
#define	BNO055_MAG_OFFSET_Z_LSB__LEN   8
#define	BNO055_MAG_OFFSET_Z_LSB__REG   MAG_OFFSET_Z_LSB_ADDR
#define	BNO055_MAG_OFFSET_Z_MSB__POS   0
#define	BNO055_MAG_OFFSET_Z_MSB__MSK   0XFF
#define	BNO055_MAG_OFFSET_Z_MSB__LEN   8
#define	BNO055_MAG_OFFSET_Z_MSB__REG   MAG_OFFSET_Z_MSB_ADDR
#define	BNO055_GYRO_OFFSET_X_LSB__POS   0
#define	BNO055_GYRO_OFFSET_X_LSB__MSK   0XFF
#define	BNO055_GYRO_OFFSET_X_LSB__LEN   8
#define	BNO055_GYRO_OFFSET_X_LSB__REG   GYRO_OFFSET_X_LSB_ADDR
#define	BNO055_GYRO_OFFSET_X_MSB__POS   0
#define	BNO055_GYRO_OFFSET_X_MSB__MSK   0XFF
#define	BNO055_GYRO_OFFSET_X_MSB__LEN   8
#define	BNO055_GYRO_OFFSET_X_MSB__REG   GYRO_OFFSET_X_MSB_ADDR
#define	BNO055_GYRO_OFFSET_Y_LSB__POS   0
#define	BNO055_GYRO_OFFSET_Y_LSB__MSK   0XFF
#define	BNO055_GYRO_OFFSET_Y_LSB__LEN   8
#define	BNO055_GYRO_OFFSET_Y_LSB__REG   GYRO_OFFSET_Y_LSB_ADDR
#define	BNO055_GYRO_OFFSET_Y_MSB__POS   0
#define	BNO055_GYRO_OFFSET_Y_MSB__MSK   0XFF
#define	BNO055_GYRO_OFFSET_Y_MSB__LEN   8
#define	BNO055_GYRO_OFFSET_Y_MSB__REG   GYRO_OFFSET_Y_MSB_ADDR
#define	BNO055_GYRO_OFFSET_Z_LSB__POS   0
#define	BNO055_GYRO_OFFSET_Z_LSB__MSK   0XFF
#define	BNO055_GYRO_OFFSET_Z_LSB__LEN   8
#define	BNO055_GYRO_OFFSET_Z_LSB__REG   GYRO_OFFSET_Z_LSB_ADDR
#define	BNO055_GYRO_OFFSET_Z_MSB__POS   0
#define	BNO055_GYRO_OFFSET_Z_MSB__MSK   0XFF
#define	BNO055_GYRO_OFFSET_Z_MSB__LEN   8
#define	BNO055_GYRO_OFFSET_Z_MSB__REG   GYRO_OFFSET_Z_MSB_ADDR
#define	BNO055_ACCEL_RADIUS_LSB__POS   0
#define	BNO055_ACCEL_RADIUS_LSB__MSK   0XFF
#define	BNO055_ACCEL_RADIUS_LSB__LEN   8
#define	BNO055_ACCEL_RADIUS_LSB__REG   ACCEL_RADIUS_LSB_ADDR
#define	BNO055_ACCEL_RADIUS_MSB__POS   0
#define	BNO055_ACCEL_RADIUS_MSB__MSK   0XFF
#define	BNO055_ACCEL_RADIUS_MSB__LEN   8
#define	BNO055_ACCEL_RADIUS_MSB__REG   ACCEL_RADIUS_MSB_ADDR
#define	BNO055_MAG_RADIUS_LSB__POS   0
#define	BNO055_MAG_RADIUS_LSB__MSK   0XFF
#define	BNO055_MAG_RADIUS_LSB__LEN   8
#define	BNO055_MAG_RADIUS_LSB__REG   MAG_RADIUS_LSB_ADDR
#define	BNO055_MAG_RADIUS_MSB__POS   0
#define	BNO055_MAG_RADIUS_MSB__MSK   0XFF
#define	BNO055_MAG_RADIUS_MSB__LEN   8
#define	BNO055_MAG_RADIUS_MSB__REG   MAG_RADIUS_MSB_ADDR
PAGE1 DATA REGISTERS DEFINITION
#define	BNO055_ACCEL_RANGE__POS   0
#define	BNO055_ACCEL_RANGE__MSK   0X03
#define	BNO055_ACCEL_RANGE__LEN   2
#define	BNO055_ACCEL_RANGE__REG   ACCEL_CONFIG_ADDR
#define	BNO055_ACCEL_BW__POS   2
#define	BNO055_ACCEL_BW__MSK   0X1C
#define	BNO055_ACCEL_BW__LEN   3
#define	BNO055_ACCEL_BW__REG   ACCEL_CONFIG_ADDR
#define	BNO055_ACCEL_POWER_MODE__POS   5
#define	BNO055_ACCEL_POWER_MODE__MSK   0XE0
#define	BNO055_ACCEL_POWER_MODE__LEN   3
#define	BNO055_ACCEL_POWER_MODE__REG   ACCEL_CONFIG_ADDR
#define	BNO055_MAG_DATA_OUTPUT_RATE__POS   0
#define	BNO055_MAG_DATA_OUTPUT_RATE__MSK   0X07
#define	BNO055_MAG_DATA_OUTPUT_RATE__LEN   3
#define	BNO055_MAG_DATA_OUTPUT_RATE__REG   MAG_CONFIG_ADDR
#define	BNO055_MAG_OPERATION_MODE__POS   3
#define	BNO055_MAG_OPERATION_MODE__MSK   0X18
#define	BNO055_MAG_OPERATION_MODE__LEN   2
#define	BNO055_MAG_OPERATION_MODE__REG   MAG_CONFIG_ADDR
#define	BNO055_MAG_POWER_MODE__POS   5
#define	BNO055_MAG_POWER_MODE__MSK   0X60
#define	BNO055_MAG_POWER_MODE__LEN   2
#define	BNO055_MAG_POWER_MODE__REG   MAG_CONFIG_ADDR
#define	BNO055_GYRO_RANGE__POS   0
#define	BNO055_GYRO_RANGE__MSK   0X07
#define	BNO055_GYRO_RANGE__LEN   3
#define	BNO055_GYRO_RANGE__REG   GYRO_CONFIG_ADDR
#define	BNO055_GYRO_BW__POS   3
#define	BNO055_GYRO_BW__MSK   0X38
#define	BNO055_GYRO_BW__LEN   3
#define	BNO055_GYRO_BW__REG   GYRO_CONFIG_ADDR
#define	BNO055_GYRO_POWER_MODE__POS   0
#define	BNO055_GYRO_POWER_MODE__MSK   0X07
#define	BNO055_GYRO_POWER_MODE__LEN   3
#define	BNO055_GYRO_POWER_MODE__REG   GYRO_MODE_CONFIG_ADDR
#define	BNO055_ACCEL_SLEEP_MODE__POS   0
#define	BNO055_ACCEL_SLEEP_MODE__MSK   0X01
#define	BNO055_ACCEL_SLEEP_MODE__LEN   1
#define	BNO055_ACCEL_SLEEP_MODE__REG   ACCEL_SLEEP_CONFIG_ADDR
#define	BNO055_ACCEL_SLEEP_DURN__POS   1
#define	BNO055_ACCEL_SLEEP_DURN__MSK   0X1E
#define	BNO055_ACCEL_SLEEP_DURN__LEN   4
#define	BNO055_ACCEL_SLEEP_DURN__REG   ACCEL_SLEEP_CONFIG_ADDR
#define	BNO055_GYRO_SLEEP_DURN__POS   0
#define	BNO055_GYRO_SLEEP_DURN__MSK   0X07
#define	BNO055_GYRO_SLEEP_DURN__LEN   3
#define	BNO055_GYRO_SLEEP_DURN__REG   GYRO_SLEEP_CONFIG_ADDR
#define	BNO055_GYRO_AUTO_SLEEP_DURN__POS   3
#define	BNO055_GYRO_AUTO_SLEEP_DURN__MSK   0X38
#define	BNO055_GYRO_AUTO_SLEEP_DURN__LEN   3
#define	BNO055_GYRO_AUTO_SLEEP_DURN__REG   GYRO_SLEEP_CONFIG_ADDR
#define	BNO055_MAG_SLEEP_MODE__POS   0
#define	BNO055_MAG_SLEEP_MODE__MSK   0X01
#define	BNO055_MAG_SLEEP_MODE__LEN   1
#define	BNO055_MAG_SLEEP_MODE__REG   MAG_SLEEP_CONFIG_ADDR
#define	BNO055_MAG_SLEEP_DURN__POS   1
#define	BNO055_MAG_SLEEP_DURN__MSK   0X1E
#define	BNO055_MAG_SLEEP_DURN__LEN   4
#define	BNO055_MAG_SLEEP_DURN__REG   MAG_SLEEP_CONFIG_ADDR
#define	BNO055_GYRO_ANY_MOTION_INTR_MASK__POS   2
#define	BNO055_GYRO_ANY_MOTION_INTR_MASK__MSK   0X04
#define	BNO055_GYRO_ANY_MOTION_INTR_MASK__LEN   1
#define	BNO055_GYRO_ANY_MOTION_INTR_MASK__REG   INT_MASK_ADDR
#define	BNO055_GYRO_HIGHRATE_INTR_MASK__POS   3
#define	BNO055_GYRO_HIGHRATE_INTR_MASK__MSK   0X08
#define	BNO055_GYRO_HIGHRATE_INTR_MASK__LEN   1
#define	BNO055_GYRO_HIGHRATE_INTR_MASK__REG   INT_MASK_ADDR
#define	BNO055_ACCEL_HIGH_G_INTR_MASK__POS   5
#define	BNO055_ACCEL_HIGH_G_INTR_MASK__MSK   0X20
#define	BNO055_ACCEL_HIGH_G_INTR_MASK__LEN   1
#define	BNO055_ACCEL_HIGH_G_INTR_MASK__REG   INT_MASK_ADDR
#define	BNO055_ACCEL_ANY_MOTION_INTR_MASK__POS   6
#define	BNO055_ACCEL_ANY_MOTION_INTR_MASK__MSK   0X40
#define	BNO055_ACCEL_ANY_MOTION_INTR_MASK__LEN   1
#define	BNO055_ACCEL_ANY_MOTION_INTR_MASK__REG   INT_MASK_ADDR
#define	BNO055_ACCEL_NO_MOTION_INTR_MASK__POS   7
#define	BNO055_ACCEL_NO_MOTION_INTR_MASK__MSK   0X80
#define	BNO055_ACCEL_NO_MOTION_INTR_MASK__LEN   1
#define	BNO055_ACCEL_NO_MOTION_INTR_MASK__REG   INT_MASK_ADDR
#define	BNO055_GYRO_ANY_MOTION_INTR__POS   2
#define	BNO055_GYRO_ANY_MOTION_INTR__MSK   0X04
#define	BNO055_GYRO_ANY_MOTION_INTR__LEN   1
#define	BNO055_GYRO_ANY_MOTION_INTR__REG   INT_ADDR
#define	BNO055_GYRO_HIGHRATE_INTR__POS   3
#define	BNO055_GYRO_HIGHRATE_INTR__MSK   0X08
#define	BNO055_GYRO_HIGHRATE_INTR__LEN   1
#define	BNO055_GYRO_HIGHRATE_INTR__REG   INT_ADDR
#define	BNO055_ACCEL_HIGH_G_INTR__POS   5
#define	BNO055_ACCEL_HIGH_G_INTR__MSK   0X20
#define	BNO055_ACCEL_HIGH_G_INTR__LEN   1
#define	BNO055_ACCEL_HIGH_G_INTR__REG   INT_ADDR
#define	BNO055_ACCEL_ANY_MOTION_INTR__POS   6
#define	BNO055_ACCEL_ANY_MOTION_INTR__MSK   0X40
#define	BNO055_ACCEL_ANY_MOTION_INTR__LEN   1
#define	BNO055_ACCEL_ANY_MOTION_INTR__REG   INT_ADDR
#define	BNO055_ACCEL_NO_MOTION_INTR__POS   7
#define	BNO055_ACCEL_NO_MOTION_INTR__MSK   0X80
#define	BNO055_ACCEL_NO_MOTION_INTR__LEN   1
#define	BNO055_ACCEL_NO_MOTION_INTR__REG   INT_ADDR
#define	BNO055_ACCEL_ANY_MOTION_THRES__POS   0
#define	BNO055_ACCEL_ANY_MOTION_THRES__MSK   0XFF
#define	BNO055_ACCEL_ANY_MOTION_THRES__LEN   8
#define	BNO055_ACCEL_ANY_MOTION_THRES__REG   ACCEL_ANY_MOTION_THRES_ADDR
#define	BNO055_ACCEL_ANY_MOTION_DURN_SET__POS   0
#define	BNO055_ACCEL_ANY_MOTION_DURN_SET__MSK   0X03
#define	BNO055_ACCEL_ANY_MOTION_DURN_SET__LEN   2
#define	BNO055_ACCEL_ANY_MOTION_DURN_SET__REG   ACCEL_INTR_SETTINGS_ADDR
#define	BNO055_ACCEL_ANY_MOTION_X_AXIS__POS   2
#define	BNO055_ACCEL_ANY_MOTION_X_AXIS__MSK   0X04
#define	BNO055_ACCEL_ANY_MOTION_X_AXIS__LEN   1
#define	BNO055_ACCEL_ANY_MOTION_X_AXIS__REG   ACCEL_INTR_SETTINGS_ADDR
#define	BNO055_ACCEL_ANY_MOTION_Y_AXIS__POS   3
#define	BNO055_ACCEL_ANY_MOTION_Y_AXIS__MSK   0X08
#define	BNO055_ACCEL_ANY_MOTION_Y_AXIS__LEN   1
#define	BNO055_ACCEL_ANY_MOTION_Y_AXIS__REG   ACCEL_INTR_SETTINGS_ADDR
#define	BNO055_ACCEL_ANY_MOTION_Z_AXIS__POS   4
#define	BNO055_ACCEL_ANY_MOTION_Z_AXIS__MSK   0X10
#define	BNO055_ACCEL_ANY_MOTION_Z_AXIS__LEN   1
#define	BNO055_ACCEL_ANY_MOTION_Z_AXIS__REG   ACCEL_INTR_SETTINGS_ADDR
#define	BNO055_ACCEL_HIGH_G_X_AXIS__POS   5
#define	BNO055_ACCEL_HIGH_G_X_AXIS__MSK   0X20
#define	BNO055_ACCEL_HIGH_G_X_AXIS__LEN   1
#define	BNO055_ACCEL_HIGH_G_X_AXIS__REG   ACCEL_INTR_SETTINGS_ADDR
#define	BNO055_ACCEL_HIGH_G_Y_AXIS__POS   6
#define	BNO055_ACCEL_HIGH_G_Y_AXIS__MSK   0X40
#define	BNO055_ACCEL_HIGH_G_Y_AXIS__LEN   1
#define	BNO055_ACCEL_HIGH_G_Y_AXIS__REG   ACCEL_INTR_SETTINGS_ADDR
#define	BNO055_ACCEL_HIGH_G_Z_AXIS__POS   7
#define	BNO055_ACCEL_HIGH_G_Z_AXIS__MSK   0X80
#define	BNO055_ACCEL_HIGH_G_Z_AXIS__LEN   1
#define	BNO055_ACCEL_HIGH_G_Z_AXIS__REG   ACCEL_INTR_SETTINGS_ADDR
#define	BNO055_ACCEL_HIGH_G_DURN__POS   0
#define	BNO055_ACCEL_HIGH_G_DURN__MSK   0XFF
#define	BNO055_ACCEL_HIGH_G_DURN__LEN   8
#define	BNO055_ACCEL_HIGH_G_DURN__REG   ACCEL_HIGH_G_DURN_ADDR
#define	BNO055_ACCEL_HIGH_G_THRES__POS   0
#define	BNO055_ACCEL_HIGH_G_THRES__MSK   0XFF
#define	BNO055_ACCEL_HIGH_G_THRES__LEN   8
#define	BNO055_ACCEL_HIGH_G_THRES__REG   ACCEL_HIGH_G_THRES_ADDR
#define	BNO055_ACCEL_SLOW_NO_MOTION_THRES__POS   0
#define	BNO055_ACCEL_SLOW_NO_MOTION_THRES__MSK   0XFF
#define	BNO055_ACCEL_SLOW_NO_MOTION_THRES__LEN   8
#define	BNO055_ACCEL_SLOW_NO_MOTION_THRES__REG   ACCEL_NO_MOTION_THRES_ADDR
#define	BNO055_ACCEL_SLOW_NO_MOTION_ENABLE__POS   0
#define	BNO055_ACCEL_SLOW_NO_MOTION_ENABLE__MSK   0X01
#define	BNO055_ACCEL_SLOW_NO_MOTION_ENABLE__LEN   1
#define	BNO055_ACCEL_SLOW_NO_MOTION_ENABLE__REG   ACCEL_NO_MOTION_SET_ADDR
#define	BNO055_ACCEL_SLOW_NO_MOTION_DURN__POS   1
#define	BNO055_ACCEL_SLOW_NO_MOTION_DURN__MSK   0X7E
#define	BNO055_ACCEL_SLOW_NO_MOTION_DURN__LEN   6
#define	BNO055_ACCEL_SLOW_NO_MOTION_DURN__REG   ACCEL_NO_MOTION_SET_ADDR
#define	BNO055_GYRO_ANY_MOTION_X_AXIS__POS   0
#define	BNO055_GYRO_ANY_MOTION_X_AXIS__MSK   0X01
#define	BNO055_GYRO_ANY_MOTION_X_AXIS__LEN   1
#define	BNO055_GYRO_ANY_MOTION_X_AXIS__REG   GYRO_INTR_SETING_ADDR
#define	BNO055_GYRO_ANY_MOTION_Y_AXIS__POS   1
#define	BNO055_GYRO_ANY_MOTION_Y_AXIS__MSK   0X02
#define	BNO055_GYRO_ANY_MOTION_Y_AXIS__LEN   1
#define	BNO055_GYRO_ANY_MOTION_Y_AXIS__REG   GYRO_INTR_SETING_ADDR
#define	BNO055_GYRO_ANY_MOTION_Z_AXIS__POS   2
#define	BNO055_GYRO_ANY_MOTION_Z_AXIS__MSK   0X04
#define	BNO055_GYRO_ANY_MOTION_Z_AXIS__LEN   1
#define	BNO055_GYRO_ANY_MOTION_Z_AXIS__REG   GYRO_INTR_SETING_ADDR
#define	BNO055_GYRO_HIGHRATE_X_AXIS__POS   3
#define	BNO055_GYRO_HIGHRATE_X_AXIS__MSK   0X08
#define	BNO055_GYRO_HIGHRATE_X_AXIS__LEN   1
#define	BNO055_GYRO_HIGHRATE_X_AXIS__REG   GYRO_INTR_SETING_ADDR
#define	BNO055_GYRO_HIGHRATE_Y_AXIS__POS   4
#define	BNO055_GYRO_HIGHRATE_Y_AXIS__MSK   0X10
#define	BNO055_GYRO_HIGHRATE_Y_AXIS__LEN   1
#define	BNO055_GYRO_HIGHRATE_Y_AXIS__REG   GYRO_INTR_SETING_ADDR
#define	BNO055_GYRO_HIGHRATE_Z_AXIS__POS   5
#define	BNO055_GYRO_HIGHRATE_Z_AXIS__MSK   0X20
#define	BNO055_GYRO_HIGHRATE_Z_AXIS__LEN   1
#define	BNO055_GYRO_HIGHRATE_Z_AXIS__REG   GYRO_INTR_SETING_ADDR
#define	BNO055_GYRO_ANY_MOTION_FILTER__POS   6
#define	BNO055_GYRO_ANY_MOTION_FILTER__MSK   0X40
#define	BNO055_GYRO_ANY_MOTION_FILTER__LEN   1
#define	BNO055_GYRO_ANY_MOTION_FILTER__REG   GYRO_INTR_SETING_ADDR
#define	BNO055_GYRO_HIGHRATE_FILTER__POS   7
#define	BNO055_GYRO_HIGHRATE_FILTER__MSK   0X80
#define	BNO055_GYRO_HIGHRATE_FILTER__LEN   1
#define	BNO055_GYRO_HIGHRATE_FILTER__REG   GYRO_INTR_SETING_ADDR
#define	BNO055_GYRO_HIGHRATE_X_THRES__POS   0
#define	BNO055_GYRO_HIGHRATE_X_THRES__MSK   0X1F
#define	BNO055_GYRO_HIGHRATE_X_THRES__LEN   5
#define	BNO055_GYRO_HIGHRATE_X_THRES__REG   GYRO_HIGHRATE_X_SET_ADDR
#define	BNO055_GYRO_HIGHRATE_X_HYST__POS   5
#define	BNO055_GYRO_HIGHRATE_X_HYST__MSK   0X60
#define	BNO055_GYRO_HIGHRATE_X_HYST__LEN   2
#define	BNO055_GYRO_HIGHRATE_X_HYST__REG   GYRO_HIGHRATE_X_SET_ADDR
#define	BNO055_GYRO_HIGHRATE_X_DURN__POS   0
#define	BNO055_GYRO_HIGHRATE_X_DURN__MSK   0XFF
#define	BNO055_GYRO_HIGHRATE_X_DURN__LEN   8
#define	BNO055_GYRO_HIGHRATE_X_DURN__REG   GYRO_DURN_X_ADDR
#define	BNO055_GYRO_HIGHRATE_Y_THRES__POS   0
#define	BNO055_GYRO_HIGHRATE_Y_THRES__MSK   0X1F
#define	BNO055_GYRO_HIGHRATE_Y_THRES__LEN   5
#define	BNO055_GYRO_HIGHRATE_Y_THRES__REG   GYRO_HIGHRATE_Y_SET_ADDR
#define	BNO055_GYRO_HIGHRATE_Y_HYST__POS   5
#define	BNO055_GYRO_HIGHRATE_Y_HYST__MSK   0X60
#define	BNO055_GYRO_HIGHRATE_Y_HYST__LEN   2
#define	BNO055_GYRO_HIGHRATE_Y_HYST__REG   GYRO_HIGHRATE_Y_SET_ADDR
#define	BNO055_GYRO_HIGHRATE_Y_DURN__POS   0
#define	BNO055_GYRO_HIGHRATE_Y_DURN__MSK   0XFF
#define	BNO055_GYRO_HIGHRATE_Y_DURN__LEN   8
#define	BNO055_GYRO_HIGHRATE_Y_DURN__REG   GYRO_DURN_Y_ADDR
#define	BNO055_GYRO_HIGHRATE_Z_THRES__POS   0
#define	BNO055_GYRO_HIGHRATE_Z_THRES__MSK   0X1F
#define	BNO055_GYRO_HIGHRATE_Z_THRES__LEN   5
#define	BNO055_GYRO_HIGHRATE_Z_THRES__REG   GYRO_HIGHRATE_Z_SET_ADDR
#define	BNO055_GYRO_HIGHRATE_Z_HYST__POS   5
#define	BNO055_GYRO_HIGHRATE_Z_HYST__MSK   0X60
#define	BNO055_GYRO_HIGHRATE_Z_HYST__LEN   2
#define	BNO055_GYRO_HIGHRATE_Z_HYST__REG   GYRO_HIGHRATE_Z_SET_ADDR
#define	BNO055_GYRO_HIGHRATE_Z_DURN__POS   0
#define	BNO055_GYRO_HIGHRATE_Z_DURN__MSK   0XFF
#define	BNO055_GYRO_HIGHRATE_Z_DURN__LEN   8
#define	BNO055_GYRO_HIGHRATE_Z_DURN__REG   GYRO_DURN_Z_ADDR
#define	BNO055_GYRO_ANY_MOTION_THRES__POS   0
#define	BNO055_GYRO_ANY_MOTION_THRES__MSK   0X7F
#define	BNO055_GYRO_ANY_MOTION_THRES__LEN   7
#define	BNO055_GYRO_ANY_MOTION_THRES__REG   GYRO_ANY_MOTION_THRES_ADDR
#define	BNO055_GYRO_SLOPE_SAMPLES__POS   0
#define	BNO055_GYRO_SLOPE_SAMPLES__MSK   0X03
#define	BNO055_GYRO_SLOPE_SAMPLES__LEN   2
#define	BNO055_GYRO_SLOPE_SAMPLES__REG   GYRO_ANY_MOTION_SET_ADDR
#define	BNO055_GYRO_AWAKE_DURN__POS   2
#define	BNO055_GYRO_AWAKE_DURN__MSK   0X0C
#define	BNO055_GYRO_AWAKE_DURN__LEN   2
#define	BNO055_GYRO_AWAKE_DURN__REG   GYRO_ANY_MOTION_SET_ADDR
GET AND SET BITSLICE FUNCTIONS
#define	BNO055_GET_BITSLICE(regvar, bitname)   ((regvar & bitname##__MSK) >> bitname##__POS)
#define	BNO055_SET_BITSLICE(regvar, bitname, val)   ((regvar & ~bitname##__MSK) | ((val<<bitname##__POS)&bitname##__MSK))

Functions
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_accel_x_mg (double *v_accel_x_d)
	This API is used to convert the accel x raw data to millig output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_accel_x_msq (double *v_accel_x_d)
	This API is used to convert the accel x raw data to meterpersecseq output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_accel_xyz_mg (struct bno055_accel_double_t *accel_xyz)
	This API is used to convert the accel xyz raw data to millig output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_accel_xyz_msq (struct bno055_accel_double_t *accel_xyz)
	This API is used to convert the accel xyz raw data to meterpersecseq output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_accel_y_mg (double *v_accel_y_d)
	This API is used to convert the accel y raw data to millig output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_accel_y_msq (double *v_accel_y_d)
	This API is used to convert the accel y raw data to meterpersecseq output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_accel_z_mg (double *v_accel_z_d)
	This API is used to convert the accel z raw data to millig output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_accel_z_msq (double *v_accel_z_d)
	This API is used to convert the accel z raw data to meterpersecseq output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_euler_h_deg (double *v_euler_h_d)
	This API is used to convert the Euler h raw data to degree output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_euler_h_rad (double *v_euler_h_d)
	This API is used to convert the Euler h raw data to radians output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_euler_hpr_deg (struct bno055_euler_double_t *euler_hpr)
	This API is used to convert the Euler hpr raw data to degree output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_euler_hpr_rad (struct bno055_euler_double_t *euler_hpr)
	This API is used to convert the Euler hpr raw data to radians output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_euler_p_deg (double *v_euler_p_d)
	This API is used to convert the Euler p raw data to degree output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_euler_p_rad (double *v_euler_p_d)
	This API is used to convert the Euler p raw data to radians output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_euler_r_deg (double *v_euler_r_d)
	This API is used to convert the Euler r raw data to degree output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_euler_r_rad (double *v_euler_r_d)
	This API is used to convert the Euler r raw data to radians output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_gravity_xyz_msq (struct bno055_gravity_double_t *gravity_xyz)
	This API is used to convert the gravity xyz raw data to meterpersecseq output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_gyro_x_dps (double *v_gyro_x_d)
	This API is used to convert the gyro x raw data to dps output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_gyro_x_rps (double *v_gyro_x_d)
	This API is used to convert the gyro x raw data to rps output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_gyro_xyz_dps (struct bno055_gyro_double_t *gyro_xyz)
	This API is used to convert the gyro xyz raw data to dps output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_gyro_xyz_rps (struct bno055_gyro_double_t *gyro_xyz)
	This API is used to convert the gyro xyz raw data to rps output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_gyro_y_dps (double *v_gyro_y_d)
	This API is used to convert the gyro y raw data to dps output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_gyro_y_rps (double *v_gyro_y_d)
	This API is used to convert the gyro y raw data to rps output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_gyro_z_dps (double *v_gyro_z_d)
	This API is used to convert the gyro z raw data to dps output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_gyro_z_rps (double *v_gyro_z_d)
	This API is used to convert the gyro z raw data to rps output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_linear_accel_x_msq (double *v_linear_accel_x_d)
	This API is used to convert the linear accel x raw data to meterpersecseq output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_linear_accel_xyz_msq (struct bno055_linear_accel_double_t *linear_accel_xyz)
	This API is used to convert the linear accel xyz raw data to meterpersecseq output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_linear_accel_y_msq (double *v_linear_accel_y_d)
	This API is used to convert the linear accel y raw data to meterpersecseq output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_linear_accel_z_msq (double *v_linear_accel_z_d)
	This API is used to convert the linear accel z raw data to meterpersecseq output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_mag_x_uT (double *v_mag_x_d)
	This API is used to convert the mag x raw data to microTesla output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_mag_xyz_uT (struct bno055_mag_double_t *mag_xyz)
	This API is used to convert the mag yz raw data to microTesla output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_mag_y_uT (double *v_mag_y_d)
	This API is used to convert the mag y raw data to microTesla output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_mag_z_uT (double *v_mag_z_d)
	This API is used to convert the mag z raw data to microTesla output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_temp_celsius (double *v_temp_d)
	This API is used to convert the temperature data to Celsius output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_double_temp_fahrenheit (double *v_temp_d)
	This API is used to convert the temperature data to Fahrenheit output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_accel_x_mg (float *v_accel_x_f)
	This API is used to convert the accel x raw data to millig output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_accel_x_msq (float *v_accel_x_f)
	This API is used to convert the accel x raw data to meterpersecseq output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_accel_xyz_mg (struct bno055_accel_float_t *accel_xyz)
	This API is used to convert the accel xyz raw data to millig output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_accel_xyz_msq (struct bno055_accel_float_t *accel_xyz)
	This API is used to convert the accel xyz raw data to meterpersecseq output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_accel_y_mg (float *v_accel_y_f)
	This API is used to convert the accel y raw data to millig output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_accel_y_msq (float *v_accel_y_f)
	This API is used to convert the accel x raw data to meterpersecseq output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_accel_z_mg (float *v_accel_z_f)
	This API is used to convert the accel z raw data to millig output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_accel_z_msq (float *v_accel_z_f)
	This API is used to convert the accel z raw data to meterpersecseq output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_euler_h_deg (float *v_euler_h_f)
	This API is used to convert the Euler h raw data to degree output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_euler_h_rad (float *v_euler_h_f)
	This API is used to convert the Euler h raw data to radians output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_euler_hpr_deg (struct bno055_euler_float_t *euler_hpr)
	This API is used to convert the Euler hrp raw data to degree output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_euler_hpr_rad (struct bno055_euler_float_t *euler_hpr)
	This API is used to convert the Euler xyz raw data to radians output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_euler_p_deg (float *v_euler_p_f)
	This API is used to convert the Euler p raw data to degree output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_euler_p_rad (float *v_euler_p_f)
	This API is used to convert the Euler p raw data to radians output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_euler_r_deg (float *v_euler_r_f)
	This API is used to convert the Euler r raw data to degree output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_euler_r_rad (float *v_euler_r_f)
	This API is used to convert the Euler r raw data to radians output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_gravity_xyz_msq (struct bno055_gravity_float_t *gravity_xyz)
	This API is used to convert the gravity xyz raw data to meterpersecseq output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_gyro_x_dps (float *v_gyro_x_f)
	This API is used to convert the gyro x raw data to dps output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_gyro_x_rps (float *v_gyro_x_f)
	This API is used to convert the gyro x raw data to rps output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_gyro_xyz_dps (struct bno055_gyro_float_t *gyro_xyz_data)
	This API is used to convert the gyro xyz raw data to dps output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_gyro_xyz_rps (struct bno055_gyro_float_t *gyro_xyz_data)
	This API is used to convert the gyro xyz raw data to rps output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_gyro_y_dps (float *v_gyro_y_f)
	This API is used to convert the gyro y raw data to dps output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_gyro_y_rps (float *v_gyro_y_f)
	This API is used to convert the gyro y raw data to rps output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_gyro_z_dps (float *v_gyro_z_f)
	This API is used to convert the gyro z raw data to dps output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_gyro_z_rps (float *v_gyro_z_f)
	This API is used to convert the gyro z raw data to rps output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_linear_accel_x_msq (float *v_linear_accel_x_f)
	This API is used to convert the linear accel x raw data to meterpersecseq output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_linear_accel_xyz_msq (struct bno055_linear_accel_float_t *linear_accel_xyz)
	This API is used to convert the linear accel xyz raw data to meterpersecseq output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_linear_accel_y_msq (float *v_linear_accel_y_f)
	This API is used to convert the linear accel y raw data to meterpersecseq output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_linear_accel_z_msq (float *v_linear_accel_z_f)
	This API is used to convert the linear accel z raw data to meterpersecseq output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_mag_x_uT (float *v_mag_x_f)
	This API is used to convert the mag x raw data to microTesla output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_mag_xyz_uT (struct bno055_mag_float_t *mag_xyz_data)
	This API is used to convert the mag yz raw data to microTesla output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_mag_y_uT (float *v_mag_y_f)
	This API is used to convert the mag y raw data to microTesla output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_mag_z_uT (float *v_mag_z_f)
	This API is used to convert the mag z raw data to microTesla output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_temp_celsius (float *v_temp_f)
	This API is used to convert the temperature data to Celsius output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_float_temp_fahrenheit (float *v_temp_f)
	This API is used to convert the temperature data to Fahrenheit output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_gravity_double_x_msq (double *v_gravity_x_d)
	This API is used to convert the gravity x raw data to meterpersecseq output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_gravity_double_y_msq (double *v_gravity_y_d)
	This API is used to convert the gravity y raw data to meterpersecseq output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_gravity_double_z_msq (double *v_gravity_z_d)
	This API is used to convert the gravity z raw data to meterpersecseq output as double. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_gravity_float_x_msq (float *v_gravity_x_f)
	This API is used to convert the gravity x raw data to meterpersecseq output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_gravity_float_y_msq (float *v_gravity_y_f)
	This API is used to convert the gravity y raw data to meterpersecseq output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_convert_gravity_float_z_msq (float *v_gravity_z_f)
	This API is used to convert the gravity z raw data to meterpersecseq output as float. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_accel_any_motion_durn (u8 *v_accel_any_motion_durn_u8)
	This API used to read the accel anymotion duration from page one register from 0x12 bit 0 to 1. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_accel_any_motion_no_motion_axis_enable (u8 v_channel_u8, u8 *v_data_u8)
	This API used to read the accel anymotion enable from page one register from 0x12 bit 2 to 4. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_accel_any_motion_thres (u8 *v_accel_any_motion_thres_u8)
	This API used to read the accel any motion threshold from page one register from 0x11 bit 0 to 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_accel_bw (u8 *v_accel_bw_u8)
	This API used to read the accel bandwidth from page one register from 0x08 bit 2 to 4. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_accel_calib_stat (u8 *v_accel_calib_u8)
	This API used to read accel calibration status from register from 0x35 bit 2 and 3. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_accel_high_g_axis_enable (u8 v_channel_u8, u8 *v_data_u8)
	This API used to read the accel highg enable from page one register from 0x12 bit 5 to 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_accel_high_g_durn (u8 *v_accel_high_g_durn_u8)
	This API used to read the accel highg duration from page one register from 0x13 bit 0 to 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_accel_high_g_thres (u8 *v_accel_high_g_thres_u8)
	This API used to read the accel highg threshold from page one register from 0x14 bit 0 to 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_accel_power_mode (u8 *v_accel_power_mode_u8)
	This API used to read the accel power mode from page one register from 0x08 bit 5 to 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_accel_range (u8 *v_accel_range_u8)
	This API used to read the accel range from page one register from 0x08 bit 0 and 1. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_accel_sleep_durn (u8 *v_sleep_durn_u8)
	This API used to read the accel sleep duration from page one register from 0x0C bit 1 to 4. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_accel_sleep_tmr_mode (u8 *v_sleep_tmr_u8)
	This API used to read the accel sleep mode from page one register from 0x0C bit 0. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_accel_slow_no_motion_durn (u8 *v_accel_slow_no_motion_durn_u8)
	This API used to read accel slownomotion duration from page one register from 0x16 bit 1 to 6. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_accel_slow_no_motion_enable (u8 *v_accel_slow_no_motion_en_u8)
	This API used to read accel slownomotion enable from page one register from 0x16 bit 0. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_accel_slow_no_motion_thres (u8 *v_accel_slow_no_motion_thres_u8)
	This API used to read the accel slownomotion threshold from page one register from 0x15 bit 0 to 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_accel_unit (u8 *v_accel_unit_u8)
	This API used to read the accel unit from register from 0x3B bit 0. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_axis_remap_value (u8 *v_remap_axis_u8)
	This API used to read the axis remap value from register from 0x41 bit 0 and 5. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_clk_src (u8 *v_clk_src_u8)
	This API used to read the clk source from register from 0x3F bit 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_data_output_format (u8 *v_data_output_format_u8)
	This API used to read the current selected orientation mode from register from 0x3B bit 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_euler_unit (u8 *v_euler_unit_u8)
	This API used to read the Euler unit from register from 0x3B bit 2. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_gyro_any_motion_awake_durn (u8 *v_gyro_awake_durn_u8)
	This API used to read gyro anymotion awake duration from page one register from 0x1F bit 2 to 3. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_gyro_any_motion_axis_enable (u8 v_channel_u8, u8 *v_data_u8)
	This API used to read the gyro anymotion enable from page one register from 0x17 bit 0 to 2. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_gyro_any_motion_filter (u8 *v_gyro_any_motion_filter_u8)
	This API used to read gyro anymotion filter from page one register from 0x17 bit 6. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_gyro_any_motion_slope_samples (u8 *v_gyro_any_motion_slope_samples_u8)
	This API used to read gyro anymotion slope samples from page one register from 0x1F bit 0 to 1. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_gyro_any_motion_thres (u8 *v_gyro_any_motion_thres_u8)
	This API used to read gyro anymotion threshold from page one register from 0x1E bit 0 to 6. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_gyro_auto_sleep_durn (u8 *v_auto_sleep_durn_u8)
	This API used to read the gyro auto sleep duration from page one register from 0x0D bit 3 to 5. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_gyro_bw (u8 *v_gyro_bw_u8)
	This API used to read the gyro bandwidth from page one register from 0x0A bit 3 to 5. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_gyro_calib_stat (u8 *v_gyro_calib_u8)
	This API used to read gyro calibration status from register from 0x35 bit 4 and 5. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_gyro_highrate_axis_enable (u8 v_channel_u8, u8 *v_data_u8)
	This API used to read the gyro highrate enable from page one register from 0x17 bit 3 to 5. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_gyro_highrate_filter (u8 *v_gyro_highrate_filter_u8)
	This API used to read gyro highrate filter from page one register from 0x17 bit 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_gyro_highrate_x_durn (u8 *v_gyro_highrate_x_durn_u8)
	This API used to read gyro highrate x duration from page one register from 0x19 bit 0 to 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_gyro_highrate_x_hyst (u8 *v_gyro_highrate_x_hyst_u8)
	This API used to read gyro highrate x hysteresis from page one register from 0x18 bit 5 to 6. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_gyro_highrate_x_thres (u8 *v_gyro_highrate_x_thres_u8)
	This API used to read gyro highrate x threshold from page one register from 0x18 bit 0 to 4. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_gyro_highrate_y_durn (u8 *v_gyro_highrate_y_durn_u8)
	This API used to read gyro highrate y duration from page one register from 0x1B bit 0 to 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_gyro_highrate_y_hyst (u8 *v_gyro_highrate_y_hyst_u8)
	This API used to read gyro highrate y hysteresis from page one register from 0x1A bit 5 to 6. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_gyro_highrate_y_thres (u8 *v_gyro_highrate_y_thres_u8)
	This API used to read gyro highrate y threshold from page one register from 0x1A bit 0 to 4. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_gyro_highrate_z_durn (u8 *v_gyro_highrate_z_durn_u8)
	This API used to read gyro highrate z duration from page one register from 0x1D bit 0 to 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_gyro_highrate_z_hyst (u8 *v_gyro_highrate_z_hyst_u8)
	This API used to read gyro highrate z hysteresis from page one register from 0x1C bit 5 to 6. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_gyro_highrate_z_thres (u8 *v_gyro_highrate_z_thres_u8)
	This API used to read gyro highrate z threshold from page one register from 0x1C bit 0 to 4. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_gyro_power_mode (u8 *v_gyro_power_mode_u8)
	This API used to read the gyro power mode from page one register from 0x0B bit 0 to 2. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_gyro_range (u8 *v_gyro_range_u8)
	This API used to read the gyro range from page one register from 0x0A bit 0 to 3. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_gyro_sleep_durn (u8 *v_sleep_durn_u8)
	This API used to write the gyro sleep duration from page one register from 0x0D bit 0 to 2. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_gyro_unit (u8 *v_gyro_unit_u8)
	This API used to read the gyro unit from register from 0x3B bit 1. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_intr_accel_any_motion (u8 *v_accel_any_motion_u8)
	This API used to read the accel anymotion interrupt from page one register from 0x10 bit 6. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_intr_accel_high_g (u8 *v_accel_high_g_u8)
	This API used to read the accel highg interrupt from page one register from 0x10 bit 5. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_intr_accel_no_motion (u8 *v_accel_nomotion_u8)
	This API used to read the accel nomotion interrupt from page one register from 0x10 bit 6. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_intr_gyro_any_motion (u8 *v_gyro_any_motion_u8)
	This API used to read the gyro anymotion interrupt from page one register from 0x10 bit 2. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_intr_gyro_highrate (u8 *v_gyro_highrate_u8)
	This API used to read the gyro highrate interrupt from page one register from 0x10 bit 3. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_intr_mask_accel_any_motion (u8 *v_accel_any_motion_u8)
	This API used to read the accel anymotion interrupt mask from page one register from 0x0F bit 6. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_intr_mask_accel_high_g (u8 *v_accel_high_g_u8)
	This API used to read the accel highg interrupt mask from page one register from 0x0F bit 5. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_intr_mask_accel_no_motion (u8 *v_accel_nomotion_u8)
	This API used to read the accel nomotion interrupt mask from page one register from 0x0F bit 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_intr_mask_gyro_any_motion (u8 *v_gyro_any_motion_u8)
	This API used to read the gyro anymotion interrupt mask from page one register from 0x0F bit 2. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_intr_mask_gyro_highrate (u8 *v_gyro_highrate_u8)
	This API used to read the gyro highrate interrupt mask from page one register from 0x0F bit 3. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_intr_rst (u8 *v_intr_rst_u8)
	This API used to read the reset interrupt from register from 0x3F bit 6 It resets all the interrupt bit and interrupt output. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_intr_stat_accel_any_motion (u8 *v_accel_any_motion_u8)
	This API used to read the v_stat_s8 of accel anymotion interrupt from register from 0x37 bit 6. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_intr_stat_accel_high_g (u8 *v_accel_high_g_u8)
	This API used to read the v_stat_s8 of accel highg interrupt from register from 0x37 bit 5. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_intr_stat_accel_no_motion (u8 *v_accel_no_motion_u8)
	This API used to read the v_stat_s8 of accel nomotion/slowmotion interrupt from register from 0x37 bit 6. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_intr_stat_gyro_any_motion (u8 *v_gyro_any_motion_u8)
	This API used to read the v_stat_s8 of gyro anymotion interrupt from register from 0x37 bit 2. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_intr_stat_gyro_highrate (u8 *v_gyro_highrate_u8)
	This API used to read the v_stat_s8 of gyro highrate interrupt from register from 0x37 bit 3. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_mag_calib_stat (u8 *v_mag_calib_u8)
	This API used to read mag calibration status from register from 0x35 bit 0 and 1. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_mag_data_output_rate (u8 *v_mag_data_output_rate_u8)
	This API used to read the mag output data rate from page one register from 0x09 bit 0 to 2. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_mag_operation_mode (u8 *v_mag_operation_mode_u8)
	This API used to read the mag operation mode from page one register from 0x09 bit 3 to 4. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_mag_power_mode (u8 *v_mag_power_mode_u8)
	This API used to read the mag power mode from page one register from 0x09 bit 4 to 6. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_mag_sleep_durn (u8 *v_sleep_durn_u8)
	This API used to read the mag sleep duration from page one register from 0x0E bit 1 to 4. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_mag_sleep_mode (u8 *v_sleep_mode_u8)
	This API used to read the mag sleep mode from page one register from 0x0E bit 0. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_operation_mode (u8 *v_operation_mode_u8)
	This API used to read the operation mode from register from 0x3D bit 0 to 3. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_power_mode (u8 *v_power_mode_u8)
	This API used to read the power mode from register from 0x3E bit 0 to 1. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_remap_x_sign (u8 *v_remap_x_sign_u8)
	This API used to read the x-axis remap sign from register from 0x42 bit 2. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_remap_y_sign (u8 *v_remap_y_sign_u8)
	This API used to read the y-axis remap sign from register from 0x42 bit 1. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_remap_z_sign (u8 *v_remap_z_sign_u8)
	This API used to read the z-axis remap sign from register from 0x42 bit 0. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_selftest (u8 *v_selftest_u8)
	This API used to read the self test from register from 0x3F bit 0. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_selftest_accel (u8 *v_selftest_accel_u8)
	This API used to read self test of accel from register from 0x36 bit 0. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_selftest_gyro (u8 *v_selftest_gyro_u8)
	This API used to read self test of gyro from register from 0x36 bit 2. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_selftest_mag (u8 *v_selftest_mag_u8)
	This API used to read self test of mag from register from 0x36 bit 1. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_selftest_mcu (u8 *v_selftest_mcu_u8)
	This API used to read self test of micro controller from register from 0x36 bit 3. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_stat_main_clk (u8 *v_stat_main_clk_u8)
	This API is used to read status of main clock from the register 0x38 bit 0. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_sys_calib_stat (u8 *v_sys_calib_u8)
	This API used to read system calibration status from register from 0x35 bit 6 and 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_sys_error_code (u8 *v_sys_error_u8)
	This API is used to read system error code from the register 0x3A it is a byte of data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_sys_rst (u8 *v_sys_rst_u8)
	This API used to read the reset system from register from 0x3F bit 5. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_sys_stat_code (u8 *v_sys_stat_u8)
	This API is used to read system status code from the register 0x39 it is a byte of data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_temp_source (u8 *v_temp_source_u8)
	This API used to read the temperature source from register from 0x40 bit 0 and 1. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_temp_unit (u8 *v_temp_unit_u8)
	This API used to read the temperature unit from register from 0x3B bit 4. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_get_tilt_unit (u8 *v_tilt_unit_u8)
	This API used to write the tilt unit from register from 0x3B bit 3. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_gyro_set_auto_sleep_durn (u8 v_auto_sleep_durn_u8, u8 bw)
	This API used to write the gyro auto sleep duration from page one register from 0x0D bit 3 to 5. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_init (struct bno055_t *bno055)
	This function is used for initialize bus read, bus write function pointers,device address,accel revision id, gyro revision id mag revision id, software revision id, boot loader revision id and page id. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_accel_offset (struct bno055_accel_offset_t *accel_offset)
	This API is used to read accel offset and accel radius offset form register 0x55 to 0x5A and radius form 0x67 and 0x68. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_accel_rev_id (u8 *v_accel_rev_id_u8)
	This API reads accel revision id from register 0x01 it is a byte of value. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_accel_x (s16 *v_accel_x_s16)
	This API reads acceleration data X values from register 0x08 and 0x09 it is a two byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_accel_xyz (struct bno055_accel_t *accel)
	This API reads acceleration data xyz values from register 0x08 to 0x0D it is a six byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_accel_y (s16 *v_accel_y_s16)
	This API reads acceleration data Y values from register 0x0A and 0x0B it is a two byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_accel_z (s16 *v_accel_z_s16)
	This API reads acceleration data z values from register 0x0C and 0x0D it is a two byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_bl_rev_id (u8 *v_bl_rev_id_u8)
	This API used to read boot loader revision id from register 0x06 it is a byte of value. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_chip_id (u8 *v_chip_id_u8)
	This API reads chip id from register 0x00 it is a byte of data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_euler_h (s16 *v_euler_h_s16)
	This API reads gyro data z values from register 0x1A and 0x1B it is a two byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_euler_hrp (struct bno055_euler_t *euler)
	This API reads Euler data hrp values from register 0x1A to 0x1F it is a six byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_euler_p (s16 *v_euler_p_s16)
	This API reads Euler data p values from register 0x1E and 0x1F it is a two byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_euler_r (s16 *v_euler_r_s16)
	This API reads Euler data r values from register 0x1C and 0x1D it is a two byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_gravity_x (s16 *v_gravity_x_s16)
	This API reads gravity data x values from register 0x2E and 0x2F it is a two byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_gravity_xyz (struct bno055_gravity_t *gravity)
	This API reads gravity data xyz values from register 0x2E to 0x33 it is a six byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_gravity_y (s16 *v_gravity_y_s16)
	This API reads gravity data y values from register 0x30 and 0x31 it is a two byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_gravity_z (s16 *v_gravity_z_s16)
	This API reads gravity data z values from register 0x32 and 0x33 it is a two byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_gyro_offset (struct bno055_gyro_offset_t *gyro_offset)
	This API is used to read gyro offset offset form register 0x61 to 0x66. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_gyro_rev_id (u8 *v_gyro_rev_id_u8)
	This API reads gyro revision id from register 0x03 it is a byte of value. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_gyro_x (s16 *v_gyro_x_s16)
	This API reads gyro data x values from register 0x14 and 0x15 it is a two byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_gyro_xyz (struct bno055_gyro_t *gyro)
	This API reads gyro data xyz values from register 0x14 to 0x19 it is a six byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_gyro_y (s16 *v_gyro_y_s16)
	This API reads gyro data y values from register 0x16 and 0x17 it is a two byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_gyro_z (s16 *v_gyro_z_s16)
	This API reads gyro data z values from register 0x18 and 0x19 it is a two byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_linear_accel_x (s16 *v_linear_accel_x_s16)
	This API reads Linear accel data x values from register 0x29 and 0x2A it is a two byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_linear_accel_xyz (struct bno055_linear_accel_t *linear_accel)
	This API reads Linear accel data xyz values from register 0x28 to 0x2D it is a six byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_linear_accel_y (s16 *v_linear_accel_y_s16)
	This API reads Linear accel data x values from register 0x2B and 0x2C it is a two byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_linear_accel_z (s16 *v_linear_accel_z_s16)
	This API reads Linear accel data x values from register 0x2C and 0x2D it is a two byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_mag_offset (struct bno055_mag_offset_t *mag_offset)
	This API is used to read mag offset offset form register 0x69 to 0x6A. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_mag_rev_id (u8 *v_mag_rev_id_u8)
	This API reads mag revision id from register 0x02 it is a byte of value. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_mag_x (s16 *v_mag_x_s16)
	This API reads mag data x values from register 0x0E and 0x0F it is a two byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_mag_xyz (struct bno055_mag_t *mag)
	This API reads mag data xyz values from register 0x0E to 0x13 it is a six byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_mag_y (s16 *v_mag_y_s16)
	This API reads mag data y values from register 0x10 and 0x11 it is a two byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_mag_z (s16 *v_mag_z_s16)
	This API reads mag data z values from register 0x12 and 0x13 it is a two byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_page_id (u8 *v_page_id_u8)
	This API reads page id from register 0x07 it is a byte of data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_quaternion_w (s16 *v_quaternion_w_s16)
	This API reads quaternion data w values from register 0x20 and 0x21 it is a two byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_quaternion_wxyz (struct bno055_quaternion_t *quaternion)
	This API reads Quaternion data wxyz values from register 0x20 to 0x27 it is a six byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_quaternion_x (s16 *v_quaternion_x_s16)
	This API reads quaternion data x values from register 0x22 and 0x23 it is a two byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_quaternion_y (s16 *v_quaternion_y_s16)
	This API reads quaternion data y values from register 0x24 and 0x25 it is a two byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_quaternion_z (s16 *v_quaternion_z_s16)
	This API reads quaternion data z values from register 0x26 and 0x27 it is a two byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_register (u8 v_addr_u8, u8 *p_data_u8, u8 v_len_u8)
	This API reads the data from the given register address. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_sic_matrix (struct bno055_sic_matrix_t *sic_matrix)
	This API is used to read soft iron calibration matrix from the register 0x43 to 0x53 it is a 18 bytes of data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_sw_rev_id (u16 *v_sw_id_u8)
	This API reads software revision id from register 0x04 and 0x05 it is a two byte of data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_read_temp_data (s8 *v_temp_s8)
	This API reads temperature values from register 0x33 it is a byte data. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_accel_any_motion_durn (u8 v_accel_any_motion_durn_u8)
	This API used to write the accel anymotion duration from page one register from 0x12 bit 0 to 1. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_accel_any_motion_no_motion_axis_enable (u8 v_channel_u8, u8 v_data_u8)
	This API used to write the accel anymotion enable from page one register from 0x12 bit 2 to 4. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_accel_any_motion_thres (u8 v_accel_any_motion_thres_u8)
	This API used to write the accel any motion threshold from page one register from 0x11 bit 0 to 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_accel_bw (u8 v_accel_bw_u8)
	This API used to write the accel bandwidth from page one register from 0x08 bit 2 to 4. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_accel_high_g_axis_enable (u8 v_channel_u8, u8 v_data_u8)
	This API used to write the accel highg enable from page one register from 0x12 bit 5 to 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_accel_high_g_durn (u8 v_accel_high_g_durn_u8)
	This API used to write the accel highg duration from page one register from 0x13 bit 0 to 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_accel_high_g_thres (u8 v_accel_high_g_thres_u8)
	This API used to write the accel highg threshold from page one register from 0x14 bit 0 to 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_accel_power_mode (u8 v_accel_power_mode_u8)
	This API used to write the accel power mode from page one register from 0x08 bit 5 to 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_accel_range (u8 v_accel_range_u8)
	This API used to write the accel range from page one register from 0x08 bit 0 and 1. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_accel_sleep_durn (u8 v_sleep_durn_u8)
	This API used to write the accel sleep duration from page one register from 0x0C bit 1 to 4. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_accel_sleep_tmr_mode (u8 v_sleep_tmr_u8)
	This API used to write the accel sleep mode from page one register from 0x0C bit 0. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_accel_slow_no_motion_durn (u8 v_accel_slow_no_motion_durn_u8)
	This API used to write accel slownomotion duration from page one register from 0x16 bit 1 to 6. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_accel_slow_no_motion_enable (u8 v_accel_slow_no_motion_en_u8)
	This API used to write accel slownomotion enable from page one register from 0x16 bit 0. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_accel_slow_no_motion_thres (u8 v_accel_slow_no_motion_thres_u8)
	This API used to write the accel slownomotion threshold from page one register from 0x15 bit 0 to 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_accel_unit (u8 v_accel_unit_u8)
	This API used to write the accel unit from register from 0x3B bit 0. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_axis_remap_value (u8 v_remap_axis_u8)
	This API used to write the axis remap value from register from 0x41 bit 0 and 5. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_clk_src (u8 v_clk_src_u8)
	This API used to write the clk source from register from 0x3F bit 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_data_output_format (u8 v_data_output_format_u8)
	This API used to write the current selected orientation mode from register from 0x3B bit 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_euler_unit (u8 v_euler_unit_u8)
	This API used to write the Euler unit from register from 0x3B bit 2. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_gyro_any_motion_awake_durn (u8 v_gyro_awake_durn_u8)
	This API used to write gyro anymotion awake duration from page one register from 0x1F bit 2 to 3. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_gyro_any_motion_axis_enable (u8 v_channel_u8, u8 v_data_u8)
	This API used to write the gyro anymotion enable from page one register from 0x17 bit 0 to 2. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_gyro_any_motion_filter (u8 v_gyro_any_motion_filter_u8)
	This API used to write gyro anymotion filter from page one register from 0x17 bit 6. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_gyro_any_motion_slope_samples (u8 v_gyro_any_motion_slope_samples_u8)
	This API used to write gyro anymotion slope samples from page one register from 0x1F bit 0 to 1. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_gyro_any_motion_thres (u8 v_gyro_any_motion_thres_u8)
	This API used to write gyro anymotion threshold from page one register from 0x1E bit 0 to 6. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_gyro_bw (u8 v_gyro_bw_u8)
	This API used to write the gyro bandwidth from page one register from 0x0A bit 3 to 5. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_gyro_highrate_axis_enable (u8 v_channel_u8, u8 v_data_u8)
	This API used to write the gyro highrate enable from page one register from 0x17 bit 3 to 5. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_gyro_highrate_filter (u8 v_gyro_highrate_filter_u8)
	This API used to write gyro highrate filter from page one register from 0x17 bit 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_gyro_highrate_x_durn (u8 v_gyro_highrate_x_durn_u8)
	This API used to write gyro highrate x duration from page one register from 0x19 bit 0 to 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_gyro_highrate_x_hyst (u8 v_gyro_highrate_x_hyst_u8)
	This API used to write gyro highrate x hysteresis from page one register from 0x18 bit 5 to 6. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_gyro_highrate_x_thres (u8 v_gyro_highrate_x_thres_u8)
	This API used to write gyro highrate x threshold from page one register from 0x18 bit 0 to 4. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_gyro_highrate_y_durn (u8 v_gyro_highrate_y_durn_u8)
	This API used to write gyro highrate y duration from page one register from 0x1B bit 0 to 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_gyro_highrate_y_hyst (u8 v_gyro_highrate_y_hyst_u8)
	This API used to write gyro highrate y hysteresis from page one register from 0x1A bit 5 to 6. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_gyro_highrate_y_thres (u8 v_gyro_highrate_y_thres_u8)
	This API used to write gyro highrate y threshold from page one register from 0x1A bit 0 to 4. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_gyro_highrate_z_durn (u8 v_gyro_highrate_z_durn_u8)
	This API used to write gyro highrate z duration from page one register from 0x1D bit 0 to 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_gyro_highrate_z_hyst (u8 v_gyro_highrate_z_hyst_u8)
	This API used to write gyro highrate z hysteresis from page one register from 0x1C bit 5 to 6. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_gyro_highrate_z_thres (u8 v_gyro_highrate_z_thres_u8)
	This API used to write gyro highrate z threshold from page one register from 0x1C bit 0 to 4. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_gyro_power_mode (u8 v_gyro_power_mode_u8)
	This API used to write the gyro power mode from page one register from 0x0B bit 0 to 2. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_gyro_range (u8 v_gyro_range_u8)
	This API used to write the gyro range from page one register from 0x0A bit 0 to 3. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_gyro_sleep_durn (u8 v_sleep_durn_u8)
	This API used to write the gyro sleep duration from page one register from 0x0D bit 0 to 2. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_gyro_unit (u8 v_gyro_unit_u8)
	This API used to write the gyro unit from register from 0x3B bit 1. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_intr_accel_any_motion (u8 v_accel_any_motion_u8)
	This API used to write the accel anymotion interrupt from page one register from 0x10 bit 6. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_intr_accel_high_g (u8 v_accel_high_g_u8)
	This API used to write the accel highg interrupt from page one register from 0x10 bit 5. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_intr_accel_no_motion (u8 v_accel_nomotion_u8)
	This API used to write the accel nomotion interrupt from page one register from 0x10 bit 6. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_intr_gyro_any_motion (u8 v_gyro_any_motion_u8)
	This API used to write the gyro anymotion interrupt from page one register from 0x10 bit 2. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_intr_gyro_highrate (u8 v_gyro_highrate_u8)
	This API used to write the gyro highrate interrupt from page one register from 0x10 bit 3. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_intr_mask_accel_any_motion (u8 v_accel_any_motion_u8)
	This API used to write the accel anymotion interrupt mask from page one register from 0x0F bit 6. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_intr_mask_accel_high_g (u8 v_accel_high_g_u8)
	This API used to write the accel highg interrupt mask from page one register from 0x0F bit 5. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_intr_mask_accel_no_motion (u8 v_accel_nomotion_u8)
	This API used to write the accel nomotion interrupt mask from page one register from 0x0F bit 7. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_intr_mask_gyro_any_motion (u8 v_gyro_any_motion_u8)
	This API used to write the gyro anymotion interrupt mask from page one register from 0x0F bit 2. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_intr_mask_gyro_highrate (u8 v_gyro_highrate_u8)
	This API used to write the gyro highrate interrupt mask from page one register from 0x0F bit 3. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_intr_rst (u8 v_intr_rst_u8)
	This API used to write the reset interrupt from register from 0x3F bit 6 It resets all the interrupt bit and interrupt output. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_mag_data_output_rate (u8 v_mag_data_output_rate_u8)
	This API used to write the mag output data rate from page one register from 0x09 bit 0 to 2. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_mag_operation_mode (u8 v_mag_operation_mode_u8)
	This API used to write the mag operation mode from page one register from 0x09 bit 3 to 4. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_mag_power_mode (u8 v_mag_power_mode_u8)
	This API used to write the mag power mode from page one register from 0x09 bit 4 to 6. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_mag_sleep_durn (u8 v_sleep_durn_u8)
	This API used to write the mag sleep duration from page one register from 0x0E bit 1 to 4. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_mag_sleep_mode (u8 v_sleep_mode_u8)
	This API used to write the mag sleep mode from page one register from 0x0E bit 0. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_operation_mode (u8 v_operation_mode_u8)
	This API used to write the operation mode from register from 0x3D bit 0 to 3. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_power_mode (u8 v_power_mode_u8)
	This API used to write the power mode from register from 0x3E bit 0 to 1. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_remap_x_sign (u8 v_remap_x_sign_u8)
	This API used to write the x-axis remap sign from register from 0x42 bit 2. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_remap_y_sign (u8 v_remap_y_sign_u8)
	This API used to write the y-axis remap sign from register from 0x42 bit 1. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_remap_z_sign (u8 v_remap_z_sign_u8)
	This API used to write the z-axis remap sign from register from 0x42 bit 0. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_selftest (u8 v_selftest_u8)
	This API used to write the self test from register from 0x3F bit 0. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_sys_rst (u8 v_sys_rst_u8)
	This API used to write the reset system from register from 0x3F bit 5. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_temp_source (u8 v_temp_source_u8)
	This API used to write the temperature source from register from 0x40 bit 0 and 1. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_temp_unit (u8 v_temp_unit_u8)
	This API used to write the temperature unit from register from 0x3B bit 4. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_set_tilt_unit (u8 v_tilt_unit_u8)
	This API used to write the tilt unit from register from 0x3B bit 3. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_write_accel_offset (struct bno055_accel_offset_t *accel_offset)
	This API is used to write accel offset and accel radius offset form register 0x55 to 0x5A and radius form 0x67 and 0x68. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_write_gyro_offset (struct bno055_gyro_offset_t *gyro_offset)
	This API is used to read gyro offset offset form register 0x61 to 0x66. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_write_mag_offset (struct bno055_mag_offset_t *mag_offset)
	This API is used to read mag offset offset form register 0x69 to 0x6A. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_write_page_id (u8 v_page_id_u8)
	This API used to write the page id register 0x07. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_write_register (u8 v_addr_u8, u8 *p_data_u8, u8 v_len_u8)
	This API gives data to the given register and the data is written in the corresponding register address. More...
BNO055_RETURN_FUNCTION_TYPE	bno055_write_sic_matrix (struct bno055_sic_matrix_t *sic_matrix)
	This API is used to write soft iron calibration matrix from the register 0x43 to 0x53 it is a 18 bytes of data. More...

Variables
static struct bno055_t *	p_bno055

DATA TYPES INCLUDES
#define	MACHINE_32_BIT
	The following definition uses for define the data types. More...
typedef signed char	s8
	If your machine support 16 bit define the MACHINE_16_BIT. More...
typedef signed short int	s16
	used for signed 16bit More...
typedef signed int	s32
	used for signed 32bit More...
typedef signed long long int	s64
	used for signed 64bit More...
typedef unsigned char	u8
	used for unsigned 8bit More...
typedef unsigned short int	u16
	used for unsigned 16bit More...
typedef unsigned int	u32
	used for unsigned 32bit More...
typedef unsigned long long int	u64
	used for unsigned 64bit More...

#define ACCEL_ANY_MOTION_THRES_ADDR   0X11

#define ACCEL_BW_1000HZ   0X07

#define ACCEL_BW_125HZ   0X04

#define ACCEL_BW_15_63HZ   0x01

#define ACCEL_BW_250HZ   0X05

#define ACCEL_BW_31_25HZ   0x02

#define ACCEL_BW_500HZ   0X06

#define ACCEL_BW_62_5HZ   0X03

#define ACCEL_BW_7_81HZ   0x00

#define ACCEL_CONFIG_ADDR   0X08

#define ACCEL_DEEPSUSPEND   0X05

#define ACCEL_DIV_MG   1

#define ACCEL_DIV_MSQ   100.0

#define ACCEL_HIGH_G_DURN_ADDR   0X13

#define ACCEL_HIGH_G_THRES_ADDR   0X14

#define ACCEL_INTR_SETTINGS_ADDR   0X12

#define ACCEL_LOWPOWER_1   0X02

#define ACCEL_LOWPOWER_2   0X04

#define ACCEL_NO_MOTION_SET_ADDR   0X16

#define ACCEL_NO_MOTION_THRES_ADDR   0X15

#define ACCEL_NORMAL   0X00

#define ACCEL_OFFSET_X_LSB_ADDR   0X55

#define ACCEL_OFFSET_X_MSB_ADDR   0X56

#define ACCEL_OFFSET_Y_LSB_ADDR   0X57

#define ACCEL_OFFSET_Y_MSB_ADDR   0X58

#define ACCEL_OFFSET_Z_LSB_ADDR   0X59

#define ACCEL_OFFSET_Z_MSB_ADDR   0X5A

#define ACCEL_RADIUS_LSB_ADDR   0X67

#define ACCEL_RADIUS_MSB_ADDR   0X68

#define ACCEL_RANGE_16G   0X03

#define ACCEL_RANGE_2G   0X00

#define ACCEL_RANGE_4G   0X01

#define ACCEL_RANGE_8G   0X02

#define ACCEL_SLEEP_CONFIG_ADDR   0X0C

#define ACCEL_STANDBY   0X03

#define ACCEL_SUSPEND   0X01

#define ACCEL_TEMP_EN   0x00

#define ACCEL_UNIT_MG   0x01

#define ACCEL_UNIT_MSQ   0x00

#define ARRAY_SIZE_EIGHT   8

#define ARRAY_SIZE_EIGHTEEN   18

#define ARRAY_SIZE_FIVE   5

#define ARRAY_SIZE_FOURTEEN   14

#define ARRAY_SIZE_SIX   6

#define ARRAY_SIZE_THREE   3

#define ARRAY_SIZE_TWELVE   12

#define ARRAY_SIZE_TWENTY_SIX   26

#define ARRAY_SIZE_TWO   2

#define BNO055_ACCEL_ANY_MOTION_DURN_SET__LEN   2

#define BNO055_ACCEL_ANY_MOTION_DURN_SET__MSK   0X03

#define BNO055_ACCEL_ANY_MOTION_DURN_SET__POS   0

#define BNO055_ACCEL_ANY_MOTION_DURN_SET__REG   ACCEL_INTR_SETTINGS_ADDR

#define BNO055_ACCEL_ANY_MOTION_INTR__LEN   1

#define BNO055_ACCEL_ANY_MOTION_INTR__MSK   0X40

#define BNO055_ACCEL_ANY_MOTION_INTR__POS   6

#define BNO055_ACCEL_ANY_MOTION_INTR__REG   INT_ADDR

#define BNO055_ACCEL_ANY_MOTION_INTR_MASK__LEN   1

#define BNO055_ACCEL_ANY_MOTION_INTR_MASK__MSK   0X40

#define BNO055_ACCEL_ANY_MOTION_INTR_MASK__POS   6

#define BNO055_ACCEL_ANY_MOTION_INTR_MASK__REG   INT_MASK_ADDR

#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS   0

#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS   1

#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS   2

#define BNO055_ACCEL_ANY_MOTION_THRES__LEN   8

#define BNO055_ACCEL_ANY_MOTION_THRES__MSK   0XFF

#define BNO055_ACCEL_ANY_MOTION_THRES__POS   0

#define BNO055_ACCEL_ANY_MOTION_THRES__REG   ACCEL_ANY_MOTION_THRES_ADDR

#define BNO055_ACCEL_ANY_MOTION_X_AXIS__LEN   1

#define BNO055_ACCEL_ANY_MOTION_X_AXIS__MSK   0X04

#define BNO055_ACCEL_ANY_MOTION_X_AXIS__POS   2

#define BNO055_ACCEL_ANY_MOTION_X_AXIS__REG   ACCEL_INTR_SETTINGS_ADDR

#define BNO055_ACCEL_ANY_MOTION_Y_AXIS__LEN   1

#define BNO055_ACCEL_ANY_MOTION_Y_AXIS__MSK   0X08

#define BNO055_ACCEL_ANY_MOTION_Y_AXIS__POS   3

#define BNO055_ACCEL_ANY_MOTION_Y_AXIS__REG   ACCEL_INTR_SETTINGS_ADDR

#define BNO055_ACCEL_ANY_MOTION_Z_AXIS__LEN   1

#define BNO055_ACCEL_ANY_MOTION_Z_AXIS__MSK   0X10

#define BNO055_ACCEL_ANY_MOTION_Z_AXIS__POS   4

#define BNO055_ACCEL_ANY_MOTION_Z_AXIS__REG   ACCEL_INTR_SETTINGS_ADDR

#define BNO055_ACCEL_BW__LEN   3

#define BNO055_ACCEL_BW__MSK   0X1C

#define BNO055_ACCEL_BW__POS   2

#define BNO055_ACCEL_BW__REG   ACCEL_CONFIG_ADDR

#define BNO055_ACCEL_CALIB_STAT__LEN   2

#define BNO055_ACCEL_CALIB_STAT__MSK   0X0C

#define BNO055_ACCEL_CALIB_STAT__POS   2

#define BNO055_ACCEL_CALIB_STAT__REG   BNO055_CALIB_STAT_ADDR

#define BNO055_ACCEL_DATA_X_LSB_ADDR   0X08

#define BNO055_ACCEL_DATA_X_LSB_VALUEX__LEN   8

#define BNO055_ACCEL_DATA_X_LSB_VALUEX__MSK   0xFF

#define BNO055_ACCEL_DATA_X_LSB_VALUEX__POS   0

#define BNO055_ACCEL_DATA_X_LSB_VALUEX__REG   BNO055_ACCEL_DATA_X_LSB_ADDR

#define BNO055_ACCEL_DATA_X_MSB_ADDR   0X09

#define BNO055_ACCEL_DATA_X_MSB_VALUEX__LEN   8

#define BNO055_ACCEL_DATA_X_MSB_VALUEX__MSK   0xFF

#define BNO055_ACCEL_DATA_X_MSB_VALUEX__POS   0

#define BNO055_ACCEL_DATA_X_MSB_VALUEX__REG   BNO055_ACCEL_DATA_X_MSB_ADDR

#define BNO055_ACCEL_DATA_Y_LSB_ADDR   0X0A

#define BNO055_ACCEL_DATA_Y_LSB_VALUEY__LEN   8

#define BNO055_ACCEL_DATA_Y_LSB_VALUEY__MSK   0xFF

#define BNO055_ACCEL_DATA_Y_LSB_VALUEY__POS   0

#define BNO055_ACCEL_DATA_Y_LSB_VALUEY__REG   BNO055_ACCEL_DATA_Y_LSB_ADDR

#define BNO055_ACCEL_DATA_Y_MSB_ADDR   0X0B

#define BNO055_ACCEL_DATA_Y_MSB_VALUEY__LEN   8

#define BNO055_ACCEL_DATA_Y_MSB_VALUEY__MSK   0xFF

#define BNO055_ACCEL_DATA_Y_MSB_VALUEY__POS   0

#define BNO055_ACCEL_DATA_Y_MSB_VALUEY__REG   BNO055_ACCEL_DATA_Y_MSB_ADDR

#define BNO055_ACCEL_DATA_Z_LSB_ADDR   0X0C

#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ__LEN   8

#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ__MSK   0xFF

#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ__POS   0

#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ__REG   BNO055_ACCEL_DATA_Z_LSB_ADDR

#define BNO055_ACCEL_DATA_Z_MSB_ADDR   0X0D

#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ__LEN   8

#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ__MSK   0xFF

#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ__POS   0

#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ__REG   BNO055_ACCEL_DATA_Z_MSB_ADDR

#define BNO055_ACCEL_HIGH_G_DURN__LEN   8

#define BNO055_ACCEL_HIGH_G_DURN__MSK   0XFF

#define BNO055_ACCEL_HIGH_G_DURN__POS   0

#define BNO055_ACCEL_HIGH_G_DURN__REG   ACCEL_HIGH_G_DURN_ADDR

#define BNO055_ACCEL_HIGH_G_INTR__LEN   1

#define BNO055_ACCEL_HIGH_G_INTR__MSK   0X20

#define BNO055_ACCEL_HIGH_G_INTR__POS   5

#define BNO055_ACCEL_HIGH_G_INTR__REG   INT_ADDR

#define BNO055_ACCEL_HIGH_G_INTR_MASK__LEN   1

#define BNO055_ACCEL_HIGH_G_INTR_MASK__MSK   0X20

#define BNO055_ACCEL_HIGH_G_INTR_MASK__POS   5

#define BNO055_ACCEL_HIGH_G_INTR_MASK__REG   INT_MASK_ADDR

#define BNO055_ACCEL_HIGH_G_THRES__LEN   8

#define BNO055_ACCEL_HIGH_G_THRES__MSK   0XFF

#define BNO055_ACCEL_HIGH_G_THRES__POS   0

#define BNO055_ACCEL_HIGH_G_THRES__REG   ACCEL_HIGH_G_THRES_ADDR

#define BNO055_ACCEL_HIGH_G_X_AXIS   0

#define BNO055_ACCEL_HIGH_G_X_AXIS__LEN   1

#define BNO055_ACCEL_HIGH_G_X_AXIS__MSK   0X20

#define BNO055_ACCEL_HIGH_G_X_AXIS__POS   5

#define BNO055_ACCEL_HIGH_G_X_AXIS__REG   ACCEL_INTR_SETTINGS_ADDR

#define BNO055_ACCEL_HIGH_G_Y_AXIS   1

#define BNO055_ACCEL_HIGH_G_Y_AXIS__LEN   1

#define BNO055_ACCEL_HIGH_G_Y_AXIS__MSK   0X40

#define BNO055_ACCEL_HIGH_G_Y_AXIS__POS   6

#define BNO055_ACCEL_HIGH_G_Y_AXIS__REG   ACCEL_INTR_SETTINGS_ADDR

#define BNO055_ACCEL_HIGH_G_Z_AXIS   2

#define BNO055_ACCEL_HIGH_G_Z_AXIS__LEN   1

#define BNO055_ACCEL_HIGH_G_Z_AXIS__MSK   0X80

#define BNO055_ACCEL_HIGH_G_Z_AXIS__POS   7

#define BNO055_ACCEL_HIGH_G_Z_AXIS__REG   ACCEL_INTR_SETTINGS_ADDR

#define BNO055_ACCEL_NO_MOTION_INTR__LEN   1

#define BNO055_ACCEL_NO_MOTION_INTR__MSK   0X80

#define BNO055_ACCEL_NO_MOTION_INTR__POS   7

#define BNO055_ACCEL_NO_MOTION_INTR__REG   INT_ADDR

#define BNO055_ACCEL_NO_MOTION_INTR_MASK__LEN   1

#define BNO055_ACCEL_NO_MOTION_INTR_MASK__MSK   0X80

#define BNO055_ACCEL_NO_MOTION_INTR_MASK__POS   7

#define BNO055_ACCEL_NO_MOTION_INTR_MASK__REG   INT_MASK_ADDR

#define BNO055_ACCEL_OFFSET_X_LSB__LEN   8

#define BNO055_ACCEL_OFFSET_X_LSB__MSK   0XFF

#define BNO055_ACCEL_OFFSET_X_LSB__POS   0

#define BNO055_ACCEL_OFFSET_X_LSB__REG   ACCEL_OFFSET_X_LSB_ADDR

#define BNO055_ACCEL_OFFSET_X_MSB__LEN   8

#define BNO055_ACCEL_OFFSET_X_MSB__MSK   0XFF

#define BNO055_ACCEL_OFFSET_X_MSB__POS   0

#define BNO055_ACCEL_OFFSET_X_MSB__REG   ACCEL_OFFSET_X_MSB_ADDR

#define BNO055_ACCEL_OFFSET_Y_LSB__LEN   8

#define BNO055_ACCEL_OFFSET_Y_LSB__MSK   0XFF

#define BNO055_ACCEL_OFFSET_Y_LSB__POS   0

#define BNO055_ACCEL_OFFSET_Y_LSB__REG   ACCEL_OFFSET_Y_LSB_ADDR

#define BNO055_ACCEL_OFFSET_Y_MSB__LEN   8

#define BNO055_ACCEL_OFFSET_Y_MSB__MSK   0XFF

#define BNO055_ACCEL_OFFSET_Y_MSB__POS   0

#define BNO055_ACCEL_OFFSET_Y_MSB__REG   ACCEL_OFFSET_Y_MSB_ADDR

#define BNO055_ACCEL_OFFSET_Z_LSB__LEN   8

#define BNO055_ACCEL_OFFSET_Z_LSB__MSK   0XFF

#define BNO055_ACCEL_OFFSET_Z_LSB__POS   0

#define BNO055_ACCEL_OFFSET_Z_LSB__REG   ACCEL_OFFSET_Z_LSB_ADDR

#define BNO055_ACCEL_OFFSET_Z_MSB__LEN   8

#define BNO055_ACCEL_OFFSET_Z_MSB__MSK   0XFF

#define BNO055_ACCEL_OFFSET_Z_MSB__POS   0

#define BNO055_ACCEL_OFFSET_Z_MSB__REG   ACCEL_OFFSET_Z_MSB_ADDR

#define BNO055_ACCEL_POWER_MODE__LEN   3

#define BNO055_ACCEL_POWER_MODE__MSK   0XE0

#define BNO055_ACCEL_POWER_MODE__POS   5

#define BNO055_ACCEL_POWER_MODE__REG   ACCEL_CONFIG_ADDR

#define BNO055_ACCEL_RADIUS_LSB__LEN   8

#define BNO055_ACCEL_RADIUS_LSB__MSK   0XFF

#define BNO055_ACCEL_RADIUS_LSB__POS   0

#define BNO055_ACCEL_RADIUS_LSB__REG   ACCEL_RADIUS_LSB_ADDR

#define BNO055_ACCEL_RADIUS_MSB__LEN   8

#define BNO055_ACCEL_RADIUS_MSB__MSK   0XFF

#define BNO055_ACCEL_RADIUS_MSB__POS   0

#define BNO055_ACCEL_RADIUS_MSB__REG   ACCEL_RADIUS_MSB_ADDR

#define BNO055_ACCEL_RANGE__LEN   2

#define BNO055_ACCEL_RANGE__MSK   0X03

#define BNO055_ACCEL_RANGE__POS   0

#define BNO055_ACCEL_RANGE__REG   ACCEL_CONFIG_ADDR

#define BNO055_ACCEL_REV_ID__LEN   8

#define BNO055_ACCEL_REV_ID__MSK   0xFF

#define BNO055_ACCEL_REV_ID__POS   0

#define BNO055_ACCEL_REV_ID__REG   BNO055_ACCEL_REV_ID_ADDR

#define BNO055_ACCEL_REV_ID_ADDR   0x01

#define BNO055_ACCEL_SLEEP_DURN_0_5MS   0x05

#define BNO055_ACCEL_SLEEP_DURN_100MS   0x0D

#define BNO055_ACCEL_SLEEP_DURN_10MS   0x0A

#define BNO055_ACCEL_SLEEP_DURN_1MS   0x06

#define BNO055_ACCEL_SLEEP_DURN_1S   0x0F

#define BNO055_ACCEL_SLEEP_DURN_25MS   0x0B

#define BNO055_ACCEL_SLEEP_DURN_2MS   0x07

#define BNO055_ACCEL_SLEEP_DURN_4MS   0x08

#define BNO055_ACCEL_SLEEP_DURN_500MS   0x0E

#define BNO055_ACCEL_SLEEP_DURN_50MS   0x0C

#define BNO055_ACCEL_SLEEP_DURN_6MS   0x09

#define BNO055_ACCEL_SLEEP_DURN__LEN   4

#define BNO055_ACCEL_SLEEP_DURN__MSK   0X1E

#define BNO055_ACCEL_SLEEP_DURN__POS   1

#define BNO055_ACCEL_SLEEP_DURN__REG   ACCEL_SLEEP_CONFIG_ADDR

#define BNO055_ACCEL_SLEEP_MODE__LEN   1

#define BNO055_ACCEL_SLEEP_MODE__MSK   0X01

#define BNO055_ACCEL_SLEEP_MODE__POS   0

#define BNO055_ACCEL_SLEEP_MODE__REG   ACCEL_SLEEP_CONFIG_ADDR

#define BNO055_ACCEL_SLOW_NO_MOTION_DURN__LEN   6

#define BNO055_ACCEL_SLOW_NO_MOTION_DURN__MSK   0X7E

#define BNO055_ACCEL_SLOW_NO_MOTION_DURN__POS   1

#define BNO055_ACCEL_SLOW_NO_MOTION_DURN__REG   ACCEL_NO_MOTION_SET_ADDR

#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE__LEN   1

#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE__MSK   0X01

#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE__POS   0

#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE__REG   ACCEL_NO_MOTION_SET_ADDR

#define BNO055_ACCEL_SLOW_NO_MOTION_THRES__LEN   8

#define BNO055_ACCEL_SLOW_NO_MOTION_THRES__MSK   0XFF

#define BNO055_ACCEL_SLOW_NO_MOTION_THRES__POS   0

#define BNO055_ACCEL_SLOW_NO_MOTION_THRES__REG   ACCEL_NO_MOTION_THRES_ADDR

#define BNO055_ACCEL_UNIT__LEN   1

#define BNO055_ACCEL_UNIT__MSK   0X01

#define BNO055_ACCEL_UNIT__POS   0

#define BNO055_ACCEL_UNIT__REG   BNO055_UNIT_SEL_ADDR

#define BNO055_AXIS_MAP_CONFIG_ADDR   0X41

#define BNO055_AXIS_MAP_SIGN_ADDR   0X42

#define BNO055_BL_REV_ID__LEN   8

#define BNO055_BL_REV_ID__MSK   0xFF

#define BNO055_BL_REV_ID__POS   0

#define BNO055_BL_REV_ID__REG   BNO055_BL_REV_ID_ADDR

#define BNO055_BL_REV_ID_ADDR   0X06

#define BNO055_BUS_READ_FUNC	(		dev_addr,
			reg_addr,
			reg_data,
			r_len
	)		bus_read(dev_addr, reg_addr, reg_data, r_len)

#define BNO055_BUS_WRITE_FUNC	(		dev_addr,
			reg_addr,
			reg_data,
			wr_len
	)		bus_write(dev_addr, reg_addr, reg_data, wr_len)

#define BNO055_CALIB_STAT_ADDR   0X35

#define BNO055_CHIP_ID__LEN   8

#define BNO055_CHIP_ID__MSK   0xFF

#define BNO055_CHIP_ID__POS   0

#define BNO055_CHIP_ID__REG   BNO055_CHIP_ID_ADDR

#define BNO055_CHIP_ID_ADDR   0x00

#define BNO055_CLK_SRC__LEN   1

#define BNO055_CLK_SRC__MSK   0X80

#define BNO055_CLK_SRC__POS   7

#define BNO055_CLK_SRC__REG   BNO055_SYS_TRIGGER_ADDR

#define BNO055_DATA_OUTPUT_FORMAT__LEN   1

#define BNO055_DATA_OUTPUT_FORMAT__MSK   0X80

#define BNO055_DATA_OUTPUT_FORMAT__POS   7

#define BNO055_DATA_OUTPUT_FORMAT__REG   BNO055_UNIT_SEL_ADDR

#define BNO055_DATA_SELECT_ADDR   0X3C

#define BNO055_DELAY_FUNC

(

delay_in_msec

)

delay_func(delay_in_msec)

#define BNO055_DELAY_PARAM_TYPES   u32

#define BNO055_DELAY_RETURN_TYPE   void

#define BNO055_DOUBLE_ENABLE

#define BNO055_EIGHT_U8X   ((u8)8)

#define BNO055_EIGHTEEN_U8X   ((u8)18)

#define BNO055_ELEVEN_U8X   ((u8)11)

#define BNO055_EULER_H_LSB_ADDR   0X1A

#define BNO055_EULER_H_LSB_VALUEH__LEN   8

#define BNO055_EULER_H_LSB_VALUEH__MSK   0xFF

#define BNO055_EULER_H_LSB_VALUEH__POS   0

#define BNO055_EULER_H_LSB_VALUEH__REG   BNO055_EULER_H_LSB_ADDR

#define BNO055_EULER_H_MSB_ADDR   0X1B

#define BNO055_EULER_H_MSB_VALUEH__LEN   8

#define BNO055_EULER_H_MSB_VALUEH__MSK   0xFF

#define BNO055_EULER_H_MSB_VALUEH__POS   0

#define BNO055_EULER_H_MSB_VALUEH__REG   BNO055_EULER_H_MSB_ADDR

#define BNO055_EULER_P_LSB_ADDR   0X1E

#define BNO055_EULER_P_LSB_VALUEP__LEN   8

#define BNO055_EULER_P_LSB_VALUEP__MSK   0xFF

#define BNO055_EULER_P_LSB_VALUEP__POS   0

#define BNO055_EULER_P_LSB_VALUEP__REG   BNO055_EULER_P_LSB_ADDR

#define BNO055_EULER_P_MSB_ADDR   0X1F

#define BNO055_EULER_P_MSB_VALUEP__LEN   8

#define BNO055_EULER_P_MSB_VALUEP__MSK   0xFF

#define BNO055_EULER_P_MSB_VALUEP__POS   0

#define BNO055_EULER_P_MSB_VALUEP__REG   BNO055_EULER_P_MSB_ADDR

#define BNO055_EULER_R_LSB_ADDR   0X1C

#define BNO055_EULER_R_LSB_VALUER__LEN   8

#define BNO055_EULER_R_LSB_VALUER__MSK   0xFF

#define BNO055_EULER_R_LSB_VALUER__POS   0

#define BNO055_EULER_R_LSB_VALUER__REG   BNO055_EULER_R_LSB_ADDR

#define BNO055_EULER_R_MSB_ADDR   0X1D

#define BNO055_EULER_R_MSB_VALUER__LEN   8

#define BNO055_EULER_R_MSB_VALUER__MSK   0xFF

#define BNO055_EULER_R_MSB_VALUER__POS   0

#define BNO055_EULER_R_MSB_VALUER__REG   BNO055_EULER_R_MSB_ADDR

#define BNO055_EULER_UNIT__LEN   1

#define BNO055_EULER_UNIT__MSK   0X04

#define BNO055_EULER_UNIT__POS   2

#define BNO055_EULER_UNIT__REG   BNO055_UNIT_SEL_ADDR

#define BNO055_FIVE_U8X   ((u8)5)

#define BNO055_FLOAT_ENABLE

#define BNO055_FOUR_U8X   ((u8)4)

#define BNO055_GET_BITSLICE	(		regvar,
			bitname
	)		((regvar & bitname##__MSK) >> bitname##__POS)

#define BNO055_GRAVITY_DATA_X_LSB_ADDR   0X2E

#define BNO055_GRAVITY_DATA_X_LSB_VALUEX__LEN   8

#define BNO055_GRAVITY_DATA_X_LSB_VALUEX__MSK   0xFF

#define BNO055_GRAVITY_DATA_X_LSB_VALUEX__POS   0

#define BNO055_GRAVITY_DATA_X_LSB_VALUEX__REG   BNO055_GRAVITY_DATA_X_LSB_ADDR

#define BNO055_GRAVITY_DATA_X_MSB_ADDR   0X2F

#define BNO055_GRAVITY_DATA_X_MSB_VALUEX__LEN   8

#define BNO055_GRAVITY_DATA_X_MSB_VALUEX__MSK   0xFF

#define BNO055_GRAVITY_DATA_X_MSB_VALUEX__POS   0

#define BNO055_GRAVITY_DATA_X_MSB_VALUEX__REG   BNO055_GRAVITY_DATA_X_MSB_ADDR

#define BNO055_GRAVITY_DATA_Y_LSB_ADDR   0X30

#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY__LEN   8

#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY__MSK   0xFF

#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY__POS   0

#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY__REG   BNO055_GRAVITY_DATA_Y_LSB_ADDR

#define BNO055_GRAVITY_DATA_Y_MSB_ADDR   0X31

#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY__LEN   8

#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY__MSK   0xFF

#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY__POS   0

#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY__REG   BNO055_GRAVITY_DATA_Y_MSB_ADDR

#define BNO055_GRAVITY_DATA_Z_LSB_ADDR   0X32

#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ__LEN   8

#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ__MSK   0xFF

#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ__POS   0

#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ__REG   BNO055_GRAVITY_DATA_Z_LSB_ADDR

#define BNO055_GRAVITY_DATA_Z_MSB_ADDR   0X33

#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ__LEN   8

#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ__MSK   0xFF

#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ__POS   0

#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ__REG   BNO055_GRAVITY_DATA_Z_MSB_ADDR

#define BNO055_GYRO_10MS_AUTOSLPDUR   0x04

#define BNO055_GYRO_15MS_AUTOSLPDUR   0x05

#define BNO055_GYRO_20MS_AUTOSLPDUR   0x06

#define BNO055_GYRO_40MS_AUTOSLPDUR   0x07

#define BNO055_GYRO_4MS_AUTOSLPDUR   0x01

#define BNO055_GYRO_5MS_AUTOSLPDUR   0x02

#define BNO055_GYRO_8MS_AUTOSLPDUR   0x03

#define BNO055_GYRO_ANY_MOTION_FILTER__LEN   1

#define BNO055_GYRO_ANY_MOTION_FILTER__MSK   0X40

#define BNO055_GYRO_ANY_MOTION_FILTER__POS   6

#define BNO055_GYRO_ANY_MOTION_FILTER__REG   GYRO_INTR_SETING_ADDR

#define BNO055_GYRO_ANY_MOTION_INTR__LEN   1

#define BNO055_GYRO_ANY_MOTION_INTR__MSK   0X04

#define BNO055_GYRO_ANY_MOTION_INTR__POS   2

#define BNO055_GYRO_ANY_MOTION_INTR__REG   INT_ADDR

#define BNO055_GYRO_ANY_MOTION_INTR_MASK__LEN   1

#define BNO055_GYRO_ANY_MOTION_INTR_MASK__MSK   0X04

#define BNO055_GYRO_ANY_MOTION_INTR_MASK__POS   2

#define BNO055_GYRO_ANY_MOTION_INTR_MASK__REG   INT_MASK_ADDR

#define BNO055_GYRO_ANY_MOTION_THRES__LEN   7

#define BNO055_GYRO_ANY_MOTION_THRES__MSK   0X7F

#define BNO055_GYRO_ANY_MOTION_THRES__POS   0

#define BNO055_GYRO_ANY_MOTION_THRES__REG   GYRO_ANY_MOTION_THRES_ADDR

#define BNO055_GYRO_ANY_MOTION_X_AXIS   0

#define BNO055_GYRO_ANY_MOTION_X_AXIS__LEN   1

#define BNO055_GYRO_ANY_MOTION_X_AXIS__MSK   0X01

#define BNO055_GYRO_ANY_MOTION_X_AXIS__POS   0

#define BNO055_GYRO_ANY_MOTION_X_AXIS__REG   GYRO_INTR_SETING_ADDR

#define BNO055_GYRO_ANY_MOTION_Y_AXIS   1

#define BNO055_GYRO_ANY_MOTION_Y_AXIS__LEN   1

#define BNO055_GYRO_ANY_MOTION_Y_AXIS__MSK   0X02

#define BNO055_GYRO_ANY_MOTION_Y_AXIS__POS   1

#define BNO055_GYRO_ANY_MOTION_Y_AXIS__REG   GYRO_INTR_SETING_ADDR

#define BNO055_GYRO_ANY_MOTION_Z_AXIS   2

#define BNO055_GYRO_ANY_MOTION_Z_AXIS__LEN   1

#define BNO055_GYRO_ANY_MOTION_Z_AXIS__MSK   0X04

#define BNO055_GYRO_ANY_MOTION_Z_AXIS__POS   2

#define BNO055_GYRO_ANY_MOTION_Z_AXIS__REG   GYRO_INTR_SETING_ADDR

#define BNO055_GYRO_AUTO_SLEEP_DURN__LEN   3

#define BNO055_GYRO_AUTO_SLEEP_DURN__MSK   0X38

#define BNO055_GYRO_AUTO_SLEEP_DURN__POS   3

#define BNO055_GYRO_AUTO_SLEEP_DURN__REG   GYRO_SLEEP_CONFIG_ADDR

#define BNO055_GYRO_AWAKE_DURN__LEN   2

#define BNO055_GYRO_AWAKE_DURN__MSK   0X0C

#define BNO055_GYRO_AWAKE_DURN__POS   2

#define BNO055_GYRO_AWAKE_DURN__REG   GYRO_ANY_MOTION_SET_ADDR

#define BNO055_GYRO_BW__LEN   3

#define BNO055_GYRO_BW__MSK   0X38

#define BNO055_GYRO_BW__POS   3

#define BNO055_GYRO_BW__REG   GYRO_CONFIG_ADDR

#define BNO055_GYRO_CALIB_STAT__LEN   2

#define BNO055_GYRO_CALIB_STAT__MSK   0X30

#define BNO055_GYRO_CALIB_STAT__POS   4

#define BNO055_GYRO_CALIB_STAT__REG   BNO055_CALIB_STAT_ADDR

#define BNO055_GYRO_DATA_X_LSB_ADDR   0X14

#define BNO055_GYRO_DATA_X_LSB_VALUEX__LEN   8

#define BNO055_GYRO_DATA_X_LSB_VALUEX__MSK   0xFF

#define BNO055_GYRO_DATA_X_LSB_VALUEX__POS   0

#define BNO055_GYRO_DATA_X_LSB_VALUEX__REG   BNO055_GYRO_DATA_X_LSB_ADDR

#define BNO055_GYRO_DATA_X_MSB_ADDR   0X15

#define BNO055_GYRO_DATA_X_MSB_VALUEX__LEN   8

#define BNO055_GYRO_DATA_X_MSB_VALUEX__MSK   0xFF

#define BNO055_GYRO_DATA_X_MSB_VALUEX__POS   0

#define BNO055_GYRO_DATA_X_MSB_VALUEX__REG   BNO055_GYRO_DATA_X_MSB_ADDR

#define BNO055_GYRO_DATA_Y_LSB_ADDR   0X16

#define BNO055_GYRO_DATA_Y_LSB_VALUEY__LEN   8

#define BNO055_GYRO_DATA_Y_LSB_VALUEY__MSK   0xFF

#define BNO055_GYRO_DATA_Y_LSB_VALUEY__POS   0

#define BNO055_GYRO_DATA_Y_LSB_VALUEY__REG   BNO055_GYRO_DATA_Y_LSB_ADDR

#define BNO055_GYRO_DATA_Y_MSB_ADDR   0X17

#define BNO055_GYRO_DATA_Y_MSB_VALUEY__LEN   8

#define BNO055_GYRO_DATA_Y_MSB_VALUEY__MSK   0xFF

#define BNO055_GYRO_DATA_Y_MSB_VALUEY__POS   0

#define BNO055_GYRO_DATA_Y_MSB_VALUEY__REG   BNO055_GYRO_DATA_Y_MSB_ADDR

#define BNO055_GYRO_DATA_Z_LSB_ADDR   0X18

#define BNO055_GYRO_DATA_Z_LSB_VALUEZ__LEN   8

#define BNO055_GYRO_DATA_Z_LSB_VALUEZ__MSK   0xFF

#define BNO055_GYRO_DATA_Z_LSB_VALUEZ__POS   0

#define BNO055_GYRO_DATA_Z_LSB_VALUEZ__REG   BNO055_GYRO_DATA_Z_LSB_ADDR

#define BNO055_GYRO_DATA_Z_MSB_ADDR   0X19

#define BNO055_GYRO_DATA_Z_MSB_VALUEZ__LEN   8

#define BNO055_GYRO_DATA_Z_MSB_VALUEZ__MSK   0xFF

#define BNO055_GYRO_DATA_Z_MSB_VALUEZ__POS   0

#define BNO055_GYRO_DATA_Z_MSB_VALUEZ__REG   BNO055_GYRO_DATA_Z_MSB_ADDR

#define BNO055_GYRO_HIGHRATE_FILTER__LEN   1

#define BNO055_GYRO_HIGHRATE_FILTER__MSK   0X80

#define BNO055_GYRO_HIGHRATE_FILTER__POS   7

#define BNO055_GYRO_HIGHRATE_FILTER__REG   GYRO_INTR_SETING_ADDR

#define BNO055_GYRO_HIGHRATE_INTR__LEN   1

#define BNO055_GYRO_HIGHRATE_INTR__MSK   0X08

#define BNO055_GYRO_HIGHRATE_INTR__POS   3

#define BNO055_GYRO_HIGHRATE_INTR__REG   INT_ADDR

#define BNO055_GYRO_HIGHRATE_INTR_MASK__LEN   1

#define BNO055_GYRO_HIGHRATE_INTR_MASK__MSK   0X08

#define BNO055_GYRO_HIGHRATE_INTR_MASK__POS   3

#define BNO055_GYRO_HIGHRATE_INTR_MASK__REG   INT_MASK_ADDR

#define BNO055_GYRO_HIGHRATE_X_AXIS   0

#define BNO055_GYRO_HIGHRATE_X_AXIS__LEN   1

#define BNO055_GYRO_HIGHRATE_X_AXIS__MSK   0X08

#define BNO055_GYRO_HIGHRATE_X_AXIS__POS   3

#define BNO055_GYRO_HIGHRATE_X_AXIS__REG   GYRO_INTR_SETING_ADDR

#define BNO055_GYRO_HIGHRATE_X_DURN__LEN   8

#define BNO055_GYRO_HIGHRATE_X_DURN__MSK   0XFF

#define BNO055_GYRO_HIGHRATE_X_DURN__POS   0

#define BNO055_GYRO_HIGHRATE_X_DURN__REG   GYRO_DURN_X_ADDR

#define BNO055_GYRO_HIGHRATE_X_HYST__LEN   2

#define BNO055_GYRO_HIGHRATE_X_HYST__MSK   0X60

#define BNO055_GYRO_HIGHRATE_X_HYST__POS   5

#define BNO055_GYRO_HIGHRATE_X_HYST__REG   GYRO_HIGHRATE_X_SET_ADDR

#define BNO055_GYRO_HIGHRATE_X_THRES__LEN   5

#define BNO055_GYRO_HIGHRATE_X_THRES__MSK   0X1F

#define BNO055_GYRO_HIGHRATE_X_THRES__POS   0

#define BNO055_GYRO_HIGHRATE_X_THRES__REG   GYRO_HIGHRATE_X_SET_ADDR

#define BNO055_GYRO_HIGHRATE_Y_AXIS   1

#define BNO055_GYRO_HIGHRATE_Y_AXIS__LEN   1

#define BNO055_GYRO_HIGHRATE_Y_AXIS__MSK   0X10

#define BNO055_GYRO_HIGHRATE_Y_AXIS__POS   4

#define BNO055_GYRO_HIGHRATE_Y_AXIS__REG   GYRO_INTR_SETING_ADDR

#define BNO055_GYRO_HIGHRATE_Y_DURN__LEN   8

#define BNO055_GYRO_HIGHRATE_Y_DURN__MSK   0XFF

#define BNO055_GYRO_HIGHRATE_Y_DURN__POS   0

#define BNO055_GYRO_HIGHRATE_Y_DURN__REG   GYRO_DURN_Y_ADDR

#define BNO055_GYRO_HIGHRATE_Y_HYST__LEN   2

#define BNO055_GYRO_HIGHRATE_Y_HYST__MSK   0X60

#define BNO055_GYRO_HIGHRATE_Y_HYST__POS   5

#define BNO055_GYRO_HIGHRATE_Y_HYST__REG   GYRO_HIGHRATE_Y_SET_ADDR

#define BNO055_GYRO_HIGHRATE_Y_THRES__LEN   5

#define BNO055_GYRO_HIGHRATE_Y_THRES__MSK   0X1F

#define BNO055_GYRO_HIGHRATE_Y_THRES__POS   0

#define BNO055_GYRO_HIGHRATE_Y_THRES__REG   GYRO_HIGHRATE_Y_SET_ADDR

#define BNO055_GYRO_HIGHRATE_Z_AXIS   2

#define BNO055_GYRO_HIGHRATE_Z_AXIS__LEN   1

#define BNO055_GYRO_HIGHRATE_Z_AXIS__MSK   0X20

#define BNO055_GYRO_HIGHRATE_Z_AXIS__POS   5

#define BNO055_GYRO_HIGHRATE_Z_AXIS__REG   GYRO_INTR_SETING_ADDR

#define BNO055_GYRO_HIGHRATE_Z_DURN__LEN   8

#define BNO055_GYRO_HIGHRATE_Z_DURN__MSK   0XFF

#define BNO055_GYRO_HIGHRATE_Z_DURN__POS   0

#define BNO055_GYRO_HIGHRATE_Z_DURN__REG   GYRO_DURN_Z_ADDR

#define BNO055_GYRO_HIGHRATE_Z_HYST__LEN   2

#define BNO055_GYRO_HIGHRATE_Z_HYST__MSK   0X60

#define BNO055_GYRO_HIGHRATE_Z_HYST__POS   5

#define BNO055_GYRO_HIGHRATE_Z_HYST__REG   GYRO_HIGHRATE_Z_SET_ADDR

#define BNO055_GYRO_HIGHRATE_Z_THRES__LEN   5

#define BNO055_GYRO_HIGHRATE_Z_THRES__MSK   0X1F

#define BNO055_GYRO_HIGHRATE_Z_THRES__POS   0

#define BNO055_GYRO_HIGHRATE_Z_THRES__REG   GYRO_HIGHRATE_Z_SET_ADDR

#define BNO055_GYRO_No_AUTOSLPDUR   0x00

#define BNO055_GYRO_OFFSET_X_LSB__LEN   8

#define BNO055_GYRO_OFFSET_X_LSB__MSK   0XFF

#define BNO055_GYRO_OFFSET_X_LSB__POS   0

#define BNO055_GYRO_OFFSET_X_LSB__REG   GYRO_OFFSET_X_LSB_ADDR

#define BNO055_GYRO_OFFSET_X_MSB__LEN   8

#define BNO055_GYRO_OFFSET_X_MSB__MSK   0XFF

#define BNO055_GYRO_OFFSET_X_MSB__POS   0

#define BNO055_GYRO_OFFSET_X_MSB__REG   GYRO_OFFSET_X_MSB_ADDR

#define BNO055_GYRO_OFFSET_Y_LSB__LEN   8

#define BNO055_GYRO_OFFSET_Y_LSB__MSK   0XFF

#define BNO055_GYRO_OFFSET_Y_LSB__POS   0

#define BNO055_GYRO_OFFSET_Y_LSB__REG   GYRO_OFFSET_Y_LSB_ADDR

#define BNO055_GYRO_OFFSET_Y_MSB__LEN   8

#define BNO055_GYRO_OFFSET_Y_MSB__MSK   0XFF

#define BNO055_GYRO_OFFSET_Y_MSB__POS   0

#define BNO055_GYRO_OFFSET_Y_MSB__REG   GYRO_OFFSET_Y_MSB_ADDR

#define BNO055_GYRO_OFFSET_Z_LSB__LEN   8

#define BNO055_GYRO_OFFSET_Z_LSB__MSK   0XFF

#define BNO055_GYRO_OFFSET_Z_LSB__POS   0

#define BNO055_GYRO_OFFSET_Z_LSB__REG   GYRO_OFFSET_Z_LSB_ADDR

#define BNO055_GYRO_OFFSET_Z_MSB__LEN   8

#define BNO055_GYRO_OFFSET_Z_MSB__MSK   0XFF

#define BNO055_GYRO_OFFSET_Z_MSB__POS   0

#define BNO055_GYRO_OFFSET_Z_MSB__REG   GYRO_OFFSET_Z_MSB_ADDR

#define BNO055_GYRO_POWER_MODE__LEN   3

#define BNO055_GYRO_POWER_MODE__MSK   0X07

#define BNO055_GYRO_POWER_MODE__POS   0

#define BNO055_GYRO_POWER_MODE__REG   GYRO_MODE_CONFIG_ADDR

#define BNO055_GYRO_RANGE__LEN   3

#define BNO055_GYRO_RANGE__MSK   0X07

#define BNO055_GYRO_RANGE__POS   0

#define BNO055_GYRO_RANGE__REG   GYRO_CONFIG_ADDR

#define BNO055_GYRO_REV_ID__LEN   8

#define BNO055_GYRO_REV_ID__MSK   0xFF

#define BNO055_GYRO_REV_ID__POS   0

#define BNO055_GYRO_REV_ID__REG   BNO055_GYRO_REV_ID_ADDR

#define BNO055_GYRO_REV_ID_ADDR   0x03

#define BNO055_GYRO_SLEEP_DURN__LEN   3

#define BNO055_GYRO_SLEEP_DURN__MSK   0X07

#define BNO055_GYRO_SLEEP_DURN__POS   0

#define BNO055_GYRO_SLEEP_DURN__REG   GYRO_SLEEP_CONFIG_ADDR

#define BNO055_GYRO_SLOPE_SAMPLES__LEN   2

#define BNO055_GYRO_SLOPE_SAMPLES__MSK   0X03

#define BNO055_GYRO_SLOPE_SAMPLES__POS   0

#define BNO055_GYRO_SLOPE_SAMPLES__REG   GYRO_ANY_MOTION_SET_ADDR

#define BNO055_GYRO_UNIT__LEN   1

#define BNO055_GYRO_UNIT__MSK   0X02

#define BNO055_GYRO_UNIT__POS   1

#define BNO055_GYRO_UNIT__REG   BNO055_UNIT_SEL_ADDR

#define BNO055_I2C_ADDR1   0x28

#define BNO055_I2C_ADDR2   0x29

#define BNO055_INTR_RST__LEN   1

#define BNO055_INTR_RST__MSK   0X40

#define BNO055_INTR_RST__POS   6

#define BNO055_INTR_RST__REG   BNO055_SYS_TRIGGER_ADDR

#define BNO055_INTR_STAT_ACCEL_ANY_MOTION__LEN   1

#define BNO055_INTR_STAT_ACCEL_ANY_MOTION__MSK   0X40

#define BNO055_INTR_STAT_ACCEL_ANY_MOTION__POS   6

#define BNO055_INTR_STAT_ACCEL_ANY_MOTION__REG   BNO055_INTR_STAT_ADDR

#define BNO055_INTR_STAT_ACCEL_HIGH_G__LEN   1

#define BNO055_INTR_STAT_ACCEL_HIGH_G__MSK   0X20

#define BNO055_INTR_STAT_ACCEL_HIGH_G__POS   5

#define BNO055_INTR_STAT_ACCEL_HIGH_G__REG   BNO055_INTR_STAT_ADDR

#define BNO055_INTR_STAT_ACCEL_NO_MOTION__LEN   1

#define BNO055_INTR_STAT_ACCEL_NO_MOTION__MSK   0X80

#define BNO055_INTR_STAT_ACCEL_NO_MOTION__POS   7

#define BNO055_INTR_STAT_ACCEL_NO_MOTION__REG   BNO055_INTR_STAT_ADDR

#define BNO055_INTR_STAT_ADDR   0X37

#define BNO055_INTR_STAT_GYRO_ANY_MOTION__LEN   1

#define BNO055_INTR_STAT_GYRO_ANY_MOTION__MSK   0X04

#define BNO055_INTR_STAT_GYRO_ANY_MOTION__POS   2

#define BNO055_INTR_STAT_GYRO_ANY_MOTION__REG   BNO055_INTR_STAT_ADDR

#define BNO055_INTR_STAT_GYRO_HIGHRATE__LEN   1

#define BNO055_INTR_STAT_GYRO_HIGHRATE__MSK   0X08

#define BNO055_INTR_STAT_GYRO_HIGHRATE__POS   3

#define BNO055_INTR_STAT_GYRO_HIGHRATE__REG   BNO055_INTR_STAT_ADDR

#define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR   0X28

#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX__LEN   8

#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX__MSK   0xFF

#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX__POS   0

#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX__REG   BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR

#define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR   0X29

#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX__LEN   8

#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX__MSK   0xFF

#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX__POS   0

#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX__REG   BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR

#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR   0X2A

#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY__LEN   8

#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY__MSK   0xFF

#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY__POS   0

#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY__REG   BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR

#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR   0X2B

#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY__LEN   8

#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY__MSK   0xFF

#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY__POS   0

#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY__REG   BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR

#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR   0X2C

#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ__LEN   8

#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ__MSK   0xFF

#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ__POS   0

#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ__REG   BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR

#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR   0X2D

#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ__LEN   8

#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ__MSK   0xFF

#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ__POS   0

#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ__REG   BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR

#define BNO055_MAG_CALIB_STAT__LEN   2

#define BNO055_MAG_CALIB_STAT__MSK   0X03

#define BNO055_MAG_CALIB_STAT__POS   0

#define BNO055_MAG_CALIB_STAT__REG   BNO055_CALIB_STAT_ADDR

#define BNO055_MAG_DATA_OUTPUT_RATE__LEN   3

#define BNO055_MAG_DATA_OUTPUT_RATE__MSK   0X07

#define BNO055_MAG_DATA_OUTPUT_RATE__POS   0

#define BNO055_MAG_DATA_OUTPUT_RATE__REG   MAG_CONFIG_ADDR

#define BNO055_MAG_DATA_X_LSB_ADDR   0X0E

#define BNO055_MAG_DATA_X_LSB_VALUEX__LEN   8

#define BNO055_MAG_DATA_X_LSB_VALUEX__MSK   0xFF

#define BNO055_MAG_DATA_X_LSB_VALUEX__POS   0

#define BNO055_MAG_DATA_X_LSB_VALUEX__REG   BNO055_MAG_DATA_X_LSB_ADDR

#define BNO055_MAG_DATA_X_MSB_ADDR   0X0F

#define BNO055_MAG_DATA_X_MSB_VALUEX__LEN   8

#define BNO055_MAG_DATA_X_MSB_VALUEX__MSK   0xFF

#define BNO055_MAG_DATA_X_MSB_VALUEX__POS   0

#define BNO055_MAG_DATA_X_MSB_VALUEX__REG   BNO055_MAG_DATA_X_MSB_ADDR

#define BNO055_MAG_DATA_Y_LSB_ADDR   0X10

#define BNO055_MAG_DATA_Y_LSB_VALUEY__LEN   8

#define BNO055_MAG_DATA_Y_LSB_VALUEY__MSK   0xFF

#define BNO055_MAG_DATA_Y_LSB_VALUEY__POS   0

#define BNO055_MAG_DATA_Y_LSB_VALUEY__REG   BNO055_MAG_DATA_Y_LSB_ADDR

#define BNO055_MAG_DATA_Y_MSB_ADDR   0X11

#define BNO055_MAG_DATA_Y_MSB_VALUEY__LEN   8

#define BNO055_MAG_DATA_Y_MSB_VALUEY__MSK   0xFF

#define BNO055_MAG_DATA_Y_MSB_VALUEY__POS   0

#define BNO055_MAG_DATA_Y_MSB_VALUEY__REG   BNO055_MAG_DATA_Y_MSB_ADDR

#define BNO055_MAG_DATA_Z_LSB_ADDR   0X12

#define BNO055_MAG_DATA_Z_LSB_VALUEZ__LEN   8

#define BNO055_MAG_DATA_Z_LSB_VALUEZ__MSK   0xFF

#define BNO055_MAG_DATA_Z_LSB_VALUEZ__POS   0

#define BNO055_MAG_DATA_Z_LSB_VALUEZ__REG   BNO055_MAG_DATA_Z_LSB_ADDR

#define BNO055_MAG_DATA_Z_MSB_ADDR   0X13

#define BNO055_MAG_DATA_Z_MSB_VALUEZ__LEN   8

#define BNO055_MAG_DATA_Z_MSB_VALUEZ__MSK   0xFF

#define BNO055_MAG_DATA_Z_MSB_VALUEZ__POS   0

#define BNO055_MAG_DATA_Z_MSB_VALUEZ__REG   BNO055_MAG_DATA_Z_MSB_ADDR

#define BNO055_MAG_OFFSET_X_LSB__LEN   8

#define BNO055_MAG_OFFSET_X_LSB__MSK   0XFF

#define BNO055_MAG_OFFSET_X_LSB__POS   0

#define BNO055_MAG_OFFSET_X_LSB__REG   MAG_OFFSET_X_LSB_ADDR

#define BNO055_MAG_OFFSET_X_MSB__LEN   8

#define BNO055_MAG_OFFSET_X_MSB__MSK   0XFF

#define BNO055_MAG_OFFSET_X_MSB__POS   0

#define BNO055_MAG_OFFSET_X_MSB__REG   MAG_OFFSET_X_MSB_ADDR

#define BNO055_MAG_OFFSET_Y_LSB__LEN   8

#define BNO055_MAG_OFFSET_Y_LSB__MSK   0XFF

#define BNO055_MAG_OFFSET_Y_LSB__POS   0

#define BNO055_MAG_OFFSET_Y_LSB__REG   MAG_OFFSET_Y_LSB_ADDR

#define BNO055_MAG_OFFSET_Y_MSB__LEN   8

#define BNO055_MAG_OFFSET_Y_MSB__MSK   0XFF

#define BNO055_MAG_OFFSET_Y_MSB__POS   0

#define BNO055_MAG_OFFSET_Y_MSB__REG   MAG_OFFSET_Y_MSB_ADDR

#define BNO055_MAG_OFFSET_Z_LSB__LEN   8

#define BNO055_MAG_OFFSET_Z_LSB__MSK   0XFF

#define BNO055_MAG_OFFSET_Z_LSB__POS   0

#define BNO055_MAG_OFFSET_Z_LSB__REG   MAG_OFFSET_Z_LSB_ADDR

#define BNO055_MAG_OFFSET_Z_MSB__LEN   8

#define BNO055_MAG_OFFSET_Z_MSB__MSK   0XFF

#define BNO055_MAG_OFFSET_Z_MSB__POS   0

#define BNO055_MAG_OFFSET_Z_MSB__REG   MAG_OFFSET_Z_MSB_ADDR

#define BNO055_MAG_OPERATION_MODE__LEN   2

#define BNO055_MAG_OPERATION_MODE__MSK   0X18

#define BNO055_MAG_OPERATION_MODE__POS   3

#define BNO055_MAG_OPERATION_MODE__REG   MAG_CONFIG_ADDR

#define BNO055_MAG_POWER_MODE__LEN   2

#define BNO055_MAG_POWER_MODE__MSK   0X60

#define BNO055_MAG_POWER_MODE__POS   5

#define BNO055_MAG_POWER_MODE__REG   MAG_CONFIG_ADDR

#define BNO055_MAG_RADIUS_LSB__LEN   8

#define BNO055_MAG_RADIUS_LSB__MSK   0XFF

#define BNO055_MAG_RADIUS_LSB__POS   0

#define BNO055_MAG_RADIUS_LSB__REG   MAG_RADIUS_LSB_ADDR

#define BNO055_MAG_RADIUS_MSB__LEN   8

#define BNO055_MAG_RADIUS_MSB__MSK   0XFF

#define BNO055_MAG_RADIUS_MSB__POS   0

#define BNO055_MAG_RADIUS_MSB__REG   MAG_RADIUS_MSB_ADDR

#define BNO055_MAG_REV_ID__LEN   8

#define BNO055_MAG_REV_ID__MSK   0xFF

#define BNO055_MAG_REV_ID__POS   0

#define BNO055_MAG_REV_ID__REG   BNO055_MAG_REV_ID_ADDR

#define BNO055_MAG_REV_ID_ADDR   0x02

#define BNO055_MAG_SLEEP_DURN__LEN   4

#define BNO055_MAG_SLEEP_DURN__MSK   0X1E

#define BNO055_MAG_SLEEP_DURN__POS   1

#define BNO055_MAG_SLEEP_DURN__REG   MAG_SLEEP_CONFIG_ADDR

#define BNO055_MAG_SLEEP_MODE__LEN   1

#define BNO055_MAG_SLEEP_MODE__MSK   0X01

#define BNO055_MAG_SLEEP_MODE__POS   0

#define BNO055_MAG_SLEEP_MODE__REG   MAG_SLEEP_CONFIG_ADDR

#define BNO055_MDELAY_DATA_TYPE   u32

#define BNO055_ONE_U8X   ((u8)1)

#define BNO055_OPERATION_MODE__LEN   4

#define BNO055_OPERATION_MODE__MSK   0X0F

#define BNO055_OPERATION_MODE__POS   0

#define BNO055_OPERATION_MODE__REG   BNO055_OPR_MODE_ADDR

#define BNO055_OPR_MODE_ADDR   0X3D

#define BNO055_PAGE_ID__LEN   8

#define BNO055_PAGE_ID__MSK   0xFF

#define BNO055_PAGE_ID__POS   0

#define BNO055_PAGE_ID__REG   BNO055_PAGE_ID_ADDR

#define BNO055_PAGE_ID_ADDR   0X07

#define BNO055_POWER_MODE__LEN   2

#define BNO055_POWER_MODE__MSK   0X03

#define BNO055_POWER_MODE__POS   0

#define BNO055_POWER_MODE__REG   BNO055_PWR_MODE_ADDR

#define BNO055_PWR_MODE_ADDR   0X3E

#define BNO055_QUATERNION_DATA_W_LSB_ADDR   0X20

#define BNO055_QUATERNION_DATA_W_LSB_VALUEW__LEN   8

#define BNO055_QUATERNION_DATA_W_LSB_VALUEW__MSK   0xFF

#define BNO055_QUATERNION_DATA_W_LSB_VALUEW__POS   0

#define BNO055_QUATERNION_DATA_W_LSB_VALUEW__REG   BNO055_QUATERNION_DATA_W_LSB_ADDR

#define BNO055_QUATERNION_DATA_W_MSB_ADDR   0X21

#define BNO055_QUATERNION_DATA_W_MSB_VALUEW__LEN   8

#define BNO055_QUATERNION_DATA_W_MSB_VALUEW__MSK   0xFF

#define BNO055_QUATERNION_DATA_W_MSB_VALUEW__POS   0

#define BNO055_QUATERNION_DATA_W_MSB_VALUEW__REG   BNO055_QUATERNION_DATA_W_MSB_ADDR

#define BNO055_QUATERNION_DATA_X_LSB_ADDR   0X22

#define BNO055_QUATERNION_DATA_X_LSB_VALUEX__LEN   8

#define BNO055_QUATERNION_DATA_X_LSB_VALUEX__MSK   0xFF

#define BNO055_QUATERNION_DATA_X_LSB_VALUEX__POS   0

#define BNO055_QUATERNION_DATA_X_LSB_VALUEX__REG   BNO055_QUATERNION_DATA_X_LSB_ADDR

#define BNO055_QUATERNION_DATA_X_MSB_ADDR   0X23

#define BNO055_QUATERNION_DATA_X_MSB_VALUEX__LEN   8

#define BNO055_QUATERNION_DATA_X_MSB_VALUEX__MSK   0xFF

#define BNO055_QUATERNION_DATA_X_MSB_VALUEX__POS   0

#define BNO055_QUATERNION_DATA_X_MSB_VALUEX__REG   BNO055_QUATERNION_DATA_X_MSB_ADDR

#define BNO055_QUATERNION_DATA_Y_LSB_ADDR   0X24

#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY__LEN   8

#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY__MSK   0xFF

#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY__POS   0

#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY__REG   BNO055_QUATERNION_DATA_Y_LSB_ADDR

#define BNO055_QUATERNION_DATA_Y_MSB_ADDR   0X25

#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY__LEN   8

#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY__MSK   0xFF

#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY__POS   0

#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY__REG   NO055_QUATERNION_DATA_Y_MSB_ADDR

#define BNO055_QUATERNION_DATA_Z_LSB_ADDR   0X26

#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ__LEN   8

#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ__MSK   0xFF

#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ__POS   0

#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ__REG   BNO055_QUATERNION_DATA_Z_LSB_ADDR

#define BNO055_QUATERNION_DATA_Z_MSB_ADDR   0X27

#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ__LEN   8

#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ__MSK   0xFF

#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ__POS   0

#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ__REG   BNO055_QUATERNION_DATA_Z_MSB_ADDR

#define BNO055_RD_FUNC_PTR

Value:

s8 \
(*bus_read)(u8, u8 , u8 *, u8)

#define BNO055_REMAP_AXIS_VALUE__LEN   6

#define BNO055_REMAP_AXIS_VALUE__MSK   0X3F

#define BNO055_REMAP_AXIS_VALUE__POS   0

#define BNO055_REMAP_AXIS_VALUE__REG   BNO055_AXIS_MAP_CONFIG_ADDR

#define BNO055_REMAP_X_SIGN__LEN   1

#define BNO055_REMAP_X_SIGN__MSK   0X04

#define BNO055_REMAP_X_SIGN__POS   2

#define BNO055_REMAP_X_SIGN__REG   BNO055_AXIS_MAP_SIGN_ADDR

#define BNO055_REMAP_Y_SIGN__LEN   1

#define BNO055_REMAP_Y_SIGN__MSK   0X02

#define BNO055_REMAP_Y_SIGN__POS   1

#define BNO055_REMAP_Y_SIGN__REG   BNO055_AXIS_MAP_SIGN_ADDR

#define BNO055_REMAP_Z_SIGN__LEN   1

#define BNO055_REMAP_Z_SIGN__MSK   0X01

#define BNO055_REMAP_Z_SIGN__POS   0

#define BNO055_REMAP_Z_SIGN__REG   BNO055_AXIS_MAP_SIGN_ADDR

#define BNO055_RETURN_FUNCTION_TYPE   s8

#define BNO055_SELFTEST__LEN   1

#define BNO055_SELFTEST__MSK   0X01

#define BNO055_SELFTEST__POS   0

#define BNO055_SELFTEST__REG   BNO055_SYS_TRIGGER_ADDR

#define BNO055_SELFTEST_ACCEL__LEN   1

#define BNO055_SELFTEST_ACCEL__MSK   0X01

#define BNO055_SELFTEST_ACCEL__POS   0

#define BNO055_SELFTEST_ACCEL__REG   BNO055_SELFTEST_RESULT_ADDR

#define BNO055_SELFTEST_GYRO__LEN   1

#define BNO055_SELFTEST_GYRO__MSK   0X04

#define BNO055_SELFTEST_GYRO__POS   2

#define BNO055_SELFTEST_GYRO__REG   BNO055_SELFTEST_RESULT_ADDR

#define BNO055_SELFTEST_MAG__LEN   1

#define BNO055_SELFTEST_MAG__MSK   0X02

#define BNO055_SELFTEST_MAG__POS   1

#define BNO055_SELFTEST_MAG__REG   BNO055_SELFTEST_RESULT_ADDR

#define BNO055_SELFTEST_MCU__LEN   1

#define BNO055_SELFTEST_MCU__MSK   0X08

#define BNO055_SELFTEST_MCU__POS   3

#define BNO055_SELFTEST_MCU__REG   BNO055_SELFTEST_RESULT_ADDR

#define BNO055_SELFTEST_RESULT_ADDR   0X36

#define BNO055_SET_BITSLICE	(		regvar,
			bitname,
			val
	)		((regvar & ~bitname##__MSK) | ((val<<bitname##__POS)&bitname##__MSK))

#define BNO055_SEVEN_U8X   ((u8)7)

#define BNO055_SHIFT_8_POSITION   ((u8)8)

#define BNO055_SIC_HEX_0_0_F_F_DATA   0x00FF

#define BNO055_SIC_MATRIX_0_LSB__LEN   8

#define BNO055_SIC_MATRIX_0_LSB__MSK   0XFF

#define BNO055_SIC_MATRIX_0_LSB__POS   0

#define BNO055_SIC_MATRIX_0_LSB__REG   BNO055_SIC_MATRIX_0_LSB_ADDR

#define BNO055_SIC_MATRIX_0_LSB_ADDR   0X43

#define BNO055_SIC_MATRIX_0_MSB__LEN   8

#define BNO055_SIC_MATRIX_0_MSB__MSK   0XFF

#define BNO055_SIC_MATRIX_0_MSB__POS   0

#define BNO055_SIC_MATRIX_0_MSB__REG   BNO055_SIC_MATRIX_0_MSB_ADDR

#define BNO055_SIC_MATRIX_0_MSB_ADDR   0X44

#define BNO055_SIC_MATRIX_1_LSB__LEN   8

#define BNO055_SIC_MATRIX_1_LSB__MSK   0XFF

#define BNO055_SIC_MATRIX_1_LSB__POS   0

#define BNO055_SIC_MATRIX_1_LSB__REG   BNO055_SIC_MATRIX_1_LSB_ADDR

#define BNO055_SIC_MATRIX_1_LSB_ADDR   0X45

#define BNO055_SIC_MATRIX_1_MSB__LEN   8

#define BNO055_SIC_MATRIX_1_MSB__MSK   0XFF

#define BNO055_SIC_MATRIX_1_MSB__POS   0

#define BNO055_SIC_MATRIX_1_MSB__REG   BNO055_SIC_MATRIX_1_MSB_ADDR

#define BNO055_SIC_MATRIX_1_MSB_ADDR   0X46

#define BNO055_SIC_MATRIX_2_LSB__LEN   8

#define BNO055_SIC_MATRIX_2_LSB__MSK   0XFF

#define BNO055_SIC_MATRIX_2_LSB__POS   0

#define BNO055_SIC_MATRIX_2_LSB__REG   BNO055_SIC_MATRIX_2_LSB_ADDR

#define BNO055_SIC_MATRIX_2_LSB_ADDR   0X47

#define BNO055_SIC_MATRIX_2_MSB__LEN   8

#define BNO055_SIC_MATRIX_2_MSB__MSK   0XFF

#define BNO055_SIC_MATRIX_2_MSB__POS   0

#define BNO055_SIC_MATRIX_2_MSB__REG   BNO055_SIC_MATRIX_2_MSB_ADDR

#define BNO055_SIC_MATRIX_2_MSB_ADDR   0X48

#define BNO055_SIC_MATRIX_3_LSB__LEN   8

#define BNO055_SIC_MATRIX_3_LSB__MSK   0XFF

#define BNO055_SIC_MATRIX_3_LSB__POS   0

#define BNO055_SIC_MATRIX_3_LSB__REG   BNO055_SIC_MATRIX_3_LSB_ADDR

#define BNO055_SIC_MATRIX_3_LSB_ADDR   0X49

#define BNO055_SIC_MATRIX_3_MSB__LEN   8

#define BNO055_SIC_MATRIX_3_MSB__MSK   0XFF

#define BNO055_SIC_MATRIX_3_MSB__POS   0

#define BNO055_SIC_MATRIX_3_MSB__REG   BNO055_SIC_MATRIX_3_MSB_ADDR

#define BNO055_SIC_MATRIX_3_MSB_ADDR   0X4A

#define BNO055_SIC_MATRIX_4_LSB__LEN   8

#define BNO055_SIC_MATRIX_4_LSB__MSK   0XFF

#define BNO055_SIC_MATRIX_4_LSB__POS   0

#define BNO055_SIC_MATRIX_4_LSB__REG   BNO055_SIC_MATRIX_4_LSB_ADDR

#define BNO055_SIC_MATRIX_4_LSB_ADDR   0X4B

#define BNO055_SIC_MATRIX_4_MSB__LEN   8

#define BNO055_SIC_MATRIX_4_MSB__MSK   0XFF

#define BNO055_SIC_MATRIX_4_MSB__POS   0

#define BNO055_SIC_MATRIX_4_MSB__REG   BNO055_SIC_MATRIX_4_MSB_ADDR

#define BNO055_SIC_MATRIX_4_MSB_ADDR   0X4C

#define BNO055_SIC_MATRIX_5_LSB__LEN   8

#define BNO055_SIC_MATRIX_5_LSB__MSK   0XFF

#define BNO055_SIC_MATRIX_5_LSB__POS   0

#define BNO055_SIC_MATRIX_5_LSB__REG   BNO055_SIC_MATRIX_5_LSB_ADDR

#define BNO055_SIC_MATRIX_5_LSB_ADDR   0X4D

#define BNO055_SIC_MATRIX_5_MSB__LEN   8

#define BNO055_SIC_MATRIX_5_MSB__MSK   0XFF

#define BNO055_SIC_MATRIX_5_MSB__POS   0

#define BNO055_SIC_MATRIX_5_MSB__REG   BNO055_SIC_MATRIX_5_MSB_ADDR

#define BNO055_SIC_MATRIX_5_MSB_ADDR   0X4E

#define BNO055_SIC_MATRIX_6_LSB__LEN   8

#define BNO055_SIC_MATRIX_6_LSB__MSK   0XFF

#define BNO055_SIC_MATRIX_6_LSB__POS   0

#define BNO055_SIC_MATRIX_6_LSB__REG   BNO055_SIC_MATRIX_6_LSB_ADDR

#define BNO055_SIC_MATRIX_6_LSB_ADDR   0X4F

#define BNO055_SIC_MATRIX_6_MSB__LEN   8

#define BNO055_SIC_MATRIX_6_MSB__MSK   0XFF

#define BNO055_SIC_MATRIX_6_MSB__POS   0

#define BNO055_SIC_MATRIX_6_MSB__REG   BNO055_SIC_MATRIX_6_MSB_ADDR

#define BNO055_SIC_MATRIX_6_MSB_ADDR   0X50

#define BNO055_SIC_MATRIX_7_LSB__LEN   8

#define BNO055_SIC_MATRIX_7_LSB__MSK   0XFF

#define BNO055_SIC_MATRIX_7_LSB__POS   0

#define BNO055_SIC_MATRIX_7_LSB__REG   BNO055_SIC_MATRIX_7_LSB_ADDR

#define BNO055_SIC_MATRIX_7_LSB_ADDR   0X51

#define BNO055_SIC_MATRIX_7_MSB__LEN   8

#define BNO055_SIC_MATRIX_7_MSB__MSK   0XFF

#define BNO055_SIC_MATRIX_7_MSB__POS   0

#define BNO055_SIC_MATRIX_7_MSB__REG   BNO055_SIC_MATRIX_7_MSB_ADDR

#define BNO055_SIC_MATRIX_7_MSB_ADDR   0X52

#define BNO055_SIC_MATRIX_8_LSB__LEN   8

#define BNO055_SIC_MATRIX_8_LSB__MSK   0XFF

#define BNO055_SIC_MATRIX_8_LSB__POS   0

#define BNO055_SIC_MATRIX_8_LSB__REG   BNO055_SIC_MATRIX_8_LSB_ADDR

#define BNO055_SIC_MATRIX_8_LSB_ADDR   0X53

#define BNO055_SIC_MATRIX_8_MSB__LEN   8

#define BNO055_SIC_MATRIX_8_MSB__MSK   0XFF

#define BNO055_SIC_MATRIX_8_MSB__POS   0

#define BNO055_SIC_MATRIX_8_MSB__REG   BNO055_SIC_MATRIX_8_MSB_ADDR

#define BNO055_SIC_MATRIX_8_MSB_ADDR   0X54

#define BNO055_SIX_HUNDRES_U8X   600

#define BNO055_SIX_U8X   ((u8)6)

#define BNO055_SIXTEEN_U8X   ((u8)16)

#define BNO055_SW_REV_ID_LSB__LEN   8

#define BNO055_SW_REV_ID_LSB__MSK   0xFF

#define BNO055_SW_REV_ID_LSB__POS   0

#define BNO055_SW_REV_ID_LSB__REG   BNO055_SW_REV_ID_LSB_ADDR

#define BNO055_SW_REV_ID_LSB_ADDR   0x04

#define BNO055_SW_REV_ID_MSB__LEN   8

#define BNO055_SW_REV_ID_MSB__MSK   0xFF

#define BNO055_SW_REV_ID_MSB__POS   0

#define BNO055_SW_REV_ID_MSB__REG   BNO055_SW_REV_ID_MSB_ADDR

#define BNO055_SW_REV_ID_MSB_ADDR   0x05

#define BNO055_SYS_CALIB_STAT__LEN   2

#define BNO055_SYS_CALIB_STAT__MSK   0XC0

#define BNO055_SYS_CALIB_STAT__POS   6

#define BNO055_SYS_CALIB_STAT__REG   BNO055_CALIB_STAT_ADDR

#define BNO055_SYS_CLK_STAT_ADDR   0X38

#define BNO055_SYS_ERR_ADDR   0X3A

#define BNO055_SYS_ERROR_CODE__LEN   8

#define BNO055_SYS_ERROR_CODE__MSK   0XFF

#define BNO055_SYS_ERROR_CODE__POS   0

#define BNO055_SYS_ERROR_CODE__REG   BNO055_SYS_ERR_ADDR

#define BNO055_SYS_MAIN_CLK__LEN   1

#define BNO055_SYS_MAIN_CLK__MSK   0X10

#define BNO055_SYS_MAIN_CLK__POS   0

#define BNO055_SYS_MAIN_CLK__REG   BNO055_SYS_CLK_STAT_ADDR

#define BNO055_SYS_RST__LEN   1

#define BNO055_SYS_RST__MSK   0X20

#define BNO055_SYS_RST__POS   5

#define BNO055_SYS_RST__REG   BNO055_SYS_TRIGGER_ADDR

#define BNO055_SYS_STAT_ADDR   0X39

#define BNO055_SYS_STAT_CODE__LEN   8

#define BNO055_SYS_STAT_CODE__MSK   0XFF

#define BNO055_SYS_STAT_CODE__POS   0

#define BNO055_SYS_STAT_CODE__REG   BNO055_SYS_STAT_ADDR

#define BNO055_SYS_TRIGGER_ADDR   0X3F

#define BNO055_TEMP__LEN   8

#define BNO055_TEMP__MSK   0xFF

#define BNO055_TEMP__POS   0

#define BNO055_TEMP__REG   BNO055_TEMP_ADDR

#define BNO055_TEMP_ADDR   0X34

#define BNO055_TEMP_SOURCE__LEN   2

#define BNO055_TEMP_SOURCE__MSK   0X03

#define BNO055_TEMP_SOURCE__POS   0

#define BNO055_TEMP_SOURCE__REG   BNO055_TEMP_SOURCE_ADDR

#define BNO055_TEMP_SOURCE_ADDR   0X40

#define BNO055_TEMP_UNIT__LEN   1

#define BNO055_TEMP_UNIT__MSK   0X10

#define BNO055_TEMP_UNIT__POS   4

#define BNO055_TEMP_UNIT__REG   BNO055_UNIT_SEL_ADDR

#define BNO055_TILT_UNIT__LEN   1

#define BNO055_TILT_UNIT__MSK   0X08

#define BNO055_TILT_UNIT__POS   3

#define BNO055_TILT_UNIT__REG   BNO055_UNIT_SEL_ADDR

#define BNO055_TWENTY_U8X   ((u8)20)

#define BNO055_TWO_U8X   ((u8)2)

#define BNO055_UNIT_SEL_ADDR   0X3B

#define BNO055_WR_FUNC_PTR

Value:

s8 (*bus_write)\
(u8, u8 , u8 *, u8)

#define BNO055_ZERO_U8X   ((u8)0)

#define DEFAULT_AXIS   0X24

#define DISABLED   0x00

#define E_BNO055_OUT_OF_RANGE   ((s8)-2)

#define E_NULL_PTR   ((s8)-127)

#define ENABLED   0x01

#define ERROR   ((s8)-1)

Referenced by log_output().

#define EULER_DIV_DEG   16.0

#define EULER_DIV_RAD   900.0

#define EULER_UNIT_DEG   0x00

#define EULER_UNIT_RAD   0x01

#define FILTERED   0x00

#define GRAVITY_DIV_MSQ   100.0

#define GYRO_ANY_MOTION_SET_ADDR   0X1F

#define GYRO_ANY_MOTION_THRES_ADDR   0X1E

#define GYRO_BW_116HZ   0x02

#define GYRO_BW_12HZ   0x05

#define GYRO_BW_230HZ   0x01

#define GYRO_BW_23HZ   0x04

#define GYRO_BW_32HZ   0x07

#define GYRO_BW_47HZ   0x03

#define GYRO_BW_523HZ   0x00

#define GYRO_BW_64HZ   0x06

#define GYRO_CONFIG_ADDR   0X0A

#define GYRO_DIV_DPS   16.0

#define GYRO_DIV_RPS   900.0

#define GYRO_DURN_X_ADDR   0X19

#define GYRO_DURN_Y_ADDR   0X1B

#define GYRO_DURN_Z_ADDR   0X1D

#define GYRO_HIGHRATE_X_SET_ADDR   0X18

#define GYRO_HIGHRATE_Y_SET_ADDR   0X1A

#define GYRO_HIGHRATE_Z_SET_ADDR   0X1C

#define GYRO_INTR_SETING_ADDR   0X17

#define GYRO_MODE_CONFIG_ADDR   0X0B

#define GYRO_OFFSET_X_LSB_ADDR   0X61

#define GYRO_OFFSET_X_MSB_ADDR   0X62

#define GYRO_OFFSET_Y_LSB_ADDR   0X63

#define GYRO_OFFSET_Y_MSB_ADDR   0X64

#define GYRO_OFFSET_Z_LSB_ADDR   0X65

#define GYRO_OFFSET_Z_MSB_ADDR   0X66

#define GYRO_POWER_MODE_ADVANCE_POWERSAVE   0X04

#define GYRO_POWER_MODE_DEEPSUSPEND   0X02

#define GYRO_POWER_MODE_FASTPOWERUP   0X01

#define GYRO_POWER_MODE_NORMAL   0X00

#define GYRO_POWER_MODE_SUSPEND   0X03

#define GYRO_RANGE_1000DPS   0x01

#define GYRO_RANGE_125DPS   0x04

#define GYRO_RANGE_2000DPS   0x00

#define GYRO_RANGE_250DPS   0x03

#define GYRO_RANGE_500DPS   0x02

#define GYRO_SLEEP_CONFIG_ADDR   0X0D

#define GYRO_TEMP_EN   0x01

#define GYRO_UNIT_DPS   0x00

#define GYRO_UNIT_RPS   0x01

#define INDEX_EIGHT   8

#define INDEX_EIGHTEEN   18

#define INDEX_ELEVEN   11

#define INDEX_FIVE   5

#define INDEX_FIVETEEN   15

#define INDEX_FOUR   4

#define INDEX_FOURTEEN   14

#define INDEX_NINE   9

#define INDEX_NINETEEN   19

#define INDEX_ONE   1

#define INDEX_SEVEN   7

#define INDEX_SEVENTEEN   17

#define INDEX_SIX   6

#define INDEX_SIXTEEN   16

#define INDEX_TEN   10

#define INDEX_THIRTEEN   13

#define INDEX_THREE   3

#define INDEX_TWELVE   12

#define INDEX_TWENTY   20

#define INDEX_TWENTY_FIVE   25

#define INDEX_TWENTY_ONE   21

#define INDEX_TWENTY_THREE   23

#define INDEX_TWENTY_TWO   22

#define INDEX_TWO   2

#define INDEX_ZERO   0

#define INT_ADDR   0X10

#define INT_MASK_ADDR   0X0F

#define LINEAR_ACCEL_DIV_MSQ   100.0

#define LSB_FOUR   4

#define LSB_SIX   6

#define LSB_TWO   2

#define LSB_ZERO   0

#define MACHINE_32_BIT

The following definition uses for define the data types.

Note

While porting the API please consider the following

Please check the version of C standard

Are you using Linux platform

For the Linux platform support Please use the types.h for your data types definitions

By default it is defined as 32 bit machine configuration define your data types based on your machine/compiler/controller configuration

#define MAG_CONFIG_ADDR   0X09

#define MAG_DATA_OUTRATE_10HZ   0X03

#define MAG_DATA_OUTRATE_15HZ   0X04

#define MAG_DATA_OUTRATE_20HZ   0X05

#define MAG_DATA_OUTRATE_25HZ   0X06

#define MAG_DATA_OUTRATE_2HZ   0X00

#define MAG_DATA_OUTRATE_30HZ   0X07

#define MAG_DATA_OUTRATE_6HZ   0X01

#define MAG_DATA_OUTRATE_8HZ   0X02

#define MAG_DIV_UT   16.0

#define MAG_OFFSET_X_LSB_ADDR   0X5B

#define MAG_OFFSET_X_MSB_ADDR   0X5C

#define MAG_OFFSET_Y_LSB_ADDR   0X5D

#define MAG_OFFSET_Y_MSB_ADDR   0X5E

#define MAG_OFFSET_Z_LSB_ADDR   0X5F

#define MAG_OFFSET_Z_MSB_ADDR   0X60

#define MAG_OPERATION_MODE_ENHANCED_REGULAR   0X02

#define MAG_OPERATION_MODE_HIGH_ACCURACY   0X03

#define MAG_OPERATION_MODE_LOWPOWER   0X00

#define MAG_OPERATION_MODE_REGULAR   0X01

#define MAG_POWER_MODE_FORCE_MODE   0X03

#define MAG_POWER_MODE_NORMAL   0X00

#define MAG_POWER_MODE_SLEEP   0X01

#define MAG_POWER_MODE_SUSPEND   0X02

#define MAG_RADIUS_LSB_ADDR   0X69

#define MAG_RADIUS_MSB_ADDR   0X6A

#define MAG_SLEEP_CONFIG_ADDR   0x0E

#define MCU_TEMP_EN   0x03

#define MSB_FIVE   5

#define MSB_ONE   1

#define MSB_SEVEN   7

#define MSB_THREE   3

#define OPERATION_MODE_ACCGYRO   0X05

#define OPERATION_MODE_ACCMAG   0X04

#define OPERATION_MODE_ACCONLY   0X01

#define OPERATION_MODE_AMG   0X07

#define OPERATION_MODE_COMPASS   0X09

#define OPERATION_MODE_CONFIG   0X00

#define OPERATION_MODE_GYRONLY   0X03

#define OPERATION_MODE_IMUPLUS   0X08

#define OPERATION_MODE_M4G   0X0A

#define OPERATION_MODE_MAGGYRO   0X06

#define OPERATION_MODE_MAGONLY   0X02

#define OPERATION_MODE_NDOF   0X0C

#define OPERATION_MODE_NDOF_FMC_OFF   0X0B

#define PAGE_ONE   0X01

#define PAGE_ZERO   0X00

#define POWER_MODE_LOWPOWER   0X01

#define POWER_MODE_NORMAL   0X00

#define POWER_MODE_SUSPEND   0X02

#define REMAP_AXIS_NEGATIVE   0X01

#define REMAP_AXIS_POSITIVE   0X00

#define REMAP_X_Y   0X21

#define REMAP_X_Y_Z_TYPE0   0X12

#define REMAP_X_Y_Z_TYPE1   0X09

#define REMAP_Y_Z   0X18

#define REMAP_Z_X   0X06

#define SUCCESS   ((u8)0)

#define TEMP_DIV_CELSIUS   1

#define TEMP_DIV_FAHRENHEIT   0.5

#define TEMP_UNIT_CELSIUS   0x00

#define TEMP_UNIT_FAHRENHEIT   0x01

#define UNFILTERED   0x01

typedef signed short int s16

used for signed 16bit

typedef signed int s32

used for signed 32bit

typedef signed long long int s64

used for signed 64bit

typedef signed char s8

If your machine support 16 bit define the MACHINE_16_BIT.

used for signed 8bit

typedef unsigned short int u16

used for unsigned 16bit

typedef unsigned int u32

used for unsigned 32bit

typedef unsigned long long int u64

used for unsigned 64bit

typedef unsigned char u8

used for unsigned 8bit

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_mg

(

double *

v_accel_x_d

)

This API is used to convert the accel x raw data to millig output as double.

Parameters

v_accel_x_d

: The accel x millig data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_msq

(

double *

v_accel_x_d

)

This API is used to convert the accel x raw data to meterpersecseq output as double.

Parameters

v_accel_x_d

: The accel x meterpersecseq data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_mg

(

struct bno055_accel_double_t *

accel_xyz

)

This API is used to convert the accel xyz raw data to millig output as double.

Parameters

accel_xyz

: The millig data of accel xyz

Parameter	result
x	millig data of accel
y	millig data of accel
z	millig data of accel

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_msq

(

struct bno055_accel_double_t *

accel_xyz

)

This API is used to convert the accel xyz raw data to meterpersecseq output as double.

Parameters

accel_xyz

: The meterpersecseq data of accel xyz

Parameter	result
x	meterpersecseq data of accel
y	meterpersecseq data of accel
z	meterpersecseq data of accel

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_mg

(

double *

v_accel_y_d

)

This API is used to convert the accel y raw data to millig output as double.

Parameters

v_accel_y_d

: The accel y millig data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_msq

(

double *

v_accel_y_d

)

This API is used to convert the accel y raw data to meterpersecseq output as double.

Parameters

v_accel_y_d

: The accel y meterpersecseq data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_mg

(

double *

v_accel_z_d

)

This API is used to convert the accel z raw data to millig output as double.

Parameters

v_accel_z_d

: The accel z millig data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_msq

(

double *

v_accel_z_d

)

This API is used to convert the accel z raw data to meterpersecseq output as double.

Parameters

v_accel_z_d

: The accel z meterpersecseq data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_deg

(

double *

v_euler_h_d

)

This API is used to convert the Euler h raw data to degree output as double.

Parameters

v_euler_h_d

: The double value of Euler h degree

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_rad

(

double *

v_euler_h_d

)

This API is used to convert the Euler h raw data to radians output as double.

Parameters

v_euler_h_d

: The double value of Euler h radians

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_deg

(

struct bno055_euler_double_t *

euler_hpr

)

This API is used to convert the Euler hpr raw data to degree output as double.

Parameters

euler_hpr

: The degree data of Euler hpr

Parameter	result
h	degree data of Euler
r	degree data of Euler
p	degree data of Euler

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_rad

(

struct bno055_euler_double_t *

euler_hpr

)

This API is used to convert the Euler hpr raw data to radians output as double.

Parameters

euler_hpr

: The radians data of Euler hpr

Parameter	result
h	radians data of Euler
r	radians data of Euler
p	radians data of Euler

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_deg

(

double *

v_euler_p_d

)

This API is used to convert the Euler p raw data to degree output as double.

Parameters

v_euler_p_d

: The double value of Euler p degree

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_rad

(

double *

v_euler_p_d

)

This API is used to convert the Euler p raw data to radians output as double.

Parameters

v_euler_p_d

: The double value of Euler p radians

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_deg

(

double *

v_euler_r_d

)

This API is used to convert the Euler r raw data to degree output as double.

Parameters

v_euler_r_d

: The double value of Euler r degree

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_rad

(

double *

v_euler_r_d

)

This API is used to convert the Euler r raw data to radians output as double.

Parameters

v_euler_r_d

: The double value of Euler r radians

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gravity_xyz_msq

(

struct bno055_gravity_double_t *

gravity_xyz

)

This API is used to convert the gravity xyz raw data to meterpersecseq output as double.

Parameters

gravity_xyz

: The meterpersecseq data of gravity xyz

Parameter	result
x	meterpersecseq data of gravity
y	meterpersecseq data of gravity
z	meterpersecseq data of gravity

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_dps

(

double *

v_gyro_x_d

)

This API is used to convert the gyro x raw data to dps output as double.

Parameters

v_gyro_x_d

: The gyro x dps double data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_rps

(

double *

v_gyro_x_d

)

This API is used to convert the gyro x raw data to rps output as double.

Parameters

v_gyro_x_d

: The gyro x dps double data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_dps

(

struct bno055_gyro_double_t *

gyro_xyz

)

This API is used to convert the gyro xyz raw data to dps output as double.

Parameters

gyro_xyz

: The dps data of gyro xyz

Parameter	result
x	dps data of gyro
y	dps data of gyro
z	dps data of gyro

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_rps

(

struct bno055_gyro_double_t *

gyro_xyz

)

This API is used to convert the gyro xyz raw data to rps output as double.

Parameters

gyro_xyz

: The rps data of gyro xyz

Parameter	result
x	rps data of gyro
y	rps data of gyro
z	rps data of gyro

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_dps

(

double *

v_gyro_y_d

)

This API is used to convert the gyro y raw data to dps output as double.

Parameters

v_gyro_y_d

: The gyro y dps double data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_rps

(

double *

v_gyro_y_d

)

This API is used to convert the gyro y raw data to rps output as double.

Parameters

v_gyro_y_d

: The gyro y dps double data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_dps

(

double *

v_gyro_z_d

)

This API is used to convert the gyro z raw data to dps output as double.

Parameters

v_gyro_z_d

: The gyro z dps double data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_rps

(

double *

v_gyro_z_d

)

This API is used to convert the gyro z raw data to rps output as double.

Parameters

v_gyro_z_d

: The gyro z rps double data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_x_msq

(

double *

v_linear_accel_x_d

)

This API is used to convert the linear accel x raw data to meterpersecseq output as double.

Parameters

v_linear_accel_x_d

: The double value of linear accel x meterpersecseq

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_xyz_msq

(

struct bno055_linear_accel_double_t *

linear_accel_xyz

)

This API is used to convert the linear accel xyz raw data to meterpersecseq output as double.

Parameters

linear_accel_xyz

: The meterpersecseq data of linear accel xyz

Parameter	result
x	meterpersecseq data of linear accel
y	meterpersecseq data of linear accel
z	meterpersecseq data of linear accel

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_y_msq

(

double *

v_linear_accel_y_d

)

This API is used to convert the linear accel y raw data to meterpersecseq output as double.

Parameters

v_linear_accel_y_d

: The double value of linear accel y meterpersecseq

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_z_msq

(

double *

v_linear_accel_z_d

)

This API is used to convert the linear accel z raw data to meterpersecseq output as double.

Parameters

v_linear_accel_z_d

: The double value of linear accel z meterpersecseq

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_x_uT

(

double *

v_mag_x_d

)

This API is used to convert the mag x raw data to microTesla output as double.

Parameters

v_mag_x_d

: The mag x microTesla data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_xyz_uT

(

struct bno055_mag_double_t *

mag_xyz

)

This API is used to convert the mag yz raw data to microTesla output as double.

Parameters

mag_xyz

: The microTesla data of mag xyz

Parameter	result
x	microTesla data of mag
y	microTesla data of mag
z	microTesla data of mag

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_y_uT

(

double *

v_mag_y_d

)

This API is used to convert the mag y raw data to microTesla output as double.

Parameters

v_mag_y_d

: The mag y microTesla data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_z_uT

(

double *

v_mag_z_d

)

This API is used to convert the mag z raw data to microTesla output as double.

Parameters

v_mag_z_d

: The mag z microTesla data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_celsius

(

double *

v_temp_d

)

This API is used to convert the temperature data to Celsius output as double.

Parameters

v_temp_d

: The double value of temperature Celsius

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_fahrenheit

(

double *

v_temp_d

)

This API is used to convert the temperature data to Fahrenheit output as double.

Parameters

v_temp_d

: The double value of temperature Fahrenheit

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_mg

(

float *

v_accel_x_f

)

This API is used to convert the accel x raw data to millig output as float.

Parameters

v_accel_x_f

: The accel x millig data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_msq

(

float *

v_accel_x_f

)

This API is used to convert the accel x raw data to meterpersecseq output as float.

Parameters

v_accel_x_f

: The accel x meterpersecseq data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_mg

(

struct bno055_accel_float_t *

accel_xyz

)

This API is used to convert the accel xyz raw data to millig output as float.

Parameters

accel_xyz

: The millig data of accel xyz

Parameter	result
x	millig data of accel
y	millig data of accel
z	millig data of accel

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_msq

(

struct bno055_accel_float_t *

accel_xyz

)

This API is used to convert the accel xyz raw data to meterpersecseq output as float.

Parameters

accel_xyz

: The meterpersecseq data of accel xyz

Parameter	result
x	meterpersecseq data of accel
y	meterpersecseq data of accel
z	meterpersecseq data of accel

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_mg

(

float *

v_accel_y_f

)

This API is used to convert the accel y raw data to millig output as float.

Parameters

v_accel_y_f

: The accel y millig data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_msq

(

float *

v_accel_y_f

)

This API is used to convert the accel x raw data to meterpersecseq output as float.

Parameters

v_accel_y_f

: The accel y meterpersecseq data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_mg

(

float *

v_accel_z_f

)

This API is used to convert the accel z raw data to millig output as float.

Parameters

v_accel_z_f

: The accel z millig data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_msq

(

float *

v_accel_z_f

)

This API is used to convert the accel z raw data to meterpersecseq output as float.

Parameters

v_accel_z_f

: The accel z meterpersecseq data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_deg

(

float *

v_euler_h_f

)

This API is used to convert the Euler h raw data to degree output as float.

Parameters

v_euler_h_f

: The float value of Euler h degree

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_rad

(

float *

v_euler_h_f

)

This API is used to convert the Euler h raw data to radians output as float.

Parameters

v_euler_h_f

: The float value of Euler h radians

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_deg

(

struct bno055_euler_float_t *

euler_hpr

)

This API is used to convert the Euler hrp raw data to degree output as float.

Parameters

euler_hpr

: The degree data of Euler hrp

Parameter	result
h	degree data of Euler
r	degree data of Euler
p	degree data of Euler

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_rad

(

struct bno055_euler_float_t *

euler_hpr

)

This API is used to convert the Euler xyz raw data to radians output as float.

Parameters

euler_hpr

: The radians data of Euler hrp

Parameter	result
h	radians data of Euler
r	radians data of Euler
p	radians data of Euler

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_deg

(

float *

v_euler_p_f

)

This API is used to convert the Euler p raw data to degree output as float.

Parameters

v_euler_p_f

: The float value of Euler p degree

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_rad

(

float *

v_euler_p_f

)

This API is used to convert the Euler p raw data to radians output as float.

Parameters

v_euler_p_f

: The float value of Euler p radians

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_deg

(

float *

v_euler_r_f

)

This API is used to convert the Euler r raw data to degree output as float.

Parameters

v_euler_r_f

: The float value of Euler r degree

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_rad

(

float *

v_euler_r_f

)

This API is used to convert the Euler r raw data to radians output as float.

Parameters

v_euler_r_f

: The float value of Euler r radians

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gravity_xyz_msq

(

struct bno055_gravity_float_t *

gravity_xyz

)

This API is used to convert the gravity xyz raw data to meterpersecseq output as float.

Parameters

gravity_xyz

: The meterpersecseq data of gravity xyz

Parameter	result
x	meterpersecseq data of gravity
y	meterpersecseq data of gravity
z	meterpersecseq data of gravity

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_dps

(

float *

v_gyro_x_f

)

This API is used to convert the gyro x raw data to dps output as float.

Parameters

v_gyro_x_f

: The gyro x dps float data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_rps

(

float *

v_gyro_x_f

)

This API is used to convert the gyro x raw data to rps output as float.

Parameters

v_gyro_x_f

: The gyro x dps float data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_dps

(

struct bno055_gyro_float_t *

gyro_xyz_data

)

This API is used to convert the gyro xyz raw data to dps output as float.

Parameters

gyro_xyz_data

: The dps data of gyro xyz

Parameter	result
x	dps data of gyro
y	dps data of gyro
z	dps data of gyro

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_rps

(

struct bno055_gyro_float_t *

gyro_xyz_data

)

This API is used to convert the gyro xyz raw data to rps output as float.

Parameters

gyro_xyz_data

: The rps data of gyro xyz

Parameter	result
x	rps data of gyro
y	rps data of gyro
z	rps data of gyro

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_dps

(

float *

v_gyro_y_f

)

This API is used to convert the gyro y raw data to dps output as float.

Parameters

v_gyro_y_f

: The gyro y dps float data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_rps

(

float *

v_gyro_y_f

)

This API is used to convert the gyro y raw data to rps output as float.

Parameters

v_gyro_y_f

: The gyro y dps float data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_dps

(

float *

v_gyro_z_f

)

This API is used to convert the gyro z raw data to dps output as float.

Parameters

v_gyro_z_f

: The gyro z dps float data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_rps

(

float *

v_gyro_z_f

)

This API is used to convert the gyro z raw data to rps output as float.

Parameters

v_gyro_z_f

: The gyro z rps float data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_x_msq

(

float *

v_linear_accel_x_f

)

This API is used to convert the linear accel x raw data to meterpersecseq output as float.

Parameters

v_linear_accel_x_f

: The float value of linear accel x meterpersecseq

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_xyz_msq

(

struct bno055_linear_accel_float_t *

linear_accel_xyz

)

This API is used to convert the linear accel xyz raw data to meterpersecseq output as float.

Parameters

linear_accel_xyz

: The meterpersecseq data of linear accel xyz

Parameter	result
x	meterpersecseq data of linear accel
y	meterpersecseq data of linear accel
z	meterpersecseq data of linear accel

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_y_msq

(

float *

v_linear_accel_y_f

)

This API is used to convert the linear accel y raw data to meterpersecseq output as float.

Parameters

v_linear_accel_y_f

: The float value of linear accel y meterpersecseq

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_z_msq

(

float *

v_linear_accel_z_f

)

This API is used to convert the linear accel z raw data to meterpersecseq output as float.

Parameters

v_linear_accel_z_f

: The float value of linear accel z meterpersecseq

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_x_uT

(

float *

v_mag_x_f

)

This API is used to convert the mag x raw data to microTesla output as float.

Parameters

v_mag_x_f

: The mag x microTesla data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_xyz_uT

(

struct bno055_mag_float_t *

mag_xyz_data

)

This API is used to convert the mag yz raw data to microTesla output as float.

Parameters

mag_xyz_data

: The microTesla data of mag xyz

Parameter	result
x	microTesla data of mag
y	microTesla data of mag
z	microTesla data of mag

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_y_uT

(

float *

v_mag_y_f

)

This API is used to convert the mag y raw data to microTesla output as float.

Parameters

v_mag_y_f

: The mag y microTesla data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_z_uT

(

float *

v_mag_z_f

)

This API is used to convert the mag z raw data to microTesla output as float.

Parameters

v_mag_z_f

: The mag z microTesla data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_celsius

(

float *

v_temp_f

)

This API is used to convert the temperature data to Celsius output as float.

Parameters

v_temp_f

: The float value of temperature Celsius

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_fahrenheit

(

float *

v_temp_f

)

This API is used to convert the temperature data to Fahrenheit output as float.

Parameters

v_temp_f

: The float value of temperature Fahrenheit

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_x_msq

(

double *

v_gravity_x_d

)

This API is used to convert the gravity x raw data to meterpersecseq output as double.

Parameters

v_gravity_x_d

: The double value of gravity x meterpersecseq

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_y_msq

(

double *

v_gravity_y_d

)

This API is used to convert the gravity y raw data to meterpersecseq output as double.

Parameters

v_gravity_y_d

: The double value of gravity y meterpersecseq

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_z_msq

(

double *

v_gravity_z_d

)

This API is used to convert the gravity z raw data to meterpersecseq output as double.

Parameters

v_gravity_z_d

: The double value of gravity z meterpersecseq

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_x_msq

(

float *

v_gravity_x_f

)

This API is used to convert the gravity x raw data to meterpersecseq output as float.

Parameters

v_gravity_x_f

: The float value of gravity x meterpersecseq

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_y_msq

(

float *

v_gravity_y_f

)

This API is used to convert the gravity y raw data to meterpersecseq output as float.

Parameters

v_gravity_y_f

: The float value of gravity y meterpersecseq

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_z_msq

(

float *

v_gravity_z_f

)

This API is used to convert the gravity z raw data to meterpersecseq output as float.

Parameters

v_gravity_z_f

: The float value of gravity z meterpersecseq

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_durn

(

u8 *

accel_any_motion_durn_u8

)

This API used to read the accel anymotion duration from page one register from 0x12 bit 0 to 1.

Parameters

v_accel_any_motion_durn_u8

: The value of accel anymotion duration v_accel_any_motion_durn_u8 result 0x01 ENABLED 0x00 DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

accel_any_motion_durn_u8

: The value of accel anymotion duration accel_any_motion_durn_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_ANY_MOTION_DURN_SET_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_no_motion_axis_enable	(	u8	channel_u8,
		u8 *	data_u8
	)

This API used to read the accel anymotion enable from page one register from 0x12 bit 2 to 4.

Parameters

v_data_u8	: The value of accel anymotion enable v_data_u8 result 0x01 ENABLED 0x00 DISABLED
v_channel_u8	: The value of accel anymotion axis selection v_channel_u8 value BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS 0 BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS 1 BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS 2

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

data_u8	: The value of accel anymotion enable data_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE
channel_u8	: The value of accel anymotion axis selection channel_u8 value BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS 0 BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS 1 BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS 2

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS, BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS, BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS, BNO055_ACCEL_ANY_MOTION_X_AXIS_REG, BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG, BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_OUT_OF_RANGE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_thres

(

u8 *

accel_any_motion_thres_u8

)

This API used to read the accel any motion threshold from page one register from 0x11 bit 0 to 7.

Parameters

v_accel_any_motion_thres_u8

: The value of any motion threshold v_accel_any_motion_thres_u8 result 0x01 ENABLED 0x00 DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Accel anymotion threshold dependent on the range values

v_accel_range_u8	threshold	LSB
2g	3.19mg	1LSB
4g	7.81mg	1LSB
8g	15.63mg	1LSB
16g	31.25mg	1LSB

Parameters

accel_any_motion_thres_u8

: The value of any motion threshold accel_any_motion_thres_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Accel anymotion threshold dependent on the range values

accel_range_u8	threshold	LSB
2g	3.19mg	1LSB
4g	7.81mg	1LSB
8g	15.63mg	1LSB
16g	31.25mg	1LSB

References BNO055_ACCEL_ANY_MOTION_THRES_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_bw

(

u8 *

accel_bw_u8

)

This API used to read the accel bandwidth from page one register from 0x08 bit 2 to 4.

Parameters

v_accel_bw_u8

: The value of accel bandwidth v_accel_bw_u8 | result ----------------- | --------------- 0x00 | ACCEL_BW_7_81HZ 0x01 | ACCEL_BW_15_63HZ 0x02 | ACCEL_BW_31_25HZ 0x03 | ACCEL_BW_62_5HZ 0x04 | ACCEL_BW_125HZ 0x05 | ACCEL_BW_250HZ 0x06 | ACCEL_BW_500HZ 0x07 | ACCEL_BW_1000HZ

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

accel_bw_u8

: The value of accel bandwidth accel_bw_u8 | result ----------------- | --------------- 0x00 | BNO055_ACCEL_BW_7_81HZ 0x01 | BNO055_ACCEL_BW_15_63HZ 0x02 | BNO055_ACCEL_BW_31_25HZ 0x03 | BNO055_ACCEL_BW_62_5HZ 0x04 | BNO055_ACCEL_BW_125HZ 0x05 | BNO055_ACCEL_BW_250HZ 0x06 | BNO055_ACCEL_BW_500HZ 0x07 | BNO055_ACCEL_BW_1000HZ

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_BW_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_calib_stat

(

u8 *

accel_calib_u8

)

This API used to read accel calibration status from register from 0x35 bit 2 and 3.

Parameters

v_accel_calib_u8

: The value of accel calib status

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

accel_calib_u8

: The value of accel calib status

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_CALIB_STAT_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_axis_enable	(	u8	channel_u8,
		u8 *	data_u8
	)

This API used to read the accel highg enable from page one register from 0x12 bit 5 to 7.

Parameters

v_data_u8	: The value of accel highg enable v_data_u8 result 0x01 ENABLED 0x00 DISABLED
v_channel_u8	: The value of accel highg axis selection v_channel_u8 value BNO055_ACCEL_HIGH_G_X_AXIS 0 BNO055_ACCEL_HIGH_G_Y_AXIS 1 BNO055_ACCEL_HIGH_G_Z_AXIS 2

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

data_u8	: The value of accel highg enable data_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE
channel_u8	: The value of accel highg axis selection channel_u8 value BNO055_ACCEL_HIGH_G_X_AXIS 0 BNO055_ACCEL_HIGH_G_Y_AXIS 1 BNO055_ACCEL_HIGH_G_Z_AXIS 2

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_HIGH_G_X_AXIS, BNO055_ACCEL_HIGH_G_X_AXIS_REG, BNO055_ACCEL_HIGH_G_Y_AXIS, BNO055_ACCEL_HIGH_G_Y_AXIS_REG, BNO055_ACCEL_HIGH_G_Z_AXIS, BNO055_ACCEL_HIGH_G_Z_AXIS_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_OUT_OF_RANGE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_durn

(

u8 *

accel_high_g_durn_u8

)

This API used to read the accel highg duration from page one register from 0x13 bit 0 to 7.

Parameters

v_accel_high_g_durn_u8

: The value of accel highg duration

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

The high-g interrupt trigger delay according to [highg duration + 1] * 2 ms

in a range from 2 ms to 512 ms

Parameters

accel_high_g_durn_u8

: The value of accel highg duration

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

The high-g interrupt trigger delay according to [highg duration + 1] * 2 ms

in a range from 2 ms to 512 ms

References BNO055_ACCEL_HIGH_G_DURN_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_thres

(

u8 *

accel_high_g_thres_u8

)

This API used to read the accel highg threshold from page one register from 0x14 bit 0 to 7.

Parameters

v_accel_high_g_thres_u8

: The value of accel highg threshold

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Accel highg interrupt threshold dependent for accel g range

v_accel_range_u8	threshold	LSB
2g	7.81mg	1LSB
4g	15.63mg	1LSB
8g	31.25mg	1LSB
16g	62.5mg	1LSB

Parameters

accel_high_g_thres_u8

: The value of accel highg threshold

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Accel highg interrupt threshold dependent for accel g range

accel_range_u8	threshold	LSB
2g	7.81mg	1LSB
4g	15.63mg	1LSB
8g	31.25mg	1LSB
16g	62.5mg	1LSB

References BNO055_ACCEL_HIGH_G_THRES_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_power_mode

(

u8 *

accel_power_mode_u8

)

This API used to read the accel power mode from page one register from 0x08 bit 5 to 7.

Parameters

v_accel_power_mode_u8

: The value of accel power mode v_accel_power_mode_u8 result 0x00 ACCEL_NORMAL 0x01 ACCEL_SUSPEND 0x02 ACCEL_LOWPOWER_1 0x03 ACCEL_STANDBY 0x04 ACCEL_LOWPOWER_2 0x05 ACCEL_DEEPSUSPEND

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

accel_power_mode_u8

: The value of accel power mode accel_power_mode_u8 result 0x00 BNO055_ACCEL_NORMAL 0x01 BNO055_ACCEL_SUSPEND 0x02 BNO055_ACCEL_LOWPOWER_1 0x03 BNO055_ACCEL_STANDBY 0x04 BNO055_ACCEL_LOWPOWER_2 0x05 BNO055_ACCEL_DEEPSUSPEND

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_POWER_MODE_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_range

(

u8 *

accel_range_u8

)

This API used to read the accel range from page one register from 0x08 bit 0 and 1.

Parameters

v_accel_range_u8

: The value of accel range v_accel_range_u8 result 0x00 ACCEL_RANGE_2G 0x01 ACCEL_RANGE_4G 0x02 ACCEL_RANGE_8G 0x03 ACCEL_RANGE_16G

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

accel_range_u8

: The value of accel range accel_range_u8 result 0x00 BNO055_ACCEL_RANGE_2G 0x01 BNO055_ACCEL_RANGE_4G 0x02 BNO055_ACCEL_RANGE_8G 0x03 BNO055_ACCEL_RANGE_16G

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_RANGE, BNO055_ACCEL_RANGE_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_durn

(

u8 *

sleep_durn_u8

)

This API used to read the accel sleep duration from page one register from 0x0C bit 1 to 4.

Parameters

v_sleep_durn_u8

: The value of accel sleep duration

v_sleep_durn_u8	result
0x05	BNO055_ACCEL_SLEEP_DURN_0_5MS
0x06	BNO055_ACCEL_SLEEP_DURN_1MS
0x07	BNO055_ACCEL_SLEEP_DURN_2MS
0x08	BNO055_ACCEL_SLEEP_DURN_4MS
0x09	BNO055_ACCEL_SLEEP_DURN_6MS
0x0A	BNO055_ACCEL_SLEEP_DURN_10MS
0x0B	BNO055_ACCEL_SLEEP_DURN_25MS
0x0C	BNO055_ACCEL_SLEEP_DURN_50MS
0x0D	BNO055_ACCEL_SLEEP_DURN_100MS
0x0E	BNO055_ACCEL_SLEEP_DURN_500MS
0x0F	BNO055_ACCEL_SLEEP_DURN_1S

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

sleep_durn_u8

: The value of accel sleep duration

sleep_durn_u8	result
0x05	BNO055_ACCEL_SLEEP_DURN_0_5MS
0x06	BNO055_ACCEL_SLEEP_DURN_1MS
0x07	BNO055_ACCEL_SLEEP_DURN_2MS
0x08	BNO055_ACCEL_SLEEP_DURN_4MS
0x09	BNO055_ACCEL_SLEEP_DURN_6MS
0x0A	BNO055_ACCEL_SLEEP_DURN_10MS
0x0B	BNO055_ACCEL_SLEEP_DURN_25MS
0x0C	BNO055_ACCEL_SLEEP_DURN_50MS
0x0D	BNO055_ACCEL_SLEEP_DURN_100MS
0x0E	BNO055_ACCEL_SLEEP_DURN_500MS
0x0F	BNO055_ACCEL_SLEEP_DURN_1S

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_SLEEP_DURN_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_tmr_mode

(

u8 *

sleep_tmr_u8

)

This API used to read the accel sleep mode from page one register from 0x0C bit 0.

Parameters

v_sleep_tmr_u8

: The value of accel sleep mode

v_sleep_tmr_u8	result
0x00	enable EventDrivenSampling(EDT)
0x01	enable Equidistant sampling mode(EST)

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

sleep_tmr_u8

: The value of accel sleep mode

sleep_tmr_u8	result
0x00	enable EventDrivenSampling(EDT)
0x01	enable Equidistant sampling mode(EST)

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_SLEEP_MODE_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_durn

(

u8 *

accel_slow_no_motion_durn_u8

)

This API used to read accel slownomotion duration from page one register from 0x16 bit 1 to 6.

Parameters

v_accel_slow_no_motion_durn_u8

: The value of accel slownomotion duration

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

accel_slow_no_motion_durn_u8

: The value of accel slownomotion duration

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_enable

(

u8 *

accel_slow_no_motion_en_u8

)

This API used to read accel slownomotion enable from page one register from 0x16 bit 0.

Parameters

v_accel_slow_no_motion_en_u8

: The value of accel slownomotion enable v_accel_slow_no_motion_en_u8 result 0x01 Slow motion 0x00 No motion

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

accel_slow_no_motion_en_u8

: The value of accel slownomotion enable accel_slow_no_motion_en_u8 result 0x01 Slow motion 0x00 No motion

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_thres

(

u8 *

accel_slow_no_motion_thres_u8

)

This API used to read the accel slownomotion threshold from page one register from 0x15 bit 0 to 7.

Parameters

v_accel_slow_no_motion_thres_u8

: The value of accel slownomotion threshold

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Accel slow no motion interrupt threshold dependent for accel g range

v_accel_range_u8	threshold	LSB
2g	3.19mg	1LSB
4g	7.81mg	1LSB
8g	15.63mg	1LSB
16g	31.25mg	1LSB

Parameters

accel_slow_no_motion_thres_u8

: The value of accel slownomotion threshold

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Accel slow no motion interrupt threshold dependent for accel g range

accel_range_u8	threshold	LSB
2g	3.19mg	1LSB
4g	7.81mg	1LSB
8g	15.63mg	1LSB
16g	31.25mg	1LSB

References BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_unit

(

u8 *

accel_unit_u8

)

This API used to read the accel unit from register from 0x3B bit 0.

Parameters

v_accel_unit_u8

: The value of accel unit

v_accel_unit_u8	result
0x00	ACCEL_UNIT_MSQ
0x01	ACCEL_UNIT_MG

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

accel_unit_u8

: The value of accel unit

accel_unit_u8	result
0x00	BNO055_ACCEL_UNIT_MSQ
0x01	BNO055_ACCEL_UNIT_MG

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_UNIT_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_axis_remap_value

(

u8 *

remap_axis_u8

)

This API used to read the axis remap value from register from 0x41 bit 0 and 5.

Parameters

v_remap_axis_u8

: The value of axis remapping

v_remap_axis_u8	result	comments
0X21	REMAP_X_Y	Z=Z;X=Y;Y=X
0X18	REMAP_Y_Z	X=X;Y=Z;Z=Y
0X06	REMAP_Z_X	Y=Y;X=Z;Z=X
0X12	REMAP_X_Y_Z_TYPE0	X=Z;Y=X;Z=Y
0X09	REMAP_X_Y_Z_TYPE1	X=Y;Y=Z;Z=X
0X24	DEFAULT_AXIS	X=X;Y=Y;Z=Z

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

: For axis sign remap refer the following functions x-axis :

bno055_set_x_remap_sign()

y-axis :

bno055_set_y_remap_sign()

z-axis :

bno055_set_z_remap_sign()

Parameters

remap_axis_u8

: The value of axis remapping

remap_axis_u8	result	comments
0X21	BNO055_REMAP_X_Y	Z=Z;X=Y;Y=X
0X18	BNO055_REMAP_Y_Z	X=X;Y=Z;Z=Y
0X06	BNO055_REMAP_Z_X	Y=Y;X=Z;Z=X
0X12	BNO055_REMAP_X_Y_Z_TYPE0	X=Z;Y=X;Z=Y
0X09	BNO055_REMAP_X_Y_Z_TYPE1	X=Y;Y=Z;Z=X
0X24	BNO055_DEFAULT_AXIS	X=X;Y=Y;Z=Z

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

: For axis sign remap refer the following APIs x-axis :

bno055_set_x_remap_sign()

y-axis :

bno055_set_y_remap_sign()

z-axis :

bno055_set_z_remap_sign()

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_REMAP_AXIS_VALUE_REG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_clk_src

(

u8 *

clk_src_u8

)

This API used to read the clk source from register from 0x3F bit 7.

Parameters

v_clk_src_u8

: The value of clk source

v_clk_src_u8	result
0x01	ENABLED
0x00	DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

clk_src_u8

: The value of clk source

clk_src_u8	result
0x01	BNO055_BIT_ENABLE
0x00	BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_CLK_SRC_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_data_output_format

(

u8 *

data_output_format_u8

)

This API used to read the current selected orientation mode from register from 0x3B bit 7.

Parameters

v_data_output_format_u8

: The value of data output format

v_data_output_format_u8	result
0x00	Windows
0x01	Android

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

data_output_format_u8

: The value of data output format

data_output_format_u8	result
0x00	Windows
0x01	Android

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_DATA_OUTPUT_FORMAT_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_euler_unit

(

u8 *

euler_unit_u8

)

This API used to read the Euler unit from register from 0x3B bit 2.

Parameters

v_euler_unit_u8

: The value of accel unit

v_euler_unit_u8	result
0x00	EULER_UNIT_DEG
0x01	EULER_UNIT_RAD

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

euler_unit_u8

: The value of accel unit

euler_unit_u8	result
0x00	BNO055_EULER_UNIT_DEG
0x01	BNO055_EULER_UNIT_RAD

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_EULER_UNIT_REG, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_awake_durn

(

u8 *

gyro_awake_durn_u8

)

This API used to read gyro anymotion awake duration from page one register from 0x1F bit 2 to 3.

Parameters

v_gyro_awake_durn_u8

: The value of gyro anymotion awake duration

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gyro_awake_durn_u8

: The value of gyro anymotion awake duration

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_AWAKE_DURN_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_axis_enable	(	u8	channel_u8,
		u8 *	data_u8
	)

This API used to read the gyro anymotion enable from page one register from 0x17 bit 0 to 2.

Parameters

v_data_u8	: The value of gyro anymotion enable v_data_u8 result 0x01 ENABLED 0x00 DISABLED
v_channel_u8	: The value of gyro anymotion axis selection v_channel_u8 value BNO055_GYRO_ANY_MOTIONX_AXIS 0 BNO055_GYRO_ANY_MOTIONY_AXIS 1 BNO055_GYRO_ANY_MOTIONZ_AXIS 2

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

data_u8	: The value of gyro anymotion enable data_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE
channel_u8	: The value of gyro anymotion axis selection channel_u8 value BNO055_GYRO_ANY_MOTIONX_AXIS 0 BNO055_GYRO_ANY_MOTIONY_AXIS 1 BNO055_GYRO_ANY_MOTIONZ_AXIS 2

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_ANY_MOTION_X_AXIS, BNO055_GYRO_ANY_MOTION_X_AXIS_REG, BNO055_GYRO_ANY_MOTION_Y_AXIS, BNO055_GYRO_ANY_MOTION_Y_AXIS_REG, BNO055_GYRO_ANY_MOTION_Z_AXIS, BNO055_GYRO_ANY_MOTION_Z_AXIS_REG, BNO055_INIT_VALUE, BNO055_OUT_OF_RANGE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_filter

(

u8 *

gyro_any_motion_filter_u8

)

This API used to read gyro anymotion filter from page one register from 0x17 bit 6.

Parameters

v_gyro_any_motion_filter_u8

: The value of gyro anymotion filter v_gyro_any_motion_filter_u8 result 0x00 FILTERED 0x01 UNFILTERED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gyro_any_motion_filter_u8

: The value of gyro anymotion filter gyro_any_motion_filter_u8 result 0x00 BNO055_GYRO_FILTERED_CONFIG 0x01 BNO055_GYRO_UNFILTERED_CONFIG

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_ANY_MOTION_FILTER_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_slope_samples

(

u8 *

gyro_any_motion_slope_samples_u8

)

This API used to read gyro anymotion slope samples from page one register from 0x1F bit 0 to 1.

Parameters

v_gyro_any_motion_slope_samples_u8

: The value of gyro anymotion slope samples v_gyro_any_motion_slope_samples_u8 result 0 8 samples 1 16 samples 2 32 samples 3 64 samples

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gyro_any_motion_slope_samples_u8

: The value of gyro anymotion slope samples gyro_any_motion_slope_samples_u8 result 0 8 samples 1 16 samples 2 32 samples 3 64 samples

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_SLOPE_SAMPLES_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_thres

(

u8 *

gyro_any_motion_thres_u8

)

This API used to read gyro anymotion threshold from page one register from 0x1E bit 0 to 6.

Parameters

v_gyro_any_motion_thres_u8

: The value of gyro anymotion threshold

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Gyro anymotion interrupt threshold dependent on the selection of gyro range

v_gyro_range_u8	threshold	LSB
2000	1dps	1LSB
1000	0.5dps	1LSB
500	0.25dps	1LSB

Parameters

gyro_any_motion_thres_u8

: The value of gyro anymotion threshold

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Gyro anymotion interrupt threshold dependent on the selection of gyro range

gyro_range_u8	threshold	LSB
2000	1dps	1LSB
1000	0.5dps	1LSB
500	0.25dps	1LSB

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_ANY_MOTION_THRES_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_auto_sleep_durn

(

u8 *

auto_sleep_durn_u8

)

This API used to read the gyro auto sleep duration from page one register from 0x0D bit 3 to 5.

Parameters

v_auto_sleep_durn_u8

: The value of gyro auto sleep duration

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

auto_sleep_durn_u8

: The value of gyro auto sleep duration

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_AUTO_SLEEP_DURN_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

Referenced by bno055_set_gyro_bw(), and bno055_set_gyro_power_mode().

BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_bw

(

u8 *

gyro_bw_u8

)

This API used to read the gyro bandwidth from page one register from 0x0A bit 3 to 5.

Parameters

v_gyro_bw_u8

: The value of gyro bandwidth

v_gyro_bw_u8	result
0x00	GYRO_BW_523HZ
0x01	GYRO_BW_230HZ
0x02	GYRO_BW_116HZ
0x03	GYRO_BW_47HZ
0x04	GYRO_BW_23HZ
0x05	GYRO_BW_12HZ
0x06	GYRO_BW_64HZ
0x07	GYRO_BW_32HZ

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gyro_bw_u8

: The value of gyro bandwidth

gyro_bw_u8	result
0x00	BNO055_GYRO_BW_523HZ
0x01	BNO055_GYRO_BW_230HZ
0x02	BNO055_GYRO_BW_116HZ
0x03	BNO055_GYRO_BW_47HZ
0x04	BNO055_GYRO_BW_23HZ
0x05	BNO055_GYRO_BW_12HZ
0x06	BNO055_GYRO_BW_64HZ
0x07	BNO055_GYRO_BW_32HZ

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_BW_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

Referenced by bno055_set_gyro_power_mode().

BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_calib_stat

(

u8 *

gyro_calib_u8

)

This API used to read gyro calibration status from register from 0x35 bit 4 and 5.

Parameters

v_gyro_calib_u8

: The value of gyro calib status

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gyro_calib_u8

: The value of gyro calib status

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_CALIB_STAT_REG, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_axis_enable	(	u8	channel_u8,
		u8 *	data_u8
	)

This API used to read the gyro highrate enable from page one register from 0x17 bit 3 to 5.

Parameters

v_data_u8	: The value of gyro highrate enable v_data_u8 result 0x01 ENABLED 0x00 DISABLED
v_channel_u8	: The value of gyro highrate axis selection v_channel_u8 value BNO055_GYRO_HIGHRATE_X_AXIS 0 BNO055_GYRO_HIGHRATE_Y_AXIS 1 BNO055_GYRO_HIGHRATE_Z_AXIS 2

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

data_u8	: The value of gyro highrate enable data_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE
channel_u8	: The value of gyro highrate axis selection channel_u8 value BNO055_GYRO_HIGHRATE_X_AXIS 0 BNO055_GYRO_HIGHRATE_Y_AXIS 1 BNO055_GYRO_HIGHRATE_Z_AXIS 2

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_HIGHRATE_X_AXIS, BNO055_GYRO_HIGHRATE_X_AXIS_REG, BNO055_GYRO_HIGHRATE_Y_AXIS, BNO055_GYRO_HIGHRATE_Y_AXIS_REG, BNO055_GYRO_HIGHRATE_Z_AXIS, BNO055_GYRO_HIGHRATE_Z_AXIS_REG, BNO055_INIT_VALUE, BNO055_OUT_OF_RANGE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_filter

(

u8 *

gyro_highrate_filter_u8

)

This API used to read gyro highrate filter from page one register from 0x17 bit 7.

Parameters

v_gyro_highrate_filter_u8

: The value of gyro highrate filter v_gyro_highrate_filter_u8 result 0x00 FILTERED 0x01 UNFILTERED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gyro_highrate_filter_u8

: The value of gyro highrate filter gyro_highrate_filter_u8 result 0x00 BNO055_GYRO_FILTERED_CONFIG 0x01 BNO055_GYRO_UNFILTERED_CONFIG

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_HIGHRATE_FILTER_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_durn

(

u8 *

gyro_highrate_x_durn_u8

)

This API used to read gyro highrate x duration from page one register from 0x19 bit 0 to 7.

Parameters

v_gyro_highrate_x_durn_u8

: The value of gyro highrate x duration

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Gyro highrate duration calculate by using the formula

(1 + v_gyro_highrate_x_durn_u8)*2.5ms

Parameters

gyro_highrate_x_durn_u8

: The value of gyro highrate x duration

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Gyro highrate duration calculate by using the formula

(1 + gyro_highrate_x_durn_u8)*2.5ms

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_HIGHRATE_X_DURN_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_hyst

(

u8 *

gyro_highrate_x_hyst_u8

)

This API used to read gyro highrate x hysteresis from page one register from 0x18 bit 5 to 6.

Parameters

v_gyro_highrate_x_hyst_u8

: The value of gyro highrate x hysteresis

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Gyro high rate hysteresis calculated by

using this (255 + 256 * v_gyro_highrate_x_hyst_u8) *4 LSB

The high rate value scales with the range setting

v_gyro_range_u8	hysteresis	LSB
2000	62.26dps	1LSB
1000	31.13dps	1LSB
500	15.56dps	1LSB

Parameters

gyro_highrate_x_hyst_u8

: The value of gyro highrate x hysteresis

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Gyro high rate hysteresis calculated by

using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB

The high rate value scales with the range setting

gyro_range_u8	hysteresis	LSB
2000	62.26dps	1LSB
1000	31.13dps	1LSB
500	15.56dps	1LSB

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_HIGHRATE_X_HYST_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_thres

(

u8 *

gyro_highrate_x_thres_u8

)

This API used to read gyro highrate x threshold from page one register from 0x18 bit 0 to 4.

Parameters

v_gyro_highrate_x_thres_u8

: The value of gyro x highrate threshold

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Gyro highrate threshold dependent on the selection of gyro range

v_gyro_range_u8	threshold	LSB
2000	62.5dps	1LSB
1000	31.25dps	1LSB
500	15.625dps	1LSB
125	7.8125dps	1LSB

Parameters

gyro_highrate_x_thres_u8

: The value of gyro x highrate threshold

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Gyro highrate threshold dependent on the selection of gyro range

gyro_range_u8	threshold	LSB
2000	62.5dps	1LSB
1000	31.25dps	1LSB
500	15.625dps	1LSB
125	7.8125dps	1LSB

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_HIGHRATE_X_THRES_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_durn

(

u8 *

gyro_highrate_y_durn_u8

)

This API used to read gyro highrate y duration from page one register from 0x1B bit 0 to 7.

Parameters

v_gyro_highrate_y_durn_u8

: The value of gyro highrate y duration

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Gyro highrate duration calculate by using the formula

(1 + v_gyro_highrate_y_durn_u8)*2.5ms

Parameters

gyro_highrate_y_durn_u8

: The value of gyro highrate y duration

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Gyro highrate duration calculate by using the formula

(1 + gyro_highrate_y_durn_u8)*2.5ms

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_HIGHRATE_Y_DURN_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_hyst

(

u8 *

gyro_highrate_y_hyst_u8

)

This API used to read gyro highrate y hysteresis from page one register from 0x1A bit 5 to 6.

Parameters

v_gyro_highrate_y_hyst_u8

: The value of gyro highrate y hysteresis

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Gyro high rate hysteresis calculated by

using this (255 + 256 * v_gyro_highrate_y_hyst_u8) *4 LSB

The high rate value scales with the range setting

v_gyro_range_u8	hysteresis	LSB
2000	62.26dps	1LSB
1000	31.13dps	1LSB
500	15.56dps	1LSB

Parameters

gyro_highrate_y_hyst_u8

: The value of gyro highrate y hysteresis

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Gyro high rate hysteresis calculated by

using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB

The high rate value scales with the range setting

gyro_range_u8	hysteresis	LSB
2000	62.26dps	1LSB
1000	31.13dps	1LSB
500	15.56dps	1LSB

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_HIGHRATE_Y_HYST_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_thres

(

u8 *

gyro_highrate_y_thres_u8

)

This API used to read gyro highrate y threshold from page one register from 0x1A bit 0 to 4.

Parameters

v_gyro_highrate_y_thres_u8

: The value of gyro highrate y threshold

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Gyro highrate threshold dependent on the selection of gyro range

v_gyro_range_u8	threshold	LSB
2000	62.5dps	1LSB
1000	31.25dps	1LSB
500	15.625dps	1LSB
125	7.8125dps	1LSB

Parameters

gyro_highrate_y_thres_u8

: The value of gyro highrate y threshold

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Gyro highrate threshold dependent on the selection of gyro range

gyro_range_u8	threshold	LSB
2000	62.5dps	1LSB
1000	31.25dps	1LSB
500	15.625dps	1LSB
125	7.8125dps	1LSB

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_HIGHRATE_Y_THRES_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_durn

(

u8 *

gyro_highrate_z_durn_u8

)

This API used to read gyro highrate z duration from page one register from 0x1D bit 0 to 7.

Parameters

v_gyro_highrate_z_durn_u8

: The value of gyro highrate z duration

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Gyro highrate duration calculate by using the formula

(1 + v_gyro_highrate_z_durn_u8)*2.5ms

Parameters

gyro_highrate_z_durn_u8

: The value of gyro highrate z duration

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Gyro highrate duration calculate by using the formula

(1 + gyro_highrate_z_durn_u8)*2.5ms

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_HIGHRATE_Z_DURN_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_hyst

(

u8 *

gyro_highrate_z_hyst_u8

)

This API used to read gyro highrate z hysteresis from page one register from 0x1C bit 5 to 6.

Parameters

v_gyro_highrate_z_hyst_u8

: The value of gyro highrate z hysteresis

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Gyro high rate hysteresis calculated by

using this (255 + 256 * v_gyro_highrate_z_hyst_u8) *4 LSB

The high rate value scales with the range setting

v_gyro_range_u8	hysteresis	LSB
2000	62.26dps	1LSB
1000	31.13dps	1LSB
500	15.56dps	1LSB

Parameters

gyro_highrate_z_hyst_u8

: The value of gyro highrate z hysteresis

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Gyro high rate hysteresis calculated by

using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB

The high rate value scales with the range setting

gyro_range_u8	hysteresis	LSB
2000	62.26dps	1LSB
1000	31.13dps	1LSB
500	15.56dps	1LSB

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_HIGHRATE_Z_HYST_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_thres

(

u8 *

gyro_highrate_z_thres_u8

)

This API used to read gyro highrate z threshold from page one register from 0x1C bit 0 to 4.

Parameters

v_gyro_highrate_z_thres_u8

: The value of gyro highrate z threshold

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Gyro highrate threshold dependent on the selection of gyro range

v_gyro_range_u8	threshold	LSB
2000	62.5dps	1LSB
1000	31.25dps	1LSB
500	15.625dps	1LSB
125	7.8125dps	1LSB

Parameters

gyro_highrate_z_thres_u8

: The value of gyro highrate z threshold

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Gyro highrate threshold dependent on the selection of gyro range

gyro_range_u8	threshold	LSB
2000	62.5dps	1LSB
1000	31.25dps	1LSB
500	15.625dps	1LSB
125	7.8125dps	1LSB

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_HIGHRATE_Z_THRES_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_power_mode

(

u8 *

gyro_power_mode_u8

)

This API used to read the gyro power mode from page one register from 0x0B bit 0 to 2.

Parameters

v_gyro_power_mode_u8

: The value of gyro power mode

v_gyro_power_mode_u8	result
0x00	GYRO_OPR_MODE_NORMAL
0x01	GYRO_OPR_MODE_FASTPOWERUP
0x02	GYRO_OPR_MODE_DEEPSUSPEND
0x03	GYRO_OPR_MODE_SUSPEND
0x04	GYRO_OPR_MODE_ADVANCE_POWERSAVE

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gyro_power_mode_u8

: The value of gyro power mode

gyro_power_mode_u8	result
0x00	GYRO_OPR_MODE_NORMAL
0x01	GYRO_OPR_MODE_FASTPOWERUP
0x02	GYRO_OPR_MODE_DEEPSUSPEND
0x03	GYRO_OPR_MODE_SUSPEND
0x04	GYRO_OPR_MODE_ADVANCE_POWERSAVE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_POWER_MODE_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

Referenced by bno055_set_gyro_bw().

BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_range

(

u8 *

gyro_range_u8

)

This API used to read the gyro range from page one register from 0x0A bit 0 to 3.

Parameters

v_gyro_range_u8

: The value of gyro range

v_gyro_range_u8	result
0x00	GYRO_RANGE_2000DPS
0x01	GYRO_RANGE_1000DPS
0x02	GYRO_RANGE_500DPS
0x03	GYRO_RANGE_250DPS
0x04	GYRO_RANGE_125DPS

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gyro_range_u8

: The value of gyro range

gyro_range_u8	result
0x00	BNO055_GYRO_RANGE_2000DPS
0x01	BNO055_GYRO_RANGE_1000DPS
0x02	BNO055_GYRO_RANGE_500DPS
0x03	BNO055_GYRO_RANGE_250DPS
0x04	BNO055_GYRO_RANGE_125DPS

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_RANGE, BNO055_GYRO_RANGE_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_sleep_durn

(

u8 *

sleep_durn_u8

)

This API used to write the gyro sleep duration from page one register from 0x0D bit 0 to 2.

Parameters

v_sleep_durn_u8

: The value of gyro sleep duration

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

sleep_durn_u8

: The value of gyro sleep duration

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_SLEEP_DURN_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_unit

(

u8 *

gyro_unit_u8

)

This API used to read the gyro unit from register from 0x3B bit 1.

Parameters

v_gyro_unit_u8

: The value of accel unit

v_gyro_unit_u8	result
0x00	GYRO_UNIT_DPS
0x01	GYRO_UNIT_RPS

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gyro_unit_u8

: The value of accel unit

gyro_unit_u8	result
0x00	BNO055_GYRO_UNIT_DPS
0x01	BNO055_GYRO_UNIT_RPS

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_UNIT_REG, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_any_motion

(

u8 *

accel_any_motion_u8

)

This API used to read the accel anymotion interrupt from page one register from 0x10 bit 6.

Parameters

v_accel_any_motion_u8

: The value of accel anymotion interrupt v_accel_any_motion_u8 result 0x01 ENABLED 0x00 DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

While enabling the accel anymotion interrupt configure the following settings

Axis:

bno055_set_accel_any_motion_no_motion_axis_enable()

Duration:

bno055_set_accel_any_motion_durn()

Threshold:

bno055_set_accel_any_motion_thres()

Parameters

accel_any_motion_u8

: The value of accel anymotion interrupt accel_any_motion_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

While enabling the accel anymotion interrupt configure the following settings

Axis:

bno055_set_accel_any_motion_no_motion_axis_enable()

Duration:

bno055_set_accel_any_motion_durn()

Threshold:

bno055_set_accel_any_motion_thres()

References BNO055_ACCEL_ANY_MOTION_INTR_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_high_g

(

u8 *

accel_high_g_u8

)

This API used to read the accel highg interrupt from page one register from 0x10 bit 5.

Parameters

v_accel_high_g_u8

: The value of accel highg interrupt v_accel_high_g_u8 result 0x01 ENABLED 0x00 DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

While enabling the accel highg interrupt configure the below settings by using the following functions

Axis :

bno055_set_accel_high_g_axis_enable()

Threshold :

bno055_set_accel_high_g_thres()

Duration :

bno055_set_accel_high_g_durn()

Parameters

accel_high_g_u8

: The value of accel highg interrupt accel_high_g_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

While enabling the accel highg interrupt configure the below settings by using the following APIs

Axis :

bno055_set_accel_high_g_axis_enable()

Threshold :

bno055_set_accel_high_g_thres()

Duration :

bno055_set_accel_high_g_durn()

References BNO055_ACCEL_HIGH_G_INTR_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_no_motion

(

u8 *

accel_nomotion_u8

)

This API used to read the accel nomotion interrupt from page one register from 0x10 bit 6.

Parameters

v_accel_nomotion_u8

: The value of accel nomotion interrupt v_accel_nomotion_u8 result 0x01 ENABLED 0x00 DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

While enabling the accel nomotion interrupt configure the following settings

Axis:

bno055_set_accel_any_motion_no_motion_axis_enable()

Threshold :

bno055_set_accel_slow_no_motion_thres()

Duration :

bno055_set_accel_slow_no_motion_durn()

Slow/no motion enable:

bno055_set_accel_slow_no_motion_enable()

Parameters

accel_nomotion_u8

: The value of accel nomotion interrupt accel_nomotion_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

While enabling the accel nomotion interrupt configure the following settings

Axis:

bno055_set_accel_any_motion_no_motion_axis_enable()

Threshold :

bno055_set_accel_slow_no_motion_thres()

Duration :

bno055_set_accel_slow_no_motion_durn()

Slow/no motion enable:

bno055_set_accel_slow_no_motion_enable()

References BNO055_ACCEL_NO_MOTION_INTR_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_any_motion

(

u8 *

gyro_any_motion_u8

)

This API used to read the gyro anymotion interrupt from page one register from 0x10 bit 2.

Parameters

v_gyro_any_motion_u8

: The value of gyro anymotion interrupt v_gyro_any_motion_u8 result 0x01 ENABLED 0x00 DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

While enabling the gyro anymotion interrupt configure the following settings

Axis: bno055_set_gyro_any_motion_axis_enable()

Filter setting: bno055_set_gyro_any_motion_filter()

Threshold :

bno055_set_gyro_any_motion_thres()

Slope samples :

bno055_set_gyro_any_motion_slope_samples()

Awake duration :

bno055_set_gyro_any_motion_awake_durn()

Parameters

gyro_any_motion_u8

: The value of gyro anymotion interrupt gyro_any_motion_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

While enabling the gyro anymotion interrupt configure the following settings

Axis: bno055_set_gyro_any_motion_axis_enable()

Filter setting: bno055_set_gyro_any_motion_filter()

Threshold :

bno055_set_gyro_any_motion_thres()

Slope samples :

bno055_set_gyro_any_motion_slope_samples()

Awake duration :

bno055_set_gyro_any_motion_awake_durn()

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_ANY_MOTION_INTR_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_highrate

(

u8 *

gyro_highrate_u8

)

This API used to read the gyro highrate interrupt from page one register from 0x10 bit 3.

Parameters

v_gyro_highrate_u8

: The value of gyro highrate interrupt v_gyro_highrate_u8 result 0x01 ENABLED 0x00 DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

While enabling the gyro highrate interrupt configure the below settings by using the following functions

Axis :

bno055_set_gyro_highrate_axis_enable()

Filter :

bno055_set_gyro_highrate_filter()

Threshold :

bno055_get_gyro_highrate_x_thres()

bno055_get_gyro_highrate_y_thres()

bno055_get_gyro_highrate_z_thres()

Hysteresis :

bno055_set_gyro_highrate_x_hyst()

bno055_set_gyro_highrate_y_hyst()

bno055_set_gyro_highrate_z_hyst()

Duration :

bno055_set_gyro_highrate_x_durn()

bno055_set_gyro_highrate_y_durn()

bno055_set_gyro_highrate_z_durn()

Parameters

gyro_highrate_u8

: The value of gyro highrate interrupt gyro_highrate_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

While enabling the gyro highrate interrupt configure the below settings by using the following APIs

Axis :

bno055_set_gyro_highrate_axis_enable()

Filter :

bno055_set_gyro_highrate_filter()

Threshold :

bno055_get_gyro_highrate_x_thres()

bno055_get_gyro_highrate_y_thres()

bno055_get_gyro_highrate_z_thres()

Hysteresis :

bno055_set_gyro_highrate_x_hyst()

bno055_set_gyro_highrate_y_hyst()

bno055_set_gyro_highrate_z_hyst()

Duration :

bno055_set_gyro_highrate_x_durn()

bno055_set_gyro_highrate_y_durn()

bno055_set_gyro_highrate_z_durn()

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_HIGHRATE_INTR_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_any_motion

(

u8 *

accel_any_motion_u8

)

This API used to read the accel anymotion interrupt mask from page one register from 0x0F bit 6.

Parameters

v_accel_any_motion_u8

: The value of accel anymotion interrupt mask v_accel_any_motion_u8 result 0x01 ENABLED 0x00 DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

While enabling the accel highg interrupt configure the below settings by using the following functions

Axis :

bno055_set_accel_high_g_axis_enable()

Threshold :

bno055_set_accel_high_g_thres()

Duration :

bno055_set_accel_high_g_durn()

Parameters

accel_any_motion_u8

: The value of accel anymotion interrupt mask accel_any_motion_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

While enabling the accel highg interrupt configure the below settings by using the following APIs

Axis :

bno055_set_accel_high_g_axis_enable()

Threshold :

bno055_set_accel_high_g_thres()

Duration :

bno055_set_accel_high_g_durn()

References BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_high_g

(

u8 *

accel_high_g_u8

)

This API used to read the accel highg interrupt mask from page one register from 0x0F bit 5.

Parameters

v_accel_high_g_u8

: The value of accel highg interrupt mask v_accel_high_g_u8 result 0x01 ENABLED 0x00 DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

While enabling the accel highg interrupt configure the below settings by using the following functions

Axis :

bno055_set_accel_high_g_axis_enable()

Threshold :

bno055_set_accel_high_g_thres()

Duration :

bno055_set_accel_high_g_durn()

Parameters

accel_high_g_u8

: The value of accel highg interrupt mask accel_high_g_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

While enabling the accel highg interrupt configure the below settings by using the following APIs

Axis :

bno055_set_accel_high_g_axis_enable()

Threshold :

bno055_set_accel_high_g_thres()

Duration :

bno055_set_accel_high_g_durn()

References BNO055_ACCEL_HIGH_G_INTR_MASK_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_no_motion

(

u8 *

accel_nomotion_u8

)

This API used to read the accel nomotion interrupt mask from page one register from 0x0F bit 7.

Parameters

v_accel_nomotion_u8

: The value of accel nomotion interrupt mask v_accel_nomotion_u8 result 0x01 ENABLED 0x00 DISABLED

Returns

results of bus communication function

Return values

0	-> Success

Note

While enabling the accel anymotion interrupt configure the following settings

Axis:

bno055_set_accel_any_motion_no_motion_axis_enable()

Duration:

bno055_set_accel_any_motion_durn()

Threshold:

bno055_set_accel_any_motion_thres())

Parameters

accel_nomotion_u8

: The value of accel nomotion interrupt mask accel_nomotion_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS

Note

While enabling the accel anymotion interrupt configure the following settings

Axis:

bno055_set_accel_any_motion_no_motion_axis_enable()

Duration:

bno055_set_accel_any_motion_durn()

Threshold:

bno055_set_accel_any_motion_thres())

References BNO055_ACCEL_NO_MOTION_INTR_MASK_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_any_motion

(

u8 *

gyro_any_motion_u8

)

This API used to read the gyro anymotion interrupt mask from page one register from 0x0F bit 2.

Parameters

v_gyro_any_motion_u8

: The value of gyro anymotion interrupt mask v_gyro_any_motion_u8 result 0x01 ENABLED 0x00 DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

While enabling the gyro anymotion interrupt configure the following settings

Axis: bno055_set_gyro_any_motion_axis_enable()

Filter setting: bno055_set_gyro_any_motion_filter()

Threshold :

bno055_set_gyro_any_motion_thres()

Slope samples :

bno055_set_gyro_any_motion_slope_samples()

Awake duration :

bno055_set_gyro_any_motion_awake_durn()

Parameters

gyro_any_motion_u8

: The value of gyro anymotion interrupt mask gyro_any_motion_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

While enabling the gyro anymotion interrupt configure the following settings

Axis: bno055_set_gyro_any_motion_axis_enable()

Filter setting: bno055_set_gyro_any_motion_filter()

Threshold :

bno055_set_gyro_any_motion_thres()

Slope samples :

bno055_set_gyro_any_motion_slope_samples()

Awake duration :

bno055_set_gyro_any_motion_awake_durn()

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_ANY_MOTION_INTR_MASK_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_highrate

(

u8 *

gyro_highrate_u8

)

This API used to read the gyro highrate interrupt mask from page one register from 0x0F bit 3.

Parameters

v_gyro_highrate_u8

: The value of gyro highrate interrupt mask v_gyro_highrate_u8 result 0x01 ENABLED 0x00 DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

While enabling the gyro highrate interrupt configure the below settings by using the following functions

Axis :

bno055_set_gyro_highrate_axis_enable()

Filter :

bno055_set_gyro_highrate_filter()

Threshold :

bno055_get_gyro_highrate_x_thres()

bno055_get_gyro_highrate_y_thres()

bno055_get_gyro_highrate_z_thres()

Hysteresis :

bno055_set_gyro_highrate_x_hyst()

bno055_set_gyro_highrate_y_hyst()

bno055_set_gyro_highrate_z_hyst()

Duration :

bno055_set_gyro_highrate_x_durn()

bno055_set_gyro_highrate_y_durn()

bno055_set_gyro_highrate_z_durn()

Parameters

gyro_highrate_u8

: The value of gyro highrate interrupt mask gyro_highrate_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

While enabling the gyro highrate interrupt configure the below settings by using the following API

Axis :

bno055_set_gyro_highrate_axis_enable()

Filter :

bno055_set_gyro_highrate_filter()

Threshold :

bno055_get_gyro_highrate_x_thres()

bno055_get_gyro_highrate_y_thres()

bno055_get_gyro_highrate_z_thres()

Hysteresis :

bno055_set_gyro_highrate_x_hyst()

bno055_set_gyro_highrate_y_hyst()

bno055_set_gyro_highrate_z_hyst()

Duration :

bno055_set_gyro_highrate_x_durn()

bno055_set_gyro_highrate_y_durn()

bno055_set_gyro_highrate_z_durn()

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_HIGHRATE_INTR_MASK_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_rst

(

u8 *

intr_rst_u8

)

This API used to read the reset interrupt from register from 0x3F bit 6 It resets all the interrupt bit and interrupt output.

Parameters

v_intr_rst_u8

: The value of reset interrupt

v_intr_rst_u8	result
0x01	ENABLED
0x00	DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

intr_rst_u8

: The value of reset interrupt

intr_rst_u8	result
0x01	BNO055_BIT_ENABLE
0x00	BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_INTR_RST_REG, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_any_motion

(

u8 *

accel_any_motion_u8

)

This API used to read the v_stat_s8 of accel anymotion interrupt from register from 0x37 bit 6.

Parameters

v_accel_any_motion_u8

: The value of accel anymotion interrupt

v_accel_any_motion_u8	result
0x00	indicates no interrupt triggered
0x01	indicates interrupt triggered

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Accel anymotion interrupt can be configured by the following APIs

bno055_set_intr_mask_accel_any_motion()

bno055_set_intr_accel_any_motion()

This API used to read the v_stat_s8 of accel anymotion interrupt from register from 0x37 bit 6.

Parameters

accel_any_motion_u8

: The value of accel anymotion interrupt

accel_any_motion_u8	result
0x00	indicates no interrupt triggered
0x01	indicates interrupt triggered

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Accel anymotion interrupt can be configured by the following APIs

bno055_set_intr_mask_accel_any_motion()

bno055_set_intr_accel_any_motion()

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_INTR_STAT_ACCEL_ANY_MOTION_REG, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_high_g

(

u8 *

accel_high_g_u8

)

This API used to read the v_stat_s8 of accel highg interrupt from register from 0x37 bit 5.

Parameters

v_accel_high_g_u8

: The value of accel highg interrupt

v_accel_high_g_u8	result
0x00	indicates no interrupt triggered
0x01	indicates interrupt triggered

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Accel highg interrupt can be configured by the following APIs

bno055_set_intr_mask_accel_high_g()

bno055_set_intr_accel_high_g()

This API used to read the v_stat_s8 of accel highg interrupt from register from 0x37 bit 5.

This API used to read the status of accel highg interrupt from register from 0x37 bit 5.

Parameters

accel_high_g_u8

: The value of accel highg interrupt

accel_high_g_u8	result
0x00	indicates no interrupt triggered
0x01	indicates interrupt triggered

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Accel highg interrupt can be configured by the following APIs

bno055_set_intr_mask_accel_high_g()

bno055_set_intr_accel_high_g()

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_INTR_STAT_ACCEL_HIGH_G_REG, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_no_motion

(

u8 *

accel_no_motion_u8

)

This API used to read the v_stat_s8 of accel nomotion/slowmotion interrupt from register from 0x37 bit 6.

Parameters

v_accel_no_motion_u8

: The value of accel nomotion/slowmotion interrupt

v_accel_no_motion_u8	result
0x00	indicates no interrupt triggered
0x01	indicates interrupt triggered

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Accel nomotion/slowmotion interrupt can be configured by the following APIs

bno055_set_intr_mask_accel_nomotion()

bno055_set_intr_accel_nomotion()

This API used to read the v_stat_s8 of accel nomotion/slowmotion interrupt from register from 0x37 bit 6.

Parameters

accel_no_motion_u8

: The value of accel nomotion/slowmotion interrupt

accel_no_motion_u8	result
0x00	indicates no interrupt triggered
0x01	indicates interrupt triggered

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Accel nomotion/slowmotion interrupt can be configured by the following APIs

bno055_set_intr_mask_accel_nomotion()

bno055_set_intr_accel_nomotion()

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_INTR_STAT_ACCEL_NO_MOTION_REG, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_any_motion

(

u8 *

gyro_any_motion_u8

)

This API used to read the v_stat_s8 of gyro anymotion interrupt from register from 0x37 bit 2.

Parameters

v_gyro_any_motion_u8

: The value of gyro anymotion interrupt

v_gyro_any_motion_u8	result
0x00	indicates no interrupt triggered
0x01	indicates interrupt triggered

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Gyro anymotion interrupt can be enabled by the following APIs

bno055_set_intr_mask_gyro_any_motion()

bno055_set_intr_gyro_any_motion()

This API used to read the v_stat_s8 of gyro anymotion interrupt from register from 0x37 bit 2.

Parameters

gyro_any_motion_u8

: The value of gyro anymotion interrupt

gyro_any_motion_u8	result
0x00	indicates no interrupt triggered
0x01	indicates interrupt triggered

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Gyro anymotion interrupt can be BNO055_BIT_ENABLE by the following APIs

bno055_set_intr_mask_gyro_any_motion()

bno055_set_intr_gyro_any_motion()

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_INTR_STAT_GYRO_ANY_MOTION_REG, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_highrate

(

u8 *

gyro_highrate_u8

)

This API used to read the v_stat_s8 of gyro highrate interrupt from register from 0x37 bit 3.

Parameters

v_gyro_highrate_u8

: The value of gyro highrate interrupt

v_gyro_highrate_u8	result
0x00	indicates no interrupt triggered
0x01	indicates interrupt triggered

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Gyro highrate interrupt can be configured by the following APIs

bno055_set_intr_mask_gyro_highrate()

bno055_set_intr_gyro_highrate()

This API used to read the v_stat_s8 of gyro highrate interrupt from register from 0x37 bit 3.

Parameters

gyro_highrate_u8

: The value of gyro highrate interrupt

gyro_highrate_u8	result
0x00	indicates no interrupt triggered
0x01	indicates interrupt triggered

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Gyro highrate interrupt can be configured by the following APIs

bno055_set_intr_mask_gyro_highrate()

bno055_set_intr_gyro_highrate()

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_INTR_STAT_GYRO_HIGHRATE_REG, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_calib_stat

(

u8 *

mag_calib_u8

)

This API used to read mag calibration status from register from 0x35 bit 0 and 1.

Parameters

v_mag_calib_u8

: The value of mag calib status

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

mag_calib_u8

: The value of mag calib status

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_MAG_CALIB_STAT_REG, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_data_output_rate

(

u8 *

mag_data_output_rate_u8

)

This API used to read the mag output data rate from page one register from 0x09 bit 0 to 2.

Parameters

v_mag_data_output_rate_u8

: The value of mag output data rate

v_mag_data_output_rate_u8	result
0x00	MAG_DATA_OUTPUT_RATE_2HZ
0x01	MAG_DATA_OUTPUT_RATE_6HZ
0x02	MAG_DATA_OUTPUT_RATE_8HZ
0x03	MAG_DATA_OUTPUT_RATE_10HZ
0x04	MAG_DATA_OUTPUT_RATE_15HZ
0x05	MAG_DATA_OUTPUT_RATE_20HZ
0x06	MAG_DATA_OUTPUT_RATE_25HZ
0x07	MAG_DATA_OUTPUT_RATE_30HZ

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

mag_data_output_rate_u8

: The value of mag output data rate

mag_data_output_rate_u8	result
0x00	MAG_DATA_OUTPUT_RATE_2HZ
0x01	MAG_DATA_OUTPUT_RATE_6HZ
0x02	MAG_DATA_OUTPUT_RATE_8HZ
0x03	MAG_DATA_OUTPUT_RATE_10HZ
0x04	MAG_DATA_OUTPUT_RATE_15HZ
0x05	MAG_DATA_OUTPUT_RATE_20HZ
0x06	MAG_DATA_OUTPUT_RATE_25HZ
0x07	MAG_DATA_OUTPUT_RATE_30HZ

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_MAG_DATA_OUTPUT_RATE_REG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_operation_mode

(

u8 *

mag_operation_mode_u8

)

This API used to read the mag operation mode from page one register from 0x09 bit 3 to 4.

Parameters

v_mag_operation_mode_u8

: The value of mag operation mode

v_mag_operation_mode_u8	result
0x00	MAG_OPR_MODE_LOWPOWER
0x01	MAG_OPR_MODE_REGULAR
0x02	MAG_OPR_MODE_ENHANCED_REGULAR
0x03	MAG_OPR_MODE_HIGH_ACCURACY

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

mag_operation_mode_u8

: The value of mag operation mode

mag_operation_mode_u8	result
0x00	MAG_OPR_MODE_LOWPOWER
0x01	MAG_OPR_MODE_REGULAR
0x02	MAG_OPR_MODE_ENHANCED_REGULAR
0x03	MAG_OPR_MODE_HIGH_ACCURACY

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_MAG_OPERATION_MODE_REG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_power_mode

(

u8 *

mag_power_mode_u8

)

This API used to read the mag power mode from page one register from 0x09 bit 4 to 6.

Parameters

v_mag_power_mode_u8

: The value of mag power mode

v_mag_power_mode_u8	result
0x00	MAG_POWER_MODE_NORMAL
0x01	MAG_POWER_MODE_SLEEP
0x02	MAG_POWER_MODE_SUSPEND
0x03	MAG_POWER_MODE_FORCE_MODE

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

mag_power_mode_u8

: The value of mag power mode

mag_power_mode_u8	result
0x00	BNO055_MAG_POWER_MODE_NORMAL
0x01	BNO055_MAG_POWER_MODE_SLEEP
0x02	BNO055_MAG_POWER_MODE_SUSPEND
0x03	BNO055_MAG_POWER_MODE_FORCE_MODE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_MAG_POWER_MODE_REG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_durn

(

u8 *

sleep_durn_u8

)

This API used to read the mag sleep duration from page one register from 0x0E bit 1 to 4.

Parameters

v_sleep_durn_u8

: The value of mag sleep duration

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

sleep_durn_u8

: The value of mag sleep duration

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_MAG_SLEEP_DURN_REG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_mode

(

u8 *

sleep_mode_u8

)

This API used to read the mag sleep mode from page one register from 0x0E bit 0.

Parameters

v_sleep_mode_u8

: The value of mag sleep mode

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

sleep_mode_u8

: The value of mag sleep mode

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_MAG_SLEEP_MODE_REG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_operation_mode

(

u8 *

operation_mode_u8

)

This API used to read the operation mode from register from 0x3D bit 0 to 3.

Parameters

v_operation_mode_u8

: The value of operation mode

v_operation_mode_u8	result	comments
0x00	OPERATION_MODE_CONFIG	Configuration mode
0x01	OPERATION_MODE_ACCONLY	Reads accel data alone
0x02	OPERATION_MODE_MAGONLY	Reads mag data alone
0x03	OPERATION_MODE_GYRONLY	Reads gyro data alone
0x04	OPERATION_MODE_ACCMAG	Reads accel and mag data
0x05	OPERATION_MODE_ACCGYRO	Reads accel and gyro data
0x06	OPERATION_MODE_MAGGYRO	Reads accel and mag data
0x07	OPERATION_MODE_ANY_MOTION	Reads accel mag and gyro data
0x08	OPERATION_MODE_IMUPLUS	Inertial measurement unit
-	-	Reads accel,gyro and fusion data
0x09	OPERATION_MODE_COMPASS	Reads accel, mag data
-	-	and fusion data
0x0A	OPERATION_MODE_M4G	Reads accel, mag data
-	-	and fusion data
0x0B	OPERATION_MODE_NDOF_FMC_OFF	Nine degrees of freedom with
-	-	fast magnetic calibration
-	-	Reads accel,mag, gyro
-	-	and fusion data
0x0C	OPERATION_MODE_NDOF	Nine degrees of freedom
-	-	Reads accel,mag, gyro
-	-	and fusion data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

In the config mode, all sensor and fusion data becomes zero and it is mainly derived to configure the various settings of the BNO

Parameters

operation_mode_u8

: The value of operation mode

operation_mode_u8	result	comments
0x00	BNO055_OPERATION_MODE_CONFIG	Configuration mode
0x01	BNO055_OPERATION_MODE_ACCONLY	Reads accel data alone
0x02	BNO055_OPERATION_MODE_MAGONLY	Reads mag data alone
0x03	BNO055_OPERATION_MODE_GYRONLY	Reads gyro data alone
0x04	BNO055_OPERATION_MODE_ACCMAG	Reads accel and mag data
0x05	BNO055_OPERATION_MODE_ACCGYRO	Reads accel and gyro data
0x06	BNO055_OPERATION_MODE_MAGGYRO	Reads accel and mag data
0x07	OPERATION_MODE_ANY_MOTION	Reads accel mag and gyro data
0x08	BNO055_OPERATION_MODE_IMUPLUS	Inertial measurement unit
-	-	Reads accel,gyro and fusion data
0x09	BNO055_OPERATION_MODE_COMPASS	Reads accel, mag data
-	-	and fusion data
0x0A	BNO055_OPERATION_MODE_M4G	Reads accel, mag data
-	-	and fusion data
0x0B	BNO055_OPERATION_MODE_NDOF_FMC_OFF	Nine degrees of freedom with
-	-	fast magnetic calibration
-	-	Reads accel,mag, gyro
-	-	and fusion data
0x0C	BNO055_OPERATION_MODE_NDOF	Nine degrees of freedom
-	-	Reads accel,mag, gyro
-	-	and fusion data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

In the config mode, all sensor and fusion data becomes zero and it is mainly derived to configure the various settings of the BNO

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_OPERATION_MODE_REG, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

Referenced by bno055_gyro_set_auto_sleep_durn(), bno055_set_accel_any_motion_durn(), bno055_set_accel_any_motion_no_motion_axis_enable(), bno055_set_accel_any_motion_thres(), bno055_set_accel_bw(), bno055_set_accel_high_g_axis_enable(), bno055_set_accel_high_g_durn(), bno055_set_accel_high_g_thres(), bno055_set_accel_power_mode(), bno055_set_accel_range(), bno055_set_accel_sleep_durn(), bno055_set_accel_sleep_tmr_mode(), bno055_set_accel_slow_no_motion_durn(), bno055_set_accel_slow_no_motion_enable(), bno055_set_accel_slow_no_motion_thres(), bno055_set_accel_unit(), bno055_set_axis_remap_value(), bno055_set_data_output_format(), bno055_set_euler_unit(), bno055_set_gyro_any_motion_awake_durn(), bno055_set_gyro_any_motion_axis_enable(), bno055_set_gyro_any_motion_filter(), bno055_set_gyro_any_motion_slope_samples(), bno055_set_gyro_any_motion_thres(), bno055_set_gyro_bw(), bno055_set_gyro_highrate_axis_enable(), bno055_set_gyro_highrate_filter(), bno055_set_gyro_highrate_x_durn(), bno055_set_gyro_highrate_x_hyst(), bno055_set_gyro_highrate_x_thres(), bno055_set_gyro_highrate_y_durn(), bno055_set_gyro_highrate_y_hyst(), bno055_set_gyro_highrate_y_thres(), bno055_set_gyro_highrate_z_durn(), bno055_set_gyro_highrate_z_hyst(), bno055_set_gyro_highrate_z_thres(), bno055_set_gyro_power_mode(), bno055_set_gyro_range(), bno055_set_gyro_sleep_durn(), bno055_set_gyro_unit(), bno055_set_mag_data_output_rate(), bno055_set_mag_operation_mode(), bno055_set_mag_power_mode(), bno055_set_mag_sleep_durn(), bno055_set_mag_sleep_mode(), bno055_set_operation_mode(), bno055_set_power_mode(), bno055_set_remap_x_sign(), bno055_set_remap_y_sign(), bno055_set_remap_z_sign(), bno055_set_selftest(), bno055_set_temp_source(), bno055_set_temp_unit(), bno055_set_tilt_unit(), bno055_write_accel_offset(), bno055_write_gyro_offset(), bno055_write_mag_offset(), and bno055_write_sic_matrix().

BNO055_RETURN_FUNCTION_TYPE bno055_get_power_mode

(

u8 *

power_mode_u8

)

This API used to read the power mode from register from 0x3E bit 0 to 1.

Parameters

v_power_mode_u8

: The value of power mode

v_power_mode_u8	result	comments
0x00	POWER_MODE_NORMAL	In the NORMAL mode the register
-	-	map and the internal peripherals
-	-	of the MCU are always
-	-	operative in this mode
0x01	POWER_MODE_LOWPOWER	This is first level of power saving mode
0x02	POWER_MODE_SUSPEND	In suspend mode the system is
-	-	paused and all the sensors and
-	-	the micro controller are
-	-	put into sleep mode.

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

For detailed about LOWPOWER mode refer data sheet 3.4.2

Parameters

power_mode_u8

: The value of power mode

power_mode_u8	result	comments
0x00	BNO055_POWER_MODE_NORMAL	In the NORMAL mode the register
-	-	map and the internal peripherals
-	-	of the MCU are always
-	-	operative in this mode
0x01	BNO055_POWER_MODE_LOWPOWER	This is first level of power

| - | saving mode 0x02 |BNO055_POWER_MODE_SUSPEND | In suspend mode the system is

• | - | paused and all the sensors and
• | - | the micro controller are
• | - | put into sleep mode.

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

For detailed about LOWPOWER mode refer data sheet 3.4.2

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_POWER_MODE_REG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_x_sign

(

u8 *

remap_x_sign_u8

)

This API used to read the x-axis remap sign from register from 0x42 bit 2.

Parameters

v_remap_x_sign_u8

: The value of x-axis remap sign

v_remap_x_sign_u8	result
0X00	REMAP_AXIS_POSITIVE
0X01	REMAP_AXIS_NEGATIVE

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

remap_x_sign_u8

: The value of x-axis remap sign

remap_x_sign_u8	result
0X00	BNO055_REMAP_AXIS_POSITIVE
0X01	BNO055_REMAP_AXIS_NEGATIVE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_REMAP_X_SIGN_REG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_y_sign

(

u8 *

remap_y_sign_u8

)

This API used to read the y-axis remap sign from register from 0x42 bit 1.

Parameters

v_remap_y_sign_u8

: The value of y-axis remap sign

v_remap_y_sign_u8	result
0X00	REMAP_AXIS_POSITIVE
0X01	REMAP_AXIS_NEGATIVE

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

remap_y_sign_u8

: The value of y-axis remap sign

remap_y_sign_u8	result
0X00	BNO055_REMAP_AXIS_POSITIVE
0X01	BNO055_REMAP_AXIS_NEGATIVE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_REMAP_Y_SIGN_REG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_z_sign

(

u8 *

remap_z_sign_u8

)

This API used to read the z-axis remap sign from register from 0x42 bit 0.

Parameters

v_remap_z_sign_u8

: The value of z-axis remap sign

v_remap_z_sign_u8	result
0X00	REMAP_AXIS_POSITIVE
0X01	REMAP_AXIS_NEGATIVE

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

remap_z_sign_u8

: The value of z-axis remap sign

remap_z_sign_u8	result
0X00	BNO055_REMAP_AXIS_POSITIVE
0X01	BNO055_REMAP_AXIS_NEGATIVE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_REMAP_Z_SIGN_REG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest

(

u8 *

selftest_u8

)

This API used to read the self test from register from 0x3F bit 0.

Parameters

v_selftest_u8

: The value of self test

v_selftest_u8	result
0x01	ENABLED
0x00	DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

It triggers the self test

Parameters

selftest_u8

: The value of self test

selftest_u8	result
0x01	BNO055_BIT_ENABLE
0x00	BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

It triggers the self test

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SELFTEST_REG, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_accel

(

u8 *

selftest_accel_u8

)

This API used to read self test of accel from register from 0x36 bit 0.

Parameters

v_selftest_accel_u8

: The value of self test of accel

v_selftest_accel_u8	result
0x00	indicates test failed
0x01	indicated test passed

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

selftest_accel_u8

: The value of self test of accel

selftest_accel_u8	result
0x00	indicates test failed
0x01	indicated test passed

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SELFTEST_ACCEL_REG, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_gyro

(

u8 *

selftest_gyro_u8

)

This API used to read self test of gyro from register from 0x36 bit 2.

Parameters

v_selftest_gyro_u8

: The value of self test of gyro

v_selftest_gyro_u8	result
0x00	indicates test failed
0x01	indicated test passed

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

selftest_gyro_u8

: The value of self test of gyro

selftest_gyro_u8	result
0x00	indicates test failed
0x01	indicated test passed

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SELFTEST_GYRO_REG, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mag

(

u8 *

selftest_mag_u8

)

This API used to read self test of mag from register from 0x36 bit 1.

Parameters

v_selftest_mag_u8

: The value of self test of mag

v_selftest_mag_u8	result
0x00	indicates test failed
0x01	indicated test passed

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

selftest_mag_u8

: The value of self test of mag

selftest_mag_u8	result
0x00	indicates test failed
0x01	indicated test passed

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SELFTEST_MAG_REG, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mcu

(

u8 *

selftest_mcu_u8

)

This API used to read self test of micro controller from register from 0x36 bit 3.

Parameters

v_selftest_mcu_u8

: The value of self test of micro controller

v_selftest_mcu_u8	result
0x00	indicates test failed
0x01	indicated test passed

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

selftest_mcu_u8

: The value of self test of micro controller

selftest_mcu_u8	result
0x00	indicates test failed
0x01	indicated test passed

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SELFTEST_MCU_REG, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_stat_main_clk

(

u8 *

stat_main_clk_u8

)

This API is used to read status of main clock from the register 0x38 bit 0.

Parameters

v_stat_main_clk_u8

: the status of main clock

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

stat_main_clk_u8

: the status of main clock

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, BNO055_SYS_MAIN_CLK_REG, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_calib_stat

(

u8 *

sys_calib_u8

)

This API used to read system calibration status from register from 0x35 bit 6 and 7.

Parameters

v_sys_calib_u8

: The value of system calib status

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

sys_calib_u8

: The value of system calib status

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, BNO055_SYS_CALIB_STAT_REG, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_error_code

(

u8 *

sys_error_u8

)

This API is used to read system error code from the register 0x3A it is a byte of data.

Parameters

v_sys_error_u8

: The value of system error code

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

This API is used to read system error code from the register 0x3A it is a byte of data.

Parameters

sys_error_u8

: The value of system BNO055_ERROR code

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, BNO055_SYS_ERROR_CODE_REG, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_rst

(

u8 *

sys_rst_u8

)

This API used to read the reset system from register from 0x3F bit 5.

Parameters

v_sys_rst_u8

: The value of reset system

v_sys_rst_u8	result
0x01	ENABLED
0x00	DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

It resets the whole system

Parameters

sys_rst_u8

: The value of reset system

sys_rst_u8	result
0x01	BNO055_BIT_ENABLE
0x00	BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

It resets the whole system

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, BNO055_SYS_RST_REG, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_stat_code

(

u8 *

sys_stat_u8

)

This API is used to read system status code from the register 0x39 it is a byte of data.

Parameters

v_sys_stat_u8

: the status of system

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

sys_stat_u8

: the status of system

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, BNO055_SYS_STAT_CODE_REG, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_source

(

u8 *

temp_source_u8

)

This API used to read the temperature source from register from 0x40 bit 0 and 1.

Parameters

v_temp_source_u8

: The value of selected temperature source

v_temp_source_u8	result
0x00	ACCEL_TEMP_EN
0X01	GYRO_TEMP_EN
0X03	MCU_TEMP_EN

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

temp_source_u8

: The value of selected temperature source

temp_source_u8	result
0x00	BNO055_ACCEL_TEMP_EN
0X01	BNO055_GYRO_TEMP_EN
0X03	BNO055_MCU_TEMP_EN

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, BNO055_TEMP_SOURCE_REG, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_unit

(

u8 *

temp_unit_u8

)

This API used to read the temperature unit from register from 0x3B bit 4.

Parameters

v_temp_unit_u8

: The value of temperature unit

v_temp_unit_u8	result
0x00	TEMP_UNIT_CELCIUS
0x01	TEMP_UNIT_FAHRENHEIT

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

temp_unit_u8

: The value of temperature unit

temp_unit_u8	result
0x00	BNO055_TEMP_UNIT_CELSIUS
0x01	BNO055_TEMP_UNIT_FAHRENHEIT

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, BNO055_TEMP_UNIT_REG, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_get_tilt_unit

(

u8 *

tilt_unit_u8

)

This API used to write the tilt unit from register from 0x3B bit 3.

Parameters

v_tilt_unit_u8

: The value of tilt unit

v_tilt_unit_u8	result
0x00	degrees
0x01	radians

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

tilt_unit_u8

: The value of tilt unit

tilt_unit_u8	result
0x00	degrees
0x01	radians

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, BNO055_TILT_UNIT_REG, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_gyro_set_auto_sleep_durn	(	u8	auto_sleep_durn_u8,
		u8	bw
	)

This API used to write the gyro auto sleep duration from page one register from 0x0D bit 3 to 5.

Parameters

v_auto_sleep_durn_u8	: The value of gyro auto sleep duration
bw	: The value of gyro bandwidth

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

auto_sleep_durn_u8	: The value of gyro auto sleep duration
bw	: The value of gyro bandwidth

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_GYRO_10MS_AUTOSLPDUR, BNO055_GYRO_20MS_AUTOSLPDUR, BNO055_GYRO_4MS_AUTOSLPDUR, BNO055_GYRO_5MS_AUTOSLPDUR, BNO055_GYRO_AUTO_SLEEP_DURATION_RANGE, BNO055_GYRO_AUTO_SLEEP_DURN_REG, BNO055_GYRO_BW_116HZ, BNO055_GYRO_BW_12HZ, BNO055_GYRO_BW_230HZ, BNO055_GYRO_BW_23HZ, BNO055_GYRO_BW_32HZ, BNO055_GYRO_BW_47HZ, BNO055_GYRO_BW_523HZ, BNO055_GYRO_BW_64HZ, BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_OUT_OF_RANGE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

Referenced by bno055_set_gyro_bw(), and bno055_set_gyro_power_mode().

BNO055_RETURN_FUNCTION_TYPE bno055_init

(

struct bno055_t *

bno055

)

This function is used for initialize bus read, bus write function pointers,device address,accel revision id, gyro revision id mag revision id, software revision id, boot loader revision id and page id.

Parameters

bno055

- structure pointer

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

While changing the parameter of the bno055_t consider the following point: Changing the reference value of the parameter will changes the local copy or local reference make sure your changes will not affect the reference value of the parameter (Better case don't change the reference value of the parameter)

This function is used for initialize bus read, bus write function pointers,device address,accel revision id, gyro revision id mag revision id, software revision id, boot loader revision id and page id.

Parameters

bno055

- structure pointer

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

While changing the parameter of the bno055_t consider the following point: Changing the reference value of the parameter will changes the local copy or local reference make sure your changes will not affect the reference value of the parameter (Better case don't change the reference value of the parameter)

References bno055_t::accel_rev_id, bno055_t::bl_rev_id, BNO055_ACCEL_REV_ID_REG, BNO055_BL_REV_ID_REG, BNO055_CHIP_ID_REG, bno055_delay_msek(), BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_GYRO_REV_ID_REG, BNO055_INIT_VALUE, BNO055_LSB_MSB_READ_LENGTH, BNO055_MAG_REV_ID_REG, BNO055_PAGE_ID_REG, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_REV_ID_SIZE, BNO055_SHIFT_EIGHT_BITS, BNO055_SW_ID_LSB, BNO055_SW_ID_MSB, BNO055_SW_REV_ID_LSB_REG, bno055_t::chip_id, bno055_t::dev_addr, bno055_t::gyro_rev_id, bno055_t::mag_rev_id, bno055_t::page_id, and bno055_t::sw_rev_id.

Referenced by bno055_initialize().

BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_offset

(

struct bno055_accel_offset_t *

accel_offset

)

This API is used to read accel offset and accel radius offset form register 0x55 to 0x5A and radius form 0x67 and 0x68.

Parameters

accel_offset

: The value of accel offset and radius bno055_accel_offset_t | result ------------------- | ---------------- x | accel offset x y | accel offset y z | accel offset z r | accel offset r

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

The range of the accel offset varies based on the G-range of accel sensor.

accel G range	offset range
ACCEL_RANGE_2G	+/-2000
ACCEL_RANGE_4G	+/-4000
ACCEL_RANGE_8G	+/-8000
ACCEL_RANGE_16G	+/-16000

accel G range can be configured by using the bno055_set_accel_range() function

Parameters

accel_offset

: The value of accel offset and radius bno055_accel_offset_t | result ------------------- | ---------------- x | accel offset x y | accel offset y z | accel offset z r | accel offset r

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

The range of the accel offset varies based on the G-range of accel sensor.

accel G range	offset range
BNO055_ACCEL_RANGE_2G	+/-2000
BNO055_ACCEL_RANGE_4G	+/-4000
BNO055_ACCEL_RANGE_8G	+/-8000
BNO055_ACCEL_RANGE_16G	+/-16000

accel G range can be configured by using the bno055_set_accel_range() API

References BNO055_ACCEL_OFFSET_ARRAY, BNO055_ACCEL_OFFSET_X_LSB_REG, BNO055_ACCEL_RADIUS_LSB_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_LSB_MSB_READ_LENGTH, BNO055_OFFSET_RADIUS_LSB, BNO055_OFFSET_RADIUS_MSB, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_OFFSET_DATA_X_LSB, BNO055_SENSOR_OFFSET_DATA_X_MSB, BNO055_SENSOR_OFFSET_DATA_Y_LSB, BNO055_SENSOR_OFFSET_DATA_Y_MSB, BNO055_SENSOR_OFFSET_DATA_Z_LSB, BNO055_SENSOR_OFFSET_DATA_Z_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, bno055_t::page_id, bno055_accel_offset_t::r, bno055_accel_offset_t::x, bno055_accel_offset_t::y, and bno055_accel_offset_t::z.

BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_rev_id

(

u8 *

accel_rev_id_u8

)

This API reads accel revision id from register 0x01 it is a byte of value.

Parameters

v_accel_rev_id_u8

: The accel revision id 0xFB

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

accel_rev_id_u8

: The accel revision id 0xFB

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_REV_ID_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_x

(

s16 *

accel_x_s16

)

This API reads acceleration data X values from register 0x08 and 0x09 it is a two byte data.

Parameters

v_accel_x_s16

: The X raw data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

accel_x_s16

: The X raw data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_DATA_SIZE, BNO055_ACCEL_DATA_X_LSB_VALUEX_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_LSB_MSB_READ_LENGTH, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_LSB, BNO055_SENSOR_DATA_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

Referenced by bno055_initialize().

BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_xyz

(

struct bno055_accel_t *

accel

)

This API reads acceleration data xyz values from register 0x08 to 0x0D it is a six byte data.

Parameters

accel

: The value of accel xyz data

Parameter	result
x	The accel x data
y	The accel y data
z	The accel z data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

accel

: The value of accel xyz data

Parameter	result
x	The accel x data
y	The accel y data
z	The accel z data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_DATA_X_LSB_VALUEX_REG, BNO055_ACCEL_XYZ_DATA_SIZE, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_XYZ_X_LSB, BNO055_SENSOR_DATA_XYZ_X_MSB, BNO055_SENSOR_DATA_XYZ_Y_LSB, BNO055_SENSOR_DATA_XYZ_Y_MSB, BNO055_SENSOR_DATA_XYZ_Z_LSB, BNO055_SENSOR_DATA_XYZ_Z_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, bno055_t::page_id, bno055_accel_t::x, bno055_accel_t::y, and bno055_accel_t::z.

Referenced by bno055_initialize(), and main().

BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_y

(

s16 *

accel_y_s16

)

This API reads acceleration data Y values from register 0x0A and 0x0B it is a two byte data.

Parameters

v_accel_y_s16

: The Y raw data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

accel_y_s16

: The Y raw data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_DATA_SIZE, BNO055_ACCEL_DATA_Y_LSB_VALUEY_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_LSB_MSB_READ_LENGTH, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_LSB, BNO055_SENSOR_DATA_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

Referenced by bno055_initialize().

BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_z

(

s16 *

accel_z_s16

)

This API reads acceleration data z values from register 0x0C and 0x0D it is a two byte data.

Parameters

v_accel_z_s16

: The z raw data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

accel_z_s16

: The z raw data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_DATA_SIZE, BNO055_ACCEL_DATA_Z_LSB_VALUEZ_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_LSB_MSB_READ_LENGTH, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_LSB, BNO055_SENSOR_DATA_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

Referenced by bno055_initialize().

BNO055_RETURN_FUNCTION_TYPE bno055_read_bl_rev_id

(

u8 *

bl_rev_id_u8

)

This API used to read boot loader revision id from register 0x06 it is a byte of value.

Parameters

v_bl_rev_id_u8

: The boot loader revision id

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

bl_rev_id_u8

: The boot loader revision id

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_BL_REV_ID_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_chip_id

(

u8 *

chip_id_u8

)

This API reads chip id from register 0x00 it is a byte of data.

Parameters

v_chip_id_u8

: The chip id value 0xA0

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

chip_id_u8

: The chip id value 0xA0

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_CHIP_ID_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_h

(

s16 *

euler_h_s16

)

This API reads gyro data z values from register 0x1A and 0x1B it is a two byte data.

Parameters

v_euler_h_s16

: The raw h data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

euler_h_s16

: The raw h data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_EULER_DATA_SIZE, BNO055_EULER_H_LSB_VALUEH_REG, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_LSB_MSB_READ_LENGTH, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_EULER_LSB, BNO055_SENSOR_DATA_EULER_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_hrp

(

struct bno055_euler_t *

euler

)

This API reads Euler data hrp values from register 0x1A to 0x1F it is a six byte data.

Parameters

euler

: The Euler hrp data's

Parameter	result
h	The Euler h data
r	The Euler r data
p	The Euler p data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

euler

: The Euler hrp data's

Parameter	result
h	The Euler h data
r	The Euler r data
p	The Euler p data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_EULER_H_LSB_VALUEH_REG, BNO055_EULER_HRP_DATA_SIZE, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_EULER_HRP_H_LSB, BNO055_SENSOR_DATA_EULER_HRP_H_MSB, BNO055_SENSOR_DATA_EULER_HRP_P_LSB, BNO055_SENSOR_DATA_EULER_HRP_P_MSB, BNO055_SENSOR_DATA_EULER_HRP_R_LSB, BNO055_SENSOR_DATA_EULER_HRP_R_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, bno055_euler_t::h, bno055_euler_t::p, bno055_t::page_id, and bno055_euler_t::r.

BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_p

(

s16 *

euler_p_s16

)

This API reads Euler data p values from register 0x1E and 0x1F it is a two byte data.

Parameters

v_euler_p_s16

: The raw p data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

euler_p_s16

: The raw p data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_EULER_DATA_SIZE, BNO055_EULER_P_LSB_VALUEP_REG, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_LSB_MSB_READ_LENGTH, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_EULER_LSB, BNO055_SENSOR_DATA_EULER_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_r

(

s16 *

euler_r_s16

)

This API reads Euler data r values from register 0x1C and 0x1D it is a two byte data.

Parameters

v_euler_r_s16

: The raw r data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

euler_r_s16

: The raw r data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_EULER_DATA_SIZE, BNO055_EULER_R_LSB_VALUER_REG, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_LSB_MSB_READ_LENGTH, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_EULER_LSB, BNO055_SENSOR_DATA_EULER_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_x

(

s16 *

gravity_x_s16

)

This API reads gravity data x values from register 0x2E and 0x2F it is a two byte data.

Parameters

v_gravity_x_s16

: The raw x data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gravity_x_s16

: The raw x data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_GRAVITY_DATA_SIZE, BNO055_GRAVITY_DATA_X_LSB_VALUEX_REG, BNO055_INIT_VALUE, BNO055_LSB_MSB_READ_LENGTH, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_LSB, BNO055_SENSOR_DATA_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_xyz

(

struct bno055_gravity_t *

gravity

)

This API reads gravity data xyz values from register 0x2E to 0x33 it is a six byte data.

Parameters

gravity

: The value of gravity xyz data's

Parameter	result
x	The gravity x data
y	The gravity y data
z	The gravity z data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gravity

: The value of gravity xyz data's

Parameter	result
x	The gravity x data
y	The gravity y data
z	The gravity z data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_GRAVITY_DATA_X_LSB_VALUEX_REG, BNO055_GRAVITY_XYZ_DATA_SIZE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_XYZ_X_LSB, BNO055_SENSOR_DATA_XYZ_X_MSB, BNO055_SENSOR_DATA_XYZ_Y_LSB, BNO055_SENSOR_DATA_XYZ_Y_MSB, BNO055_SENSOR_DATA_XYZ_Z_LSB, BNO055_SENSOR_DATA_XYZ_Z_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, bno055_t::page_id, bno055_gravity_t::x, bno055_gravity_t::y, and bno055_gravity_t::z.

BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_y

(

s16 *

gravity_y_s16

)

This API reads gravity data y values from register 0x30 and 0x31 it is a two byte data.

Parameters

v_gravity_y_s16

: The raw y data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gravity_y_s16

: The raw y data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_GRAVITY_DATA_SIZE, BNO055_GRAVITY_DATA_Y_LSB_VALUEY_REG, BNO055_INIT_VALUE, BNO055_LSB_MSB_READ_LENGTH, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_LSB, BNO055_SENSOR_DATA_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_z

(

s16 *

gravity_z_s16

)

This API reads gravity data z values from register 0x32 and 0x33 it is a two byte data.

Parameters

v_gravity_z_s16

: The raw z data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gravity_z_s16

: The raw z data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_GRAVITY_DATA_SIZE, BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_REG, BNO055_INIT_VALUE, BNO055_LSB_MSB_READ_LENGTH, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_LSB, BNO055_SENSOR_DATA_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_offset

(

struct bno055_gyro_offset_t *

gyro_offset

)

This API is used to read gyro offset offset form register 0x61 to 0x66.

Parameters

gyro_offset

: The value of gyro offset bno055_gyro_offset_t | result ------------------- | ---------------- x | gyro offset x y | gyro offset y z | gyro offset z

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

The range of the gyro offset varies based on the range of gyro sensor

gyro G range	offset range
GYRO_RANGE_2000DPS	+/-32000
GYRO_RANGE_1000DPS	+/-16000
GYRO_RANGE_500DPS	+/-8000
GYRO_RANGE_250DPS	+/-4000
GYRO_RANGE_125DPS	+/-2000

Gyro range can be configured by using the bno055_set_gyro_range() function

Parameters

gyro_offset

: The value of gyro offset bno055_gyro_offset_t | result ------------------- | ---------------- x | gyro offset x y | gyro offset y z | gyro offset z

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

The range of the gyro offset varies based on the range of gyro sensor

gyro G range	offset range
BNO055_GYRO_RANGE_2000DPS	+/-32000
BNO055_GYRO_RANGE_1000DPS	+/-16000
BNO055_GYRO_RANGE_500DPS	+/-8000
BNO055_GYRO_RANGE_250DPS	+/-4000
BNO055_GYRO_RANGE_125DPS	+/-2000

Gyro range can be configured by using the bno055_set_gyro_range() API

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_GYRO_OFFSET_ARRAY, BNO055_GYRO_OFFSET_X_LSB_REG, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_OFFSET_DATA_X_LSB, BNO055_SENSOR_OFFSET_DATA_X_MSB, BNO055_SENSOR_OFFSET_DATA_Y_LSB, BNO055_SENSOR_OFFSET_DATA_Y_MSB, BNO055_SENSOR_OFFSET_DATA_Z_LSB, BNO055_SENSOR_OFFSET_DATA_Z_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, bno055_t::page_id, bno055_gyro_offset_t::x, bno055_gyro_offset_t::y, and bno055_gyro_offset_t::z.

BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_rev_id

(

u8 *

gyro_rev_id_u8

)

This API reads gyro revision id from register 0x03 it is a byte of value.

Parameters

v_gyro_rev_id_u8

: The gyro revision id 0xF0

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gyro_rev_id_u8

: The gyro revision id 0xF0

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GYRO_REV_ID_REG, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_x

(

s16 *

gyro_x_s16

)

This API reads gyro data x values from register 0x14 and 0x15 it is a two byte data.

Parameters

v_gyro_x_s16

: The x raw data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gyro_x_s16

: The x raw data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_GYRO_DATA_SIZE, BNO055_GYRO_DATA_X_LSB_VALUEX_REG, BNO055_INIT_VALUE, BNO055_LSB_MSB_READ_LENGTH, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_LSB, BNO055_SENSOR_DATA_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_xyz

(

struct bno055_gyro_t *

gyro

)

This API reads gyro data xyz values from register 0x14 to 0x19 it is a six byte data.

Parameters

gyro	: The value of gyro xyz data's

Parameter	result
x	The gyro x data
y	The gyro y data
z	The gyro z data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gyro	: The value of gyro xyz data's

Parameter	result
x	The gyro x data
y	The gyro y data
z	The gyro z data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_GYRO_DATA_X_LSB_VALUEX_REG, BNO055_GYRO_XYZ_DATA_SIZE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_XYZ_X_LSB, BNO055_SENSOR_DATA_XYZ_X_MSB, BNO055_SENSOR_DATA_XYZ_Y_LSB, BNO055_SENSOR_DATA_XYZ_Y_MSB, BNO055_SENSOR_DATA_XYZ_Z_LSB, BNO055_SENSOR_DATA_XYZ_Z_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, bno055_t::page_id, bno055_gyro_t::x, bno055_gyro_t::y, and bno055_gyro_t::z.

Referenced by main().

BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_y

(

s16 *

gyro_y_s16

)

This API reads gyro data y values from register 0x16 and 0x17 it is a two byte data.

Parameters

v_gyro_y_s16

: The y raw data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gyro_y_s16

: The y raw data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_GYRO_DATA_SIZE, BNO055_GYRO_DATA_Y_LSB_VALUEY_REG, BNO055_INIT_VALUE, BNO055_LSB_MSB_READ_LENGTH, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_LSB, BNO055_SENSOR_DATA_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_z

(

s16 *

gyro_z_s16

)

This API reads gyro data z values from register 0x18 and 0x19 it is a two byte data.

Parameters

v_gyro_z_s16

: The z raw data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gyro_z_s16

: The z raw data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_GYRO_DATA_SIZE, BNO055_GYRO_DATA_Z_LSB_VALUEZ_REG, BNO055_INIT_VALUE, BNO055_LSB_MSB_READ_LENGTH, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_LSB, BNO055_SENSOR_DATA_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_x

(

s16 *

linear_accel_x_s16

)

This API reads Linear accel data x values from register 0x29 and 0x2A it is a two byte data.

Parameters

v_linear_accel_x_s16

: The raw x data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

linear_accel_x_s16

: The raw x data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_DATA_SIZE, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_REG, BNO055_LSB_MSB_READ_LENGTH, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_LSB, BNO055_SENSOR_DATA_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_xyz

(

struct bno055_linear_accel_t *

linear_accel

)

This API reads Linear accel data xyz values from register 0x28 to 0x2D it is a six byte data.

Parameters

linear_accel

: The value of linear accel xyz data's

Parameter	result
x	The linear accel x data
y	The linear accel y data
z	The linear accel z data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

linear_accel

: The value of linear accel xyz data's

Parameter	result
x	The linear accel x data
y	The linear accel y data
z	The linear accel z data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_XYZ_DATA_SIZE, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_REG, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_XYZ_X_LSB, BNO055_SENSOR_DATA_XYZ_X_MSB, BNO055_SENSOR_DATA_XYZ_Y_LSB, BNO055_SENSOR_DATA_XYZ_Y_MSB, BNO055_SENSOR_DATA_XYZ_Z_LSB, BNO055_SENSOR_DATA_XYZ_Z_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, bno055_t::page_id, bno055_linear_accel_t::x, bno055_linear_accel_t::y, and bno055_linear_accel_t::z.

BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_y

(

s16 *

linear_accel_y_s16

)

This API reads Linear accel data x values from register 0x2B and 0x2C it is a two byte data.

Parameters

v_linear_accel_y_s16

: The raw y data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

linear_accel_y_s16

: The raw y data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_DATA_SIZE, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_REG, BNO055_LSB_MSB_READ_LENGTH, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_LSB, BNO055_SENSOR_DATA_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_z

(

s16 *

linear_accel_z_s16

)

This API reads Linear accel data x values from register 0x2C and 0x2D it is a two byte data.

Parameters

v_linear_accel_z_s16

: The raw z data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

linear_accel_z_s16

: The raw z data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_DATA_SIZE, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_REG, BNO055_LSB_MSB_READ_LENGTH, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_LSB, BNO055_SENSOR_DATA_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_offset

(

struct bno055_mag_offset_t *

mag_offset

)

This API is used to read mag offset offset form register 0x69 to 0x6A.

Parameters

mag_offset

: The value of mag offset and radius bno055_mag_offset_t | result ------------------- | ---------------- x | mag offset x y | mag offset y z | mag offset z r | mag radius r

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

The range of the magnetometer offset is +/-6400 in LSB

Parameters

mag_offset

: The value of mag offset and radius bno055_mag_offset_t | result ------------------- | ---------------- x | mag offset x y | mag offset y z | mag offset z r | mag radius r

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

The range of the magnetometer offset is +/-6400 in LSB

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_LSB_MSB_READ_LENGTH, BNO055_MAG_OFFSET_ARRAY, BNO055_MAG_OFFSET_X_LSB_REG, BNO055_MAG_RADIUS_LSB_REG, BNO055_OFFSET_RADIUS_LSB, BNO055_OFFSET_RADIUS_MSB, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_OFFSET_DATA_X_LSB, BNO055_SENSOR_OFFSET_DATA_X_MSB, BNO055_SENSOR_OFFSET_DATA_Y_LSB, BNO055_SENSOR_OFFSET_DATA_Y_MSB, BNO055_SENSOR_OFFSET_DATA_Z_LSB, BNO055_SENSOR_OFFSET_DATA_Z_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, bno055_t::page_id, bno055_mag_offset_t::r, bno055_mag_offset_t::x, bno055_mag_offset_t::y, and bno055_mag_offset_t::z.

BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_rev_id

(

u8 *

mag_rev_id_u8

)

This API reads mag revision id from register 0x02 it is a byte of value.

Parameters

v_mag_rev_id_u8

: The mag revision id 0x32

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

mag_rev_id_u8

: The mag revision id 0x32

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_INIT_VALUE, BNO055_MAG_REV_ID_REG, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_x

(

s16 *

mag_x_s16

)

This API reads mag data x values from register 0x0E and 0x0F it is a two byte data.

Parameters

v_mag_x_s16

: The x raw data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

mag_x_s16

: The x raw data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_LSB_MSB_READ_LENGTH, BNO055_MAG_DATA_SIZE, BNO055_MAG_DATA_X_LSB_VALUEX_REG, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_LSB, BNO055_SENSOR_DATA_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_xyz

(

struct bno055_mag_t *

mag

)

This API reads mag data xyz values from register 0x0E to 0x13 it is a six byte data.

Parameters

mag	: The mag xyz values

Parameter	result
x	The mag x data
y	The mag y data
z	The mag z data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

mag	: The mag xyz values

Parameter	result
x	The mag x data
y	The mag y data
z	The mag z data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_MAG_DATA_X_LSB_VALUEX_REG, BNO055_MAG_XYZ_DATA_SIZE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_XYZ_X_LSB, BNO055_SENSOR_DATA_XYZ_X_MSB, BNO055_SENSOR_DATA_XYZ_Y_LSB, BNO055_SENSOR_DATA_XYZ_Y_MSB, BNO055_SENSOR_DATA_XYZ_Z_LSB, BNO055_SENSOR_DATA_XYZ_Z_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, bno055_t::page_id, bno055_mag_t::x, bno055_mag_t::y, and bno055_mag_t::z.

BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_y

(

s16 *

mag_y_s16

)

This API reads mag data y values from register 0x10 and 0x11 it is a two byte data.

Parameters

v_mag_y_s16

: The y raw data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

mag_y_s16

: The y raw data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_LSB_MSB_READ_LENGTH, BNO055_MAG_DATA_SIZE, BNO055_MAG_DATA_Y_LSB_VALUEY_REG, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_LSB, BNO055_SENSOR_DATA_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_z

(

s16 *

mag_z_s16

)

This API reads mag data z values from register 0x12 and 0x13 it is a two byte data.

Parameters

v_mag_z_s16

: The z raw data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

mag_z_s16

: The z raw data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_LSB_MSB_READ_LENGTH, BNO055_MAG_DATA_SIZE, BNO055_MAG_DATA_Z_LSB_VALUEZ_REG, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_LSB, BNO055_SENSOR_DATA_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_page_id

(

u8 *

page_id_u8

)

This API reads page id from register 0x07 it is a byte of data.

Parameters

v_page_id_u8

: The value of page id

PAGE_ZERO -> 0x00 PAGE_ONE -> 0x01

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

page_id_u8

: The value of page id

BNO055_PAGE_ZERO -> 0x00 BNO055_PAGE_ONE -> 0x01

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ID_REG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_w

(

s16 *

quaternion_w_s16

)

This API reads quaternion data w values from register 0x20 and 0x21 it is a two byte data.

Parameters

v_quaternion_w_s16

: The raw w data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

quaternion_w_s16

: The raw w data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_LSB_MSB_READ_LENGTH, BNO055_PAGE_ZERO, BNO055_QUATERNION_DATA_SIZE, BNO055_QUATERNION_DATA_W_LSB_VALUEW_REG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_QUATERNION_LSB, BNO055_SENSOR_DATA_QUATERNION_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_wxyz

(

struct bno055_quaternion_t *

quaternion

)

This API reads Quaternion data wxyz values from register 0x20 to 0x27 it is a six byte data.

Parameters

quaternion

: The value of quaternion wxyz data's

Parameter	result
w	The quaternion w data
x	The quaternion x data
y	The quaternion y data
z	The quaternion z data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

quaternion

: The value of quaternion wxyz data's

Parameter	result
w	The quaternion w data
x	The quaternion x data
y	The quaternion y data
z	The quaternion z data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_QUATERNION_DATA_W_LSB_VALUEW_REG, BNO055_QUATERNION_WXYZ_DATA_SIZE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB, BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB, BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB, BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB, BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB, BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB, BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB, BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, bno055_t::page_id, bno055_quaternion_t::w, bno055_quaternion_t::x, bno055_quaternion_t::y, and bno055_quaternion_t::z.

BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_x

(

s16 *

quaternion_x_s16

)

This API reads quaternion data x values from register 0x22 and 0x23 it is a two byte data.

Parameters

v_quaternion_x_s16

: The raw x data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

quaternion_x_s16

: The raw x data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_LSB_MSB_READ_LENGTH, BNO055_PAGE_ZERO, BNO055_QUATERNION_DATA_SIZE, BNO055_QUATERNION_DATA_X_LSB_VALUEX_REG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_QUATERNION_LSB, BNO055_SENSOR_DATA_QUATERNION_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_y

(

s16 *

quaternion_y_s16

)

This API reads quaternion data y values from register 0x24 and 0x25 it is a two byte data.

Parameters

v_quaternion_y_s16

: The raw y data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

quaternion_y_s16

: The raw y data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_LSB_MSB_READ_LENGTH, BNO055_PAGE_ZERO, BNO055_QUATERNION_DATA_SIZE, BNO055_QUATERNION_DATA_Y_LSB_VALUEY_REG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_QUATERNION_LSB, BNO055_SENSOR_DATA_QUATERNION_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_z

(

s16 *

quaternion_z_s16

)

This API reads quaternion data z values from register 0x26 and 0x27 it is a two byte data.

Parameters

v_quaternion_z_s16

: The raw z data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

quaternion_z_s16

: The raw z data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_LSB_MSB_READ_LENGTH, BNO055_PAGE_ZERO, BNO055_QUATERNION_DATA_SIZE, BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_REG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SENSOR_DATA_QUATERNION_LSB, BNO055_SENSOR_DATA_QUATERNION_MSB, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_register	(	u8	addr_u8,
		u8 *	data_u8,
		u8	len_u8
	)

This API reads the data from the given register address.

Parameters

v_addr_u8	: Address of the register
p_data_u8	: address of the variable, read value will be kept
v_len_u8	: Length of the data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

addr_u8	: Address of the register
data_u8	: address of the variable, read value will be kept
len_u8	: Length of the data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_INIT_VALUE, BNO055_RETURN_FUNCTION_TYPE, and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_read_sic_matrix

(

struct bno055_sic_matrix_t *

sic_matrix

)

This API is used to read soft iron calibration matrix from the register 0x43 to 0x53 it is a 18 bytes of data.

Parameters

sic_matrix

: The value of soft iron calibration matrix

sic_matrix	result
sic_0	soft iron calibration matrix zero
sic_1	soft iron calibration matrix one
sic_2	soft iron calibration matrix two
sic_3	soft iron calibration matrix three
sic_4	soft iron calibration matrix four
sic_5	soft iron calibration matrix five
sic_6	soft iron calibration matrix six
sic_7	soft iron calibration matrix seven
sic_8	soft iron calibration matrix eight

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

: Each soft iron calibration matrix range from -32768 to +32767

Parameters

sic_matrix

: The value of soft iron calibration matrix

sic_matrix	result
sic_0	soft iron calibration matrix zero
sic_1	soft iron calibration matrix one
sic_2	soft iron calibration matrix two
sic_3	soft iron calibration matrix three
sic_4	soft iron calibration matrix four
sic_5	soft iron calibration matrix five
sic_6	soft iron calibration matrix six
sic_7	soft iron calibration matrix seven
sic_8	soft iron calibration matrix eight

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

: Each soft iron calibration matrix range from -32768 to +32767

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SHIFT_EIGHT_BITS, BNO055_SIC_MATRIX_0_LSB_REG, BNO055_SOFT_IRON_CALIB_0_LSB, BNO055_SOFT_IRON_CALIB_0_MSB, BNO055_SOFT_IRON_CALIB_1_LSB, BNO055_SOFT_IRON_CALIB_1_MSB, BNO055_SOFT_IRON_CALIB_2_LSB, BNO055_SOFT_IRON_CALIB_2_MSB, BNO055_SOFT_IRON_CALIB_3_LSB, BNO055_SOFT_IRON_CALIB_3_MSB, BNO055_SOFT_IRON_CALIB_4_LSB, BNO055_SOFT_IRON_CALIB_4_MSB, BNO055_SOFT_IRON_CALIB_5_LSB, BNO055_SOFT_IRON_CALIB_5_MSB, BNO055_SOFT_IRON_CALIB_6_LSB, BNO055_SOFT_IRON_CALIB_6_MSB, BNO055_SOFT_IRON_CALIB_7_LSB, BNO055_SOFT_IRON_CALIB_7_MSB, BNO055_SOFT_IRON_CALIB_8_LSB, BNO055_SOFT_IRON_CALIB_8_MSB, BNO055_SOFT_IRON_CALIBRATION_MATRIX_SIZE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, bno055_t::page_id, bno055_sic_matrix_t::sic_0, bno055_sic_matrix_t::sic_1, bno055_sic_matrix_t::sic_2, bno055_sic_matrix_t::sic_3, bno055_sic_matrix_t::sic_4, bno055_sic_matrix_t::sic_5, bno055_sic_matrix_t::sic_6, bno055_sic_matrix_t::sic_7, and bno055_sic_matrix_t::sic_8.

BNO055_RETURN_FUNCTION_TYPE bno055_read_sw_rev_id

(

u16 *

sw_id_u8

)

This API reads software revision id from register 0x04 and 0x05 it is a two byte of data.

Parameters

v_sw_id_u8

: The SW revision id

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

sw_id_u8

: The SW revision id

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GET_BITSLICE, BNO055_INIT_VALUE, BNO055_LSB_MSB_READ_LENGTH, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_REV_ID_SIZE, BNO055_SHIFT_EIGHT_BITS, BNO055_SUCCESS, BNO055_SW_ID_LSB, BNO055_SW_ID_MSB, BNO055_SW_REV_ID_LSB_REG, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_read_temp_data

(

s8 *

temp_s8

)

This API reads temperature values from register 0x33 it is a byte data.

Parameters

v_temp_s8

: The raw temperature data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

temp_s8

: The raw temperature data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SUCCESS, BNO055_TEMP_REG, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_durn

(

u8

accel_any_motion_durn_u8

)

This API used to write the accel anymotion duration from page one register from 0x12 bit 0 to 1.

Parameters

v_accel_any_motion_durn_u8

: The value of accel anymotion duration

v_accel_any_motion_durn_u8	result
0x01	ENABLED
0x00	DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

accel_any_motion_durn_u8

: The value of accel anymotion duration

accel_any_motion_durn_u8	result
0x01	BNO055_BIT_ENABLE
0x00	BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_ANY_MOTION_DURN_SET_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_no_motion_axis_enable	(	u8	channel_u8,
		u8	data_u8
	)

This API used to write the accel anymotion enable from page one register from 0x12 bit 2 to 4.

Parameters

v_data_u8	: The value of accel anymotion enable v_data_u8 result 0x01 ENABLED 0x00 DISABLED
v_channel_u8	: The value of accel anymotion axis selection v_channel_u8 value BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS 0 BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS 1 BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS 2

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

data_u8	: The value of accel anymotion enable data_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE
channel_u8	: The value of accel anymotion axis selection channel_u8 value BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS 0 BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS 1 BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS 2

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS, BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS, BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS, BNO055_ACCEL_ANY_MOTION_X_AXIS_REG, BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG, BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_OUT_OF_RANGE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_thres

(

u8

accel_any_motion_thres_u8

)

This API used to write the accel any motion threshold from page one register from 0x11 bit 0 to 7.

Parameters

v_accel_any_motion_thres_u8

: The value of any motion threshold v_accel_any_motion_thres_u8 result 0x01 ENABLED 0x00 DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Accel anymotion threshold dependent on the range values

v_accel_range_u8	threshold	LSB
2g	3.19mg	1LSB
4g	7.81mg	1LSB
8g	15.63mg	1LSB
16g	31.25mg	1LSB

Parameters

accel_any_motion_thres_u8

: The value of any motion threshold accel_any_motion_thres_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Accel anymotion threshold dependent on the range values

accel_range_u8	threshold	LSB
2g	3.19mg	1LSB
4g	7.81mg	1LSB
8g	15.63mg	1LSB
16g	31.25mg	1LSB

References BNO055_ACCEL_ANY_MOTION_THRES_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_bw

(

u8

accel_bw_u8

)

This API used to write the accel bandwidth from page one register from 0x08 bit 2 to 4.

Parameters

v_accel_bw_u8

: The value of accel bandwidth v_accel_bw_u8 | result ----------------- | --------------- 0x00 | ACCEL_BW_7_81HZ 0x01 | ACCEL_BW_15_63HZ 0x02 | ACCEL_BW_31_25HZ 0x03 | ACCEL_BW_62_5HZ 0x04 | ACCEL_BW_125HZ 0x05 | ACCEL_BW_250HZ 0x06 | ACCEL_BW_500HZ 0x07 | ACCEL_BW_1000HZ

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

accel_bw_u8

: The value of accel bandwidth accel_bw_u8 | result ----------------- | --------------- 0x00 | BNO055_ACCEL_BW_7_81HZ 0x01 | BNO055_ACCEL_BW_15_63HZ 0x02 | BNO055_ACCEL_BW_31_25HZ 0x03 | BNO055_ACCEL_BW_62_5HZ 0x04 | BNO055_ACCEL_BW_125HZ 0x05 | BNO055_ACCEL_BW_250HZ 0x06 | BNO055_ACCEL_BW_500HZ 0x07 | BNO055_ACCEL_BW_1000HZ

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_BW_REG, BNO055_ACCEL_GYRO_BW_RANGE, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_OUT_OF_RANGE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_axis_enable	(	u8	channel_u8,
		u8	data_u8
	)

This API used to write the accel highg enable from page one register from 0x12 bit 5 to 7.

Parameters

v_data_u8	: The value of accel highg enable v_data_u8 result 0x01 ENABLED 0x00 DISABLED
v_channel_u8	: The value of accel highg axis selection v_channel_u8 value BNO055_ACCEL_HIGH_G_X_AXIS 0 BNO055_ACCEL_HIGH_G_Y_AXIS 1 BNO055_ACCEL_HIGH_G_Z_AXIS 2

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

data_u8	: The value of accel highg enable data_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE
channel_u8	: The value of accel highg axis selection channel_u8 value BNO055_ACCEL_HIGH_G_X_AXIS 0 BNO055_ACCEL_HIGH_G_Y_AXIS 1 BNO055_ACCEL_HIGH_G_Z_AXIS 2

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_HIGH_G_X_AXIS, BNO055_ACCEL_HIGH_G_X_AXIS_REG, BNO055_ACCEL_HIGH_G_Y_AXIS, BNO055_ACCEL_HIGH_G_Y_AXIS_REG, BNO055_ACCEL_HIGH_G_Z_AXIS, BNO055_ACCEL_HIGH_G_Z_AXIS_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_OUT_OF_RANGE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_durn

(

u8

accel_high_g_durn_u8

)

This API used to write the accel highg duration from page one register from 0x13 bit 0 to 7.

Parameters

v_accel_high_g_durn_u8

: The value of accel highg duration

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

The high-g interrupt trigger delay according to [highg duration + 1] * 2 ms

in a range from 2 ms to 512 ms

Parameters

accel_high_g_durn_u8

: The value of accel highg duration

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

The high-g interrupt trigger delay according to [highg duration + 1] * 2 ms

in a range from 2 ms to 512 ms

References BNO055_ACCEL_HIGH_G_DURN_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_thres

(

u8

accel_high_g_thres_u8

)

This API used to write the accel highg threshold from page one register from 0x14 bit 0 to 7.

Parameters

v_accel_high_g_thres_u8

: The value of accel highg threshold

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Accel highg interrupt threshold dependent for accel g range

v_accel_range_u8	threshold	LSB
2g	7.81mg	1LSB
4g	15.63mg	1LSB
8g	31.25mg	1LSB
16g	62.5mg	1LSB

Parameters

accel_high_g_thres_u8

: The value of accel highg threshold

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Accel highg interrupt threshold dependent for accel g range

accel_range_u8	threshold	LSB
2g	7.81mg	1LSB
4g	15.63mg	1LSB
8g	31.25mg	1LSB
16g	62.5mg	1LSB

References BNO055_ACCEL_HIGH_G_THRES_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_power_mode

(

u8

accel_power_mode_u8

)

This API used to write the accel power mode from page one register from 0x08 bit 5 to 7.

Parameters

v_accel_power_mode_u8

: The value of accel power mode v_accel_power_mode_u8 result 0x00 ACCEL_NORMAL 0x01 ACCEL_SUSPEND 0x02 ACCEL_LOWPOWER_1 0x03 ACCEL_STANDBY 0x04 ACCEL_LOWPOWER_2 0x05 ACCEL_DEEPSUSPEND

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

accel_power_mode_u8

: The value of accel power mode accel_power_mode_u8 result 0x00 BNO055_ACCEL_NORMAL 0x01 BNO055_ACCEL_SUSPEND 0x02 BNO055_ACCEL_LOWPOWER_1 0x03 BNO055_ACCEL_STANDBY 0x04 BNO055_ACCEL_LOWPOWER_2 0x05 BNO055_ACCEL_DEEPSUSPEND

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_POWER_MODE_RANGE, BNO055_ACCEL_POWER_MODE_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_OUT_OF_RANGE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_range

(

u8

accel_range_u8

)

This API used to write the accel range from page one register from 0x08 bit 0 and 1.

Parameters

v_accel_range_u8

: The value of accel range v_accel_range_u8 | result ----------------- | -------------- 0x00 | ACCEL_RANGE_2G 0x01 | ACCEL_RANGE_4G 0x02 | ACCEL_RANGE_8G 0x03 | ACCEL_RANGE_16G

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

accel_range_u8

: The value of accel range accel_range_u8 | result ----------------- | -------------- 0x00 | BNO055_ACCEL_RANGE_2G 0x01 | BNO055_ACCEL_RANGE_4G 0x02 | BNO055_ACCEL_RANGE_8G 0x03 | BNO055_ACCEL_RANGE_16G

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_RANGE, BNO055_ACCEL_RANGE_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_OUT_OF_RANGE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

Referenced by bno055_initialize().

BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_durn

(

u8

sleep_durn_u8

)

This API used to write the accel sleep duration from page one register from 0x0C bit 1 to 4.

Parameters

v_sleep_durn_u8

: The value of accel sleep duration

v_sleep_durn_u8	result
0x05	BNO055_ACCEL_SLEEP_DURN_0_5MS
0x06	BNO055_ACCEL_SLEEP_DURN_1MS
0x07	BNO055_ACCEL_SLEEP_DURN_2MS
0x08	BNO055_ACCEL_SLEEP_DURN_4MS
0x09	BNO055_ACCEL_SLEEP_DURN_6MS
0x0A	BNO055_ACCEL_SLEEP_DURN_10MS
0x0B	BNO055_ACCEL_SLEEP_DURN_25MS
0x0C	BNO055_ACCEL_SLEEP_DURN_50MS
0x0D	BNO055_ACCEL_SLEEP_DURN_100MS
0x0E	BNO055_ACCEL_SLEEP_DURN_500MS
0x0F	BNO055_ACCEL_SLEEP_DURN_1S

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

sleep_durn_u8

: The value of accel sleep duration

sleep_durn_u8	result
0x05	BNO055_ACCEL_SLEEP_DURN_0_5MS
0x06	BNO055_ACCEL_SLEEP_DURN_1MS
0x07	BNO055_ACCEL_SLEEP_DURN_2MS
0x08	BNO055_ACCEL_SLEEP_DURN_4MS
0x09	BNO055_ACCEL_SLEEP_DURN_6MS
0x0A	BNO055_ACCEL_SLEEP_DURN_10MS
0x0B	BNO055_ACCEL_SLEEP_DURN_25MS
0x0C	BNO055_ACCEL_SLEEP_DURN_50MS
0x0D	BNO055_ACCEL_SLEEP_DURN_100MS
0x0E	BNO055_ACCEL_SLEEP_DURN_500MS
0x0F	BNO055_ACCEL_SLEEP_DURN_1S

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_SLEEP_DURATION_RANGE, BNO055_ACCEL_SLEEP_DURN_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_OUT_OF_RANGE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_tmr_mode

(

u8

sleep_tmr_u8

)

This API used to write the accel sleep mode from page one register from 0x0C bit 0.

Parameters

v_sleep_tmr_u8

: The value of accel sleep mode

v_sleep_tmr_u8	result
0x00	enable EventDrivenSampling(EDT)
0x01	enable Equidistant sampling mode(EST)

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

sleep_tmr_u8

: The value of accel sleep mode

sleep_tmr_u8	result
0x00	enable EventDrivenSampling(EDT)
0x01	enable Equidistant sampling mode(EST)

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_SLEEP_MODE_RANGE, BNO055_ACCEL_SLEEP_MODE_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_OUT_OF_RANGE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_durn

(

u8

accel_slow_no_motion_durn_u8

)

This API used to write accel slownomotion duration from page one register from 0x16 bit 1 to 6.

Parameters

v_accel_slow_no_motion_durn_u8

: The value of accel slownomotion duration

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

accel_slow_no_motion_durn_u8

: The value of accel slownomotion duration

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_enable

(

u8

accel_slow_no_motion_en_u8

)

This API used to write accel slownomotion enable from page one register from 0x16 bit 0.

Parameters

v_accel_slow_no_motion_en_u8

: The value of accel slownomotion enable v_accel_slow_no_motion_en_u8 result 0x01 Slow motion 0x00 No motion

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

accel_slow_no_motion_en_u8

: The value of accel slownomotion enable accel_slow_no_motion_en_u8 result 0x01 Slow motion 0x00 No motion

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_thres

(

u8

accel_slow_no_motion_thres_u8

)

This API used to write the accel slownomotion threshold from page one register from 0x15 bit 0 to 7.

Parameters

v_accel_slow_no_motion_thres_u8

: The value of accel slownomotion threshold

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Accel slow no motion interrupt threshold dependent for accel g range

v_accel_range_u8	threshold	LSB
2g	3.19mg	1LSB
4g	7.81mg	1LSB
8g	15.63mg	1LSB
16g	31.25mg	1LSB

Parameters

accel_slow_no_motion_thres_u8

: The value of accel slownomotion threshold

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Accel slow no motion interrupt threshold dependent for accel g range

accel_range_u8	threshold	LSB
2g	3.19mg	1LSB
4g	7.81mg	1LSB
8g	15.63mg	1LSB
16g	31.25mg	1LSB

References BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_unit

(

u8

accel_unit_u8

)

This API used to write the accel unit from register from 0x3B bit 0.

Parameters

v_accel_unit_u8

: The value of accel unit

v_accel_unit_u8	result
0x00	ACCEL_UNIT_MSQ
0x01	ACCEL_UNIT_MG

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

accel_unit_u8

: The value of accel unit

accel_unit_u8	result
0x00	BNO055_ACCEL_UNIT_MSQ
0x01	BNO055_ACCEL_UNIT_MG

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_UNIT_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_axis_remap_value

(

u8

remap_axis_u8

)

This API used to write the axis remap value from register from 0x41 bit 0 and 5.

Parameters

v_remap_axis_u8

: The value of axis remapping

v_remap_axis_u8	result	comments
0X21	REMAP_X_Y	Z=Z;X=Y;Y=X
0X18	REMAP_Y_Z	X=X;Y=Z;Z=Y
0X06	REMAP_Z_X	Y=Y;X=Z;Z=X
0X12	REMAP_X_Y_Z_TYPE0	X=Z;Y=X;Z=Y
0X09	REMAP_X_Y_Z_TYPE1	X=Y;Y=Z;Z=X
0X24	DEFAULT_AXIS	X=X;Y=Y;Z=Z

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

: For axis sign remap refer the following functions x-axis :

bno055_set_x_remap_sign()

y-axis :

bno055_set_y_remap_sign()

z-axis :

bno055_set_z_remap_sign()

Parameters

remap_axis_u8

: The value of axis remapping

remap_axis_u8	result	comments
0X21	BNO055_REMAP_X_Y	Z=Z;X=Y;Y=X
0X18	BNO055_REMAP_Y_Z	X=X;Y=Z;Z=Y
0X06	BNO055_REMAP_Z_X	Y=Y;X=Z;Z=X
0X12	BNO055_REMAP_X_Y_Z_TYPE0	X=Z;Y=X;Z=Y
0X09	BNO055_REMAP_X_Y_Z_TYPE1	X=Y;Y=Z;Z=X
0X24	BNO055_DEFAULT_AXIS	X=X;Y=Y;Z=Z

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

: For axis sign remap refer the following APIs x-axis :

bno055_set_x_remap_sign()

y-axis :

bno055_set_y_remap_sign()

z-axis :

bno055_set_z_remap_sign()

References BNO055_DEFAULT_AXIS, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_REMAP_AXIS_VALUE_REG, BNO055_REMAP_X_Y, BNO055_REMAP_X_Y_Z_TYPE0, BNO055_REMAP_X_Y_Z_TYPE1, BNO055_REMAP_Y_Z, BNO055_REMAP_Z_X, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_clk_src

(

u8

clk_src_u8

)

This API used to write the clk source from register from 0x3F bit 7.

Parameters

v_clk_src_u8

: The value of clk source

v_clk_src_u8	result
0x01	ENABLED
0x00	DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

clk_src_u8

: The value of clk source

clk_src_u8	result
0x01	BNO055_BIT_ENABLE
0x00	BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_CLK_SRC_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_set_data_output_format

(

u8

data_output_format_u8

)

This API used to write the current selected orientation mode from register from 0x3B bit 7.

Parameters

v_data_output_format_u8

: The value of data output format

v_data_output_format_u8	result
0x00	Windows
0x01	Android

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

This API used to read the current selected orientation mode from register from 0x3B bit 7.

Parameters

data_output_format_u8

: The value of data output format

data_output_format_u8	result
0x00	Windows
0x01	Android

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_DATA_OUTPUT_FORMAT_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_euler_unit

(

u8

euler_unit_u8

)

This API used to write the Euler unit from register from 0x3B bit 2.

Parameters

v_euler_unit_u8

: The value of Euler unit

v_euler_unit_u8	result
0x00	EULER_UNIT_DEG
0x01	EULER_UNIT_RAD

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

euler_unit_u8

: The value of Euler unit

euler_unit_u8	result
0x00	BNO055_EULER_UNIT_DEG
0x01	BNO055_EULER_UNIT_RAD

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_EULER_UNIT_REG, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_awake_durn

(

u8

gyro_awake_durn_u8

)

This API used to write gyro anymotion awake duration from page one register from 0x1F bit 2 to 3.

Parameters

v_gyro_awake_durn_u8

: The value of gyro anymotion awake duration

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gyro_awake_durn_u8

: The value of gyro anymotion awake duration

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_GYRO_AWAKE_DURN_REG, BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_axis_enable	(	u8	channel_u8,
		u8	data_u8
	)

This API used to write the gyro anymotion enable from page one register from 0x17 bit 0 to 2.

Parameters

v_data_u8	: The value of gyro anymotion enable v_data_u8 result 0x01 ENABLED 0x00 DISABLED
v_channel_u8	: The value of gyro anymotion axis selection v_channel_u8 value BNO055_GYRO_ANY_MOTIONX_AXIS 0 BNO055_GYRO_ANY_MOTIONY_AXIS 1 BNO055_GYRO_ANY_MOTIONZ_AXIS 2

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

data_u8	: The value of gyro anymotion enable data_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE
channel_u8	: The value of gyro anymotion axis selection channel_u8 value BNO055_GYRO_ANY_MOTIONX_AXIS 0 BNO055_GYRO_ANY_MOTIONY_AXIS 1 BNO055_GYRO_ANY_MOTIONZ_AXIS 2

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_GYRO_ANY_MOTION_X_AXIS, BNO055_GYRO_ANY_MOTION_X_AXIS_REG, BNO055_GYRO_ANY_MOTION_Y_AXIS, BNO055_GYRO_ANY_MOTION_Y_AXIS_REG, BNO055_GYRO_ANY_MOTION_Z_AXIS, BNO055_GYRO_ANY_MOTION_Z_AXIS_REG, BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_OUT_OF_RANGE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_filter

(

u8

gyro_any_motion_filter_u8

)

This API used to write gyro anymotion filter from page one register from 0x17 bit 6.

Parameters

v_gyro_any_motion_filter_u8

: The value of gyro anymotion filter v_gyro_any_motion_filter_u8 result 0x00 FILTERED 0x01 UNFILTERED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gyro_any_motion_filter_u8

: The value of gyro anymotion filter gyro_any_motion_filter_u8 result 0x00 BNO055_GYRO_FILTERED_CONFIG 0x01 BNO055_GYRO_UNFILTERED_CONFIG

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_GYRO_ANY_MOTION_FILTER_REG, BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_slope_samples

(

u8

gyro_any_motion_slope_samples_u8

)

This API used to write gyro anymotion slope samples from page one register from 0x1F bit 0 to 1.

Parameters

v_gyro_any_motion_slope_samples_u8

: The value of gyro anymotion slope samples v_gyro_any_motion_slope_samples_u8 result 0 8 samples 1 16 samples 2 32 samples 3 64 samples

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gyro_any_motion_slope_samples_u8

: The value of gyro anymotion slope samples gyro_any_motion_slope_samples_u8 result 0 8 samples 1 16 samples 2 32 samples 3 64 samples

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_GYRO_SLOPE_SAMPLES_REG, BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_thres

(

u8

gyro_any_motion_thres_u8

)

This API used to write gyro anymotion threshold from page one register from 0x1E bit 0 to 6.

Parameters

v_gyro_any_motion_thres_u8

: The value of gyro anymotion threshold

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Gyro anymotion interrupt threshold dependent on the selection of gyro range

v_gyro_range_u8	threshold	LSB
2000	1dps	1LSB
1000	0.5dps	1LSB
500	0.25dps	1LSB

Parameters

gyro_any_motion_thres_u8

: The value of gyro anymotion threshold

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Gyro anymotion interrupt threshold dependent on the selection of gyro range

gyro_range_u8	threshold	LSB
2000	1dps	1LSB
1000	0.5dps	1LSB
500	0.25dps	1LSB

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_GYRO_ANY_MOTION_THRES_REG, BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_bw

(

u8

gyro_bw_u8

)

This API used to write the gyro bandwidth from page one register from 0x0A bit 3 to 5.

Parameters

v_gyro_bw_u8

: The value of gyro bandwidth

v_gyro_bw_u8	result
0x00	GYRO_BW_523HZ
0x01	GYRO_BW_230HZ
0x02	GYRO_BW_116HZ
0x03	GYRO_BW_47HZ
0x04	GYRO_BW_23HZ
0x05	GYRO_BW_12HZ
0x06	GYRO_BW_64HZ
0x07	GYRO_BW_32HZ

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gyro_bw_u8

: The value of gyro bandwidth

gyro_bw_u8	result
0x00	BNO055_GYRO_BW_523HZ
0x01	BNO055_GYRO_BW_230HZ
0x02	BNO055_GYRO_BW_116HZ
0x03	BNO055_GYRO_BW_47HZ
0x04	BNO055_GYRO_BW_23HZ
0x05	BNO055_GYRO_BW_12HZ
0x06	BNO055_GYRO_BW_64HZ
0x07	BNO055_GYRO_BW_32HZ

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_ACCEL_GYRO_BW_RANGE, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_gyro_auto_sleep_durn(), bno055_get_gyro_power_mode(), bno055_get_operation_mode(), BNO055_GYRO_BW_116HZ, BNO055_GYRO_BW_12HZ, BNO055_GYRO_BW_230HZ, BNO055_GYRO_BW_23HZ, BNO055_GYRO_BW_32HZ, BNO055_GYRO_BW_47HZ, BNO055_GYRO_BW_523HZ, BNO055_GYRO_BW_64HZ, BNO055_GYRO_BW_REG, BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE, bno055_gyro_set_auto_sleep_durn(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_OUT_OF_RANGE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_axis_enable	(	u8	channel_u8,
		u8	data_u8
	)

This API used to write the gyro highrate enable from page one register from 0x17 bit 3 to 5.

Parameters

v_data_u8	: The value of gyro highrate enable v_data_u8 result 0x01 ENABLED 0x00 DISABLED
v_channel_u8	: The value of gyro highrate axis selection v_channel_u8 value BNO055_GYRO_HIGHRATE_X_AXIS 0 BNO055_GYRO_HIGHRATE_Y_AXIS 1 BNO055_GYRO_HIGHRATE_Z_AXIS 2

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

data_u8	: The value of gyro highrate enable data_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE
channel_u8	: The value of gyro highrate axis selection channel_u8 value BNO055_GYRO_HIGHRATE_X_AXIS 0 BNO055_GYRO_HIGHRATE_Y_AXIS 1 BNO055_GYRO_HIGHRATE_Z_AXIS 2

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_GYRO_HIGHRATE_X_AXIS, BNO055_GYRO_HIGHRATE_X_AXIS_REG, BNO055_GYRO_HIGHRATE_Y_AXIS, BNO055_GYRO_HIGHRATE_Y_AXIS_REG, BNO055_GYRO_HIGHRATE_Z_AXIS, BNO055_GYRO_HIGHRATE_Z_AXIS_REG, BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_OUT_OF_RANGE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_filter

(

u8

gyro_highrate_filter_u8

)

This API used to write gyro highrate filter from page one register from 0x17 bit 7.

Parameters

v_gyro_highrate_filter_u8

: The value of gyro highrate filter v_gyro_highrate_filter_u8 result 0x00 FILTERED 0x01 UNFILTERED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gyro_highrate_filter_u8

: The value of gyro highrate filter gyro_highrate_filter_u8 result 0x00 BNO055_GYRO_FILTERED_CONFIG 0x01 BNO055_GYRO_UNFILTERED_CONFIG

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_GYRO_HIGHRATE_FILTER_REG, BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_durn

(

u8

gyro_highrate_x_durn_u8

)

This API used to write gyro highrate x duration from page one register from 0x19 bit 0 to 7.

Parameters

v_gyro_highrate_x_durn_u8

: The value of gyro highrate x duration

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Gyro highrate duration calculate by using the formula

(1 + v_gyro_highrate_x_durn_u8)*2.5ms

Parameters

gyro_highrate_x_durn_u8

: The value of gyro highrate x duration

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Gyro highrate duration calculate by using the formula

(1 + gyro_highrate_x_durn_u8)*2.5ms

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_GYRO_HIGHRATE_X_DURN_REG, BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_hyst

(

u8

gyro_highrate_x_hyst_u8

)

This API used to write gyro highrate x hysteresis from page one register from 0x18 bit 5 to 6.

Parameters

v_gyro_highrate_x_hyst_u8

: The value of gyro highrate x hysteresis

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Gyro high rate hysteresis calculated by

using this (255 + 256 * v_gyro_highrate_x_hyst_u8) *4 LSB

The high rate value scales with the range setting

v_gyro_range_u8	hysteresis	LSB
2000	62.26dps	1LSB
1000	31.13dps	1LSB
500	15.56dps	1LSB

Parameters

gyro_highrate_x_hyst_u8

: The value of gyro highrate x hysteresis

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Gyro high rate hysteresis calculated by

using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB

The high rate value scales with the range setting

gyro_range_u8	hysteresis	LSB
2000	62.26dps	1LSB
1000	31.13dps	1LSB
500	15.56dps	1LSB

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_GYRO_HIGHRATE_X_HYST_REG, BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_thres

(

u8

gyro_highrate_x_thres_u8

)

This API used to write gyro highrate x threshold from page one register from 0x18 bit 0 to 4.

Parameters

v_gyro_highrate_x_thres_u8

: The value of gyro x highrate threshold

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Gyro highrate threshold dependent on the selection of gyro range

v_gyro_range_u8	threshold	LSB
2000	62.5dps	1LSB
1000	31.25dps	1LSB
500	15.625dps	1LSB
125	7.8125dps	1LSB

Parameters

gyro_highrate_x_thres_u8

: The value of gyro x highrate threshold

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Gyro highrate threshold dependent on the selection of gyro range

gyro_range_u8	threshold	LSB
2000	62.5dps	1LSB
1000	31.25dps	1LSB
500	15.625dps	1LSB
125	7.8125dps	1LSB

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_GYRO_HIGHRATE_X_THRES_REG, BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_durn

(

u8

gyro_highrate_y_durn_u8

)

This API used to write gyro highrate y duration from page one register from 0x1B bit 0 to 7.

Parameters

v_gyro_highrate_y_durn_u8

: The value of gyro highrate y duration

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Gyro highrate duration calculate by using the formula

(1 + v_gyro_highrate_y_durn_u8)*2.5ms

Parameters

gyro_highrate_y_durn_u8

: The value of gyro highrate y duration

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Gyro highrate duration calculate by using the formula

(1 + gyro_highrate_y_durn_u8)*2.5ms

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_GYRO_HIGHRATE_Y_DURN_REG, BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_hyst

(

u8

gyro_highrate_y_hyst_u8

)

This API used to write gyro highrate y hysteresis from page one register from 0x1A bit 5 to 6.

Parameters

v_gyro_highrate_y_hyst_u8

: The value of gyro highrate y hysteresis

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Gyro high rate hysteresis calculated by

using this (255 + 256 * v_gyro_highrate_y_hyst_u8) *4 LSB

The high rate value scales with the range setting

v_gyro_range_u8	hysteresis	LSB
2000	62.26dps	1LSB
1000	31.13dps	1LSB
500	15.56dps	1LSB

Parameters

gyro_highrate_y_hyst_u8

: The value of gyro highrate y hysteresis

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Gyro high rate hysteresis calculated by

using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB

The high rate value scales with the range setting

gyro_range_u8	hysteresis	LSB
2000	62.26dps	1LSB
1000	31.13dps	1LSB
500	15.56dps	1LSB

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_GYRO_HIGHRATE_Y_HYST_REG, BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_thres

(

u8

gyro_highrate_y_thres_u8

)

This API used to write gyro highrate y threshold from page one register from 0x1A bit 0 to 4.

Parameters

v_gyro_highrate_y_thres_u8

: The value of gyro highrate y threshold

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Gyro highrate threshold dependent on the selection of gyro range

v_gyro_range_u8	threshold	LSB
2000	62.5dps	1LSB
1000	31.25dps	1LSB
500	15.625dps	1LSB
125	7.8125dps	1LSB

Parameters

gyro_highrate_y_thres_u8

: The value of gyro highrate y threshold

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Gyro highrate threshold dependent on the selection of gyro range

gyro_range_u8	threshold	LSB
2000	62.5dps	1LSB
1000	31.25dps	1LSB
500	15.625dps	1LSB
125	7.8125dps	1LSB

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_GYRO_HIGHRATE_Y_THRES_REG, BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_durn

(

u8

gyro_highrate_z_durn_u8

)

This API used to write gyro highrate z duration from page one register from 0x1D bit 0 to 7.

Parameters

v_gyro_highrate_z_durn_u8

: The value of gyro highrate z duration

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Gyro highrate duration calculate by using the formula

(1 + v_gyro_highrate_z_durn_u8)*2.5ms

Parameters

gyro_highrate_z_durn_u8

: The value of gyro highrate z duration

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Gyro highrate duration calculate by using the formula

(1 + gyro_highrate_z_durn_u8)*2.5ms

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_GYRO_HIGHRATE_Z_DURN_REG, BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_hyst

(

u8

gyro_highrate_z_hyst_u8

)

This API used to write gyro highrate z hysteresis from page one register from 0x1C bit 5 to 6.

Parameters

v_gyro_highrate_z_hyst_u8

: The value of gyro highrate z hysteresis

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Gyro high rate hysteresis calculated by

using this (255 + 256 * v_gyro_highrate_z_hyst_u8) *4 LSB

The high rate value scales with the range setting

v_gyro_range_u8	hysteresis	LSB
2000	62.26dps	1LSB
1000	31.13dps	1LSB
500	15.56dps	1LSB

Parameters

gyro_highrate_z_hyst_u8

: The value of gyro highrate z hysteresis

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Gyro high rate hysteresis calculated by

using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB

The high rate value scales with the range setting

gyro_range_u8	hysteresis	LSB
2000	62.26dps	1LSB
1000	31.13dps	1LSB
500	15.56dps	1LSB

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_GYRO_HIGHRATE_Z_HYST_REG, BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_thres

(

u8

gyro_highrate_z_thres_u8

)

This API used to write gyro highrate z threshold from page one register from 0x1C bit 0 to 4.

Parameters

v_gyro_highrate_z_thres_u8

: The value of gyro highrate z threshold

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

Gyro highrate threshold dependent on the selection of gyro range

v_gyro_range_u8	threshold	LSB
2000	62.5dps	1LSB
1000	31.25dps	1LSB
500	15.625dps	1LSB
125	7.8125dps	1LSB

Parameters

gyro_highrate_z_thres_u8

: The value of gyro highrate z threshold

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

Gyro highrate threshold dependent on the selection of gyro range

gyro_range_u8	threshold	LSB
2000	62.5dps	1LSB
1000	31.25dps	1LSB
500	15.625dps	1LSB
125	7.8125dps	1LSB

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_GYRO_HIGHRATE_Z_THRES_REG, BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_power_mode

(

u8

gyro_power_mode_u8

)

This API used to write the gyro power mode from page one register from 0x0B bit 0 to 2.

Parameters

v_gyro_power_mode_u8

: The value of gyro power mode

v_gyro_power_mode_u8	result
0x00	GYRO_OPR_MODE_NORMAL
0x01	GYRO_OPR_MODE_FASTPOWERUP
0x02	GYRO_OPR_MODE_DEEPSUSPEND
0x03	GYRO_OPR_MODE_SUSPEND
0x04	GYRO_OPR_MODE_ADVANCE_POWERSAVE

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gyro_power_mode_u8

: The value of gyro power mode

gyro_power_mode_u8	result
0x00	GYRO_OPR_MODE_NORMAL
0x01	GYRO_OPR_MODE_FASTPOWERUP
0x02	GYRO_OPR_MODE_DEEPSUSPEND
0x03	GYRO_OPR_MODE_SUSPEND
0x04	GYRO_OPR_MODE_ADVANCE_POWERSAVE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_gyro_auto_sleep_durn(), bno055_get_gyro_bw(), bno055_get_operation_mode(), BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE, BNO055_GYRO_POWER_MODE_DEEPSUSPEND, BNO055_GYRO_POWER_MODE_FASTPOWERUP, BNO055_GYRO_POWER_MODE_NORMAL, BNO055_GYRO_POWER_MODE_REG, BNO055_GYRO_POWER_MODE_SUSPEND, BNO055_GYRO_RANGE, bno055_gyro_set_auto_sleep_durn(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_OUT_OF_RANGE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_range

(

u8

gyro_range_u8

)

This API used to write the gyro range from page one register from 0x0A bit 0 to 3.

Parameters

v_gyro_range_u8

: The value of gyro range

v_gyro_range_u8	result
0x00	GYRO_RANGE_2000DPS
0x01	GYRO_RANGE_1000DPS
0x02	GYRO_RANGE_500DPS
0x03	GYRO_RANGE_250DPS
0x04	GYRO_RANGE_125DPS

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gyro_range_u8

: The value of gyro range

gyro_range_u8	result
0x00	BNO055_GYRO_RANGE_2000DPS
0x01	BNO055_GYRO_RANGE_1000DPS
0x02	BNO055_GYRO_RANGE_500DPS
0x03	BNO055_GYRO_RANGE_250DPS
0x04	BNO055_GYRO_RANGE_125DPS

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_GYRO_RANGE, BNO055_GYRO_RANGE_REG, BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_OUT_OF_RANGE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

Referenced by bno055_initialize().

BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_sleep_durn

(

u8

sleep_durn_u8

)

This API used to write the gyro sleep duration from page one register from 0x0D bit 0 to 2.

Parameters

v_sleep_durn_u8

: The value of gyro sleep duration

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

sleep_durn_u8

: The value of gyro sleep duration

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_GYRO_AUTO_SLEEP_DURATION_RANGE, BNO055_GYRO_SLEEP_DURN_REG, BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_OUT_OF_RANGE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_unit

(

u8

gyro_unit_u8

)

This API used to write the gyro unit from register from 0x3B bit 1.

Parameters

v_gyro_unit_u8

: The value of accel unit

v_gyro_unit_u8	result
0x00	GYRO_UNIT_DPS
0x01	GYRO_UNIT_RPS

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

gyro_unit_u8

: The value of accel unit

gyro_unit_u8	result
0x00	BNO055_GYRO_UNIT_DPS
0x01	BNO055_GYRO_UNIT_RPS

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_GYRO_UNIT_REG, BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_any_motion

(

u8

accel_any_motion_u8

)

This API used to write the accel anymotion interrupt from page one register from 0x10 bit 6.

Parameters

v_accel_any_motion_u8

: The value of accel anymotion interrupt v_accel_any_motion_u8 result 0x01 ENABLED 0x00 DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

While enabling the accel anymotion interrupt configure the following settings

Axis:

bno055_set_accel_any_motion_no_motion_axis_enable()

Duration:

bno055_set_accel_any_motion_durn()

Threshold:

bno055_set_accel_any_motion_thres()

Parameters

accel_any_motion_u8

: The value of accel anymotion interrupt accel_any_motion_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

While enabling the accel anymotion interrupt configure the following settings

Axis:

bno055_set_accel_any_motion_no_motion_axis_enable()

Duration:

bno055_set_accel_any_motion_durn()

Threshold:

bno055_set_accel_any_motion_thres()

References BNO055_ACCEL_ANY_MOTION_INTR_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_high_g

(

u8

accel_high_g_u8

)

This API used to write the accel highg interrupt from page one register from 0x10 bit 5.

Parameters

v_accel_high_g_u8

: The value of accel highg interrupt v_accel_high_g_u8 result 0x01 ENABLED 0x00 DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

While enabling the accel highg interrupt configure the below settings by using the following functions

Axis :

bno055_set_accel_high_g_axis_enable()

Threshold :

bno055_set_accel_high_g_thres()

Duration :

bno055_set_accel_high_g_durn()

Parameters

accel_high_g_u8

: The value of accel highg interrupt accel_high_g_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

While enabling the accel highg interrupt configure the below settings by using the following APIs

Axis :

bno055_set_accel_high_g_axis_enable()

Threshold :

bno055_set_accel_high_g_thres()

Duration :

bno055_set_accel_high_g_durn()

References BNO055_ACCEL_HIGH_G_INTR_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_no_motion

(

u8

accel_nomotion_u8

)

This API used to write the accel nomotion interrupt from page one register from 0x10 bit 6.

Parameters

v_accel_nomotion_u8

: The value of accel nomotion interrupt v_accel_nomotion_u8 result 0x01 ENABLED 0x00 DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

While enabling the accel nomotion interrupt configure the following settings

Axis:

bno055_set_accel_any_motion_no_motion_axis_enable()

Threshold :

bno055_set_accel_slow_no_motion_thres()

Duration :

bno055_set_accel_slow_no_motion_durn()

Slow/no motion enable:

bno055_set_accel_slow_no_motion_enable()

Parameters

accel_nomotion_u8

: The value of accel nomotion interrupt accel_nomotion_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

While enabling the accel nomotion interrupt configure the following settings

Axis:

bno055_set_accel_any_motion_no_motion_axis_enable()

Threshold :

bno055_set_accel_slow_no_motion_thres()

Duration :

bno055_set_accel_slow_no_motion_durn()

Slow/no motion enable:

bno055_set_accel_slow_no_motion_enable()

References BNO055_ACCEL_NO_MOTION_INTR_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_any_motion

(

u8

gyro_any_motion_u8

)

This API used to write the gyro anymotion interrupt from page one register from 0x10 bit 2.

Parameters

v_gyro_any_motion_u8

: The value of gyro anymotion interrupt v_gyro_any_motion_u8 result 0x01 ENABLED 0x00 DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

While enabling the gyro anymotion interrupt configure the following settings

Axis: bno055_set_gyro_any_motion_axis_enable()

Filter setting: bno055_set_gyro_any_motion_filter()

Threshold :

bno055_set_gyro_any_motion_thres()

Slope samples :

bno055_set_gyro_any_motion_slope_samples()

Awake duration :

bno055_set_gyro_any_motion_awake_durn()

Parameters

gyro_any_motion_u8

: The value of gyro anymotion interrupt gyro_any_motion_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

While enabling the gyro anymotion interrupt configure the following settings

Axis: bno055_set_gyro_any_motion_axis_enable()

Filter setting: bno055_set_gyro_any_motion_filter()

Threshold :

bno055_set_gyro_any_motion_thres()

Slope samples :

bno055_set_gyro_any_motion_slope_samples()

Awake duration :

bno055_set_gyro_any_motion_awake_durn()

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GYRO_ANY_MOTION_INTR_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_highrate

(

u8

gyro_highrate_u8

)

This API used to write the gyro highrate interrupt from page one register from 0x10 bit 3.

Parameters

v_gyro_highrate_u8

: The value of gyro highrate interrupt v_gyro_highrate_u8 result 0x01 ENABLED 0x00 DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

While enabling the gyro highrate interrupt configure the below settings by using the following functions

Axis :

bno055_set_gyro_highrate_axis_enable()

Filter :

bno055_set_gyro_highrate_filter()

Threshold :

bno055_get_gyro_highrate_x_thres()

bno055_get_gyro_highrate_y_thres()

bno055_get_gyro_highrate_z_thres()

Hysteresis :

bno055_set_gyro_highrate_x_hyst()

bno055_set_gyro_highrate_y_hyst()

bno055_set_gyro_highrate_z_hyst()

Duration :

bno055_set_gyro_highrate_x_durn()

bno055_set_gyro_highrate_y_durn()

bno055_set_gyro_highrate_z_durn()

Parameters

gyro_highrate_u8

: The value of gyro highrate interrupt gyro_highrate_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

While enabling the gyro highrate interrupt configure the below settings by using the following APIs

Axis :

bno055_set_gyro_highrate_axis_enable()

Filter :

bno055_set_gyro_highrate_filter()

Threshold :

bno055_get_gyro_highrate_x_thres()

bno055_get_gyro_highrate_y_thres()

bno055_get_gyro_highrate_z_thres()

Hysteresis :

bno055_set_gyro_highrate_x_hyst()

bno055_set_gyro_highrate_y_hyst()

bno055_set_gyro_highrate_z_hyst()

Duration :

bno055_set_gyro_highrate_x_durn()

bno055_set_gyro_highrate_y_durn()

bno055_set_gyro_highrate_z_durn()

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GYRO_HIGHRATE_INTR_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_any_motion

(

u8

accel_any_motion_u8

)

This API used to write the accel anymotion interrupt mask from page one register from 0x0F bit 6.

Parameters

v_accel_any_motion_u8

: The value of accel anymotion interrupt mask v_accel_any_motion_u8 result 0x01 ENABLED 0x00 DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

While enabling the accel anymotion interrupt configure the following settings

Axis:

bno055_set_accel_any_motion_no_motion_axis_enable()

Duration:

bno055_set_accel_any_motion_durn()

Threshold:

bno055_set_accel_any_motion_thres()

Parameters

accel_any_motion_u8

: The value of accel anymotion interrupt mask accel_any_motion_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

While enabling the accel anymotion interrupt configure the following settings

Axis:

bno055_set_accel_any_motion_no_motion_axis_enable()

Duration:

bno055_set_accel_any_motion_durn()

Threshold:

bno055_set_accel_any_motion_thres()

References BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_high_g

(

u8

accel_high_g_u8

)

This API used to write the accel highg interrupt mask from page one register from 0x0F bit 5.

Parameters

v_accel_high_g_u8

: The value of accel highg interrupt mask v_accel_high_g_u8 result 0x01 ENABLED 0x00 DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

While enabling the accel highg interrupt configure the below settings by using the following functions

Axis :

bno055_set_accel_high_g_axis_enable()

Threshold :

bno055_set_accel_high_g_thres()

Duration :

bno055_set_accel_high_g_durn()

Parameters

accel_high_g_u8

: The value of accel highg interrupt mask accel_high_g_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

While enabling the accel highg interrupt configure the below settings by using the following APIs

Axis :

bno055_set_accel_high_g_axis_enable()

Threshold :

bno055_set_accel_high_g_thres()

Duration :

bno055_set_accel_high_g_durn()

References BNO055_ACCEL_HIGH_G_INTR_MASK_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_no_motion

(

u8

accel_nomotion_u8

)

This API used to write the accel nomotion interrupt mask from page one register from 0x0F bit 7.

Parameters

v_accel_nomotion_u8

: The value of accel nomotion interrupt mask v_accel_nomotion_u8 result 0x01 ENABLED 0x00 DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

While enabling the accel nomotion interrupt configure the following settings

Axis:

bno055_set_accel_any_motion_no_motion_axis_enable()

Threshold :

bno055_set_accel_slow_no_motion_thres()

Duration :

bno055_set_accel_slow_no_motion_durn()

Slow/no motion enable:

bno055_set_accel_slow_no_motion_enable()

Parameters

accel_nomotion_u8

: The value of accel nomotion interrupt mask accel_nomotion_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

While enabling the accel nomotion interrupt configure the following settings

Axis:

bno055_set_accel_any_motion_no_motion_axis_enable()

Threshold :

bno055_set_accel_slow_no_motion_thres()

Duration :

bno055_set_accel_slow_no_motion_durn()

Slow/no motion enable:

bno055_set_accel_slow_no_motion_enable()

References BNO055_ACCEL_NO_MOTION_INTR_MASK_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_any_motion

(

u8

gyro_any_motion_u8

)

This API used to write the gyro anymotion interrupt mask from page one register from 0x0F bit 2.

Parameters

v_gyro_any_motion_u8

: The value of gyro anymotion interrupt mask v_gyro_any_motion_u8 result 0x01 ENABLED 0x00 DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

While enabling the gyro anymotion interrupt configure the following settings

Axis: bno055_set_gyro_any_motion_axis_enable()

Filter setting: bno055_set_gyro_any_motion_filter()

Threshold :

bno055_set_gyro_any_motion_thres()

Slope samples :

bno055_set_gyro_any_motion_slope_samples()

Awake duration :

bno055_set_gyro_any_motion_awake_durn()

Parameters

gyro_any_motion_u8

: The value of gyro anymotion interrupt mask gyro_any_motion_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

While enabling the gyro anymotion interrupt configure the following settings

Axis: bno055_set_gyro_any_motion_axis_enable()

Filter setting: bno055_set_gyro_any_motion_filter()

Threshold :

bno055_set_gyro_any_motion_thres()

Slope samples :

bno055_set_gyro_any_motion_slope_samples()

Awake duration :

bno055_set_gyro_any_motion_awake_durn()

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GYRO_ANY_MOTION_INTR_MASK_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_highrate

(

u8

gyro_highrate_u8

)

This API used to write the gyro highrate interrupt mask from page one register from 0x0F bit 3.

Parameters

v_gyro_highrate_u8

: The value of gyro highrate interrupt mask v_gyro_highrate_u8 result 0x01 ENABLED 0x00 DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

While enabling the gyro highrate interrupt configure the below settings by using the following functions

Axis :

bno055_set_gyro_highrate_axis_enable()

Filter :

bno055_set_gyro_highrate_filter()

Threshold :

bno055_get_gyro_highrate_x_thres()

bno055_get_gyro_highrate_y_thres()

bno055_get_gyro_highrate_z_thres()

Hysteresis :

bno055_set_gyro_highrate_x_hyst()

bno055_set_gyro_highrate_y_hyst()

bno055_set_gyro_highrate_z_hyst()

Duration :

bno055_set_gyro_highrate_x_durn()

bno055_set_gyro_highrate_y_durn()

bno055_set_gyro_highrate_z_durn()

Parameters

gyro_highrate_u8

: The value of gyro highrate interrupt mask gyro_highrate_u8 result 0x01 BNO055_BIT_ENABLE 0x00 BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

While enabling the gyro highrate interrupt configure the below settings by using the following APIs

Axis :

bno055_set_gyro_highrate_axis_enable()

Filter :

bno055_set_gyro_highrate_filter()

Threshold :

bno055_get_gyro_highrate_x_thres()

bno055_get_gyro_highrate_y_thres()

bno055_get_gyro_highrate_z_thres()

Hysteresis :

bno055_set_gyro_highrate_x_hyst()

bno055_set_gyro_highrate_y_hyst()

bno055_set_gyro_highrate_z_hyst()

Duration :

bno055_set_gyro_highrate_x_durn()

bno055_set_gyro_highrate_y_durn()

bno055_set_gyro_highrate_z_durn()

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_GYRO_HIGHRATE_INTR_MASK_REG, BNO055_INIT_VALUE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_rst

(

u8

intr_rst_u8

)

This API used to write the reset interrupt from register from 0x3F bit 6 It resets all the interrupt bit and interrupt output.

Parameters

v_intr_rst_u8

: The value of reset interrupt

v_intr_rst_u8	result
0x01	ENABLED
0x00	DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

intr_rst_u8

: The value of reset interrupt

intr_rst_u8	result
0x01	BNO055_BIT_ENABLE
0x00	BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_INIT_VALUE, BNO055_INTR_RST_REG, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, BNO055_SUCCESS, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_data_output_rate

(

u8

mag_data_output_rate_u8

)

This API used to write the mag output data rate from page one register from 0x09 bit 0 to 2.

Parameters

v_mag_data_output_rate_u8

: The value of mag output data rate

v_mag_data_output_rate_u8	result
0x00	MAG_DATA_OUTPUT_RATE_2HZ
0x01	MAG_DATA_OUTPUT_RATE_6HZ
0x02	MAG_DATA_OUTPUT_RATE_8HZ
0x03	MAG_DATA_OUTPUT_RATE_10HZ
0x04	MAG_DATA_OUTPUT_RATE_15HZ
0x05	MAG_DATA_OUTPUT_RATE_20HZ
0x06	MAG_DATA_OUTPUT_RATE_25HZ
0x07	MAG_DATA_OUTPUT_RATE_30HZ

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

mag_data_output_rate_u8

: The value of mag output data rate

mag_data_output_rate_u8	result
0x00	MAG_DATA_OUTPUT_RATE_2HZ
0x01	MAG_DATA_OUTPUT_RATE_6HZ
0x02	MAG_DATA_OUTPUT_RATE_8HZ
0x03	MAG_DATA_OUTPUT_RATE_10HZ
0x04	MAG_DATA_OUTPUT_RATE_15HZ
0x05	MAG_DATA_OUTPUT_RATE_20HZ
0x06	MAG_DATA_OUTPUT_RATE_25HZ
0x07	MAG_DATA_OUTPUT_RATE_30HZ

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_MAG_DATA_OUTPUT_RATE_REG, BNO055_MAG_OUTPUT_RANGE, BNO055_OPERATION_MODE_CONFIG, BNO055_OUT_OF_RANGE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_operation_mode

(

u8

mag_operation_mode_u8

)

This API used to write the mag operation mode from page one register from 0x09 bit 3 to 4.

Parameters

v_mag_operation_mode_u8

: The value of mag operation mode

v_mag_operation_mode_u8	result
0x00	MAG_OPR_MODE_LOWPOWER
0x01	MAG_OPR_MODE_REGULAR
0x02	MAG_OPR_MODE_ENHANCED_REGULAR
0x03	MAG_OPR_MODE_HIGH_ACCURACY

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

mag_operation_mode_u8

: The value of mag operation mode

mag_operation_mode_u8	result
0x00	MAG_OPR_MODE_LOWPOWER
0x01	MAG_OPR_MODE_REGULAR
0x02	MAG_OPR_MODE_ENHANCED_REGULAR
0x03	MAG_OPR_MODE_HIGH_ACCURACY

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_MAG_OPERATION_MODE_REG, BNO055_MAG_OPR_MODE_RANGE, BNO055_OPERATION_MODE_CONFIG, BNO055_OUT_OF_RANGE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_power_mode

(

u8

mag_power_mode_u8

)

This API used to write the mag power mode from page one register from 0x09 bit 4 to 6.

Parameters

v_mag_power_mode_u8

: The value of mag power mode

v_mag_power_mode_u8	result
0x00	MAG_POWER_MODE_NORMAL
0x01	MAG_POWER_MODE_SLEEP
0x02	MAG_POWER_MODE_SUSPEND
0x03	MAG_POWER_MODE_FORCE_MODE

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

mag_power_mode_u8

: The value of mag power mode

mag_power_mode_u8	result
0x00	BNO055_MAG_POWER_MODE_NORMAL
0x01	BNO055_MAG_POWER_MODE_SLEEP
0x02	BNO055_MAG_POWER_MODE_SUSPEND
0x03	BNO055_MAG_POWER_MODE_FORCE_MODE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_MAG_POWER_MODE_RANGE, BNO055_MAG_POWER_MODE_REG, BNO055_OPERATION_MODE_CONFIG, BNO055_OUT_OF_RANGE, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_durn

(

u8

sleep_durn_u8

)

This API used to write the mag sleep duration from page one register from 0x0E bit 1 to 4.

Parameters

v_sleep_durn_u8

: The value of mag sleep duration

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

sleep_durn_u8

: The value of mag sleep duration

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_MAG_SLEEP_DURN_REG, BNO055_OPERATION_MODE_CONFIG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_mode

(

u8

sleep_mode_u8

)

This API used to write the mag sleep mode from page one register from 0x0E bit 0.

Parameters

v_sleep_mode_u8

: The value of mag sleep mode

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

sleep_mode_u8

: The value of mag sleep mode

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_MAG_SLEEP_MODE_REG, BNO055_OPERATION_MODE_CONFIG, BNO055_PAGE_ONE, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, bno055_write_page_id(), and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_operation_mode

(

u8

operation_mode_u8

)

This API used to write the operation mode from register from 0x3D bit 0 to 3.

Parameters

v_operation_mode_u8

: The value of operation mode

v_operation_mode_u8	result	comments
0x00	OPERATION_MODE_CONFIG	Configuration mode
0x01	OPERATION_MODE_ACCONLY	Reads accel data alone
0x02	OPERATION_MODE_MAGONLY	Reads mag data alone
0x03	OPERATION_MODE_GYRONLY	Reads gyro data alone
0x04	OPERATION_MODE_ACCMAG	Reads accel and mag data
0x05	OPERATION_MODE_ACCGYRO	Reads accel and gyro data
0x06	OPERATION_MODE_MAGGYRO	Reads accel and mag data
0x07	OPERATION_MODE_ANY_MOTION	Reads accel mag and gyro data
0x08	OPERATION_MODE_IMUPLUS	Inertial measurement unit
-	-	Reads accel,gyro and fusion data
0x09	OPERATION_MODE_COMPASS	Reads accel, mag data
-	-	and fusion data
0x0A	OPERATION_MODE_M4G	Reads accel, mag data
-	-	and fusion data
0x0B	OPERATION_MODE_NDOF_FMC_OFF	Nine degrees of freedom with
-	-	fast magnetic calibration
-	-	Reads accel,mag, gyro
-	-	and fusion data
0x0C	OPERATION_MODE_NDOF	Nine degrees of freedom
-	-	Reads accel,mag, gyro
-	-	and fusion data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

In the config mode, all sensor and fusion data becomes zero and it is mainly derived to configure the various settings of the BNO

Parameters

operation_mode_u8

: The value of operation mode

operation_mode_u8	result	comments
0x00	BNO055_OPERATION_MODE_CONFIG	Configuration mode
0x01	BNO055_OPERATION_MODE_ACCONLY	Reads accel data alone
0x02	BNO055_OPERATION_MODE_MAGONLY	Reads mag data alone
0x03	BNO055_OPERATION_MODE_GYRONLY	Reads gyro data alone
0x04	BNO055_OPERATION_MODE_ACCMAG	Reads accel and mag data
0x05	BNO055_OPERATION_MODE_ACCGYRO	Reads accel and gyro data
0x06	BNO055_OPERATION_MODE_MAGGYRO	Reads accel and mag data
0x07	OPERATION_MODE_ANY_MOTION	Reads accel mag and

| - | gyro data 0x08 | BNO055_OPERATION_MODE_IMUPLUS | Inertial measurement unit

• | | Reads accel,gyro and | - | fusion data 0x09 | BNO055_OPERATION_MODE_COMPASS | Reads accel, mag data
• | - | and fusion data 0x0A | BNO055_OPERATION_MODE_M4G | Reads accel, mag data
  • | - | and fusion data 0x0B | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with
• | - | fast magnetic calibration
• | - | Reads accel,mag, gyro
• | - | and fusion data 0x0C | BNO055_OPERATION_MODE_NDOF | Nine degrees of freedom
• | - | Reads accel,mag, gyro
• | - | and fusion data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

In the config mode, all sensor and fusion data becomes zero and it is mainly derived to configure the various settings of the BNO

References BNO055_CONFIG_MODE_SWITCHING_DELAY, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_MODE_SWITCHING_DELAY, BNO055_OPERATION_MODE_CONFIG, BNO055_OPERATION_MODE_REG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, BNO055_SUCCESS, bno055_write_register(), bno055_t::delay_msec, and bno055_t::dev_addr.

Referenced by bno055_gyro_set_auto_sleep_durn(), bno055_initialize(), bno055_set_accel_any_motion_durn(), bno055_set_accel_any_motion_no_motion_axis_enable(), bno055_set_accel_any_motion_thres(), bno055_set_accel_bw(), bno055_set_accel_high_g_axis_enable(), bno055_set_accel_high_g_durn(), bno055_set_accel_high_g_thres(), bno055_set_accel_power_mode(), bno055_set_accel_range(), bno055_set_accel_sleep_durn(), bno055_set_accel_sleep_tmr_mode(), bno055_set_accel_slow_no_motion_durn(), bno055_set_accel_slow_no_motion_enable(), bno055_set_accel_slow_no_motion_thres(), bno055_set_accel_unit(), bno055_set_axis_remap_value(), bno055_set_data_output_format(), bno055_set_euler_unit(), bno055_set_gyro_any_motion_awake_durn(), bno055_set_gyro_any_motion_axis_enable(), bno055_set_gyro_any_motion_filter(), bno055_set_gyro_any_motion_slope_samples(), bno055_set_gyro_any_motion_thres(), bno055_set_gyro_bw(), bno055_set_gyro_highrate_axis_enable(), bno055_set_gyro_highrate_filter(), bno055_set_gyro_highrate_x_durn(), bno055_set_gyro_highrate_x_hyst(), bno055_set_gyro_highrate_x_thres(), bno055_set_gyro_highrate_y_durn(), bno055_set_gyro_highrate_y_hyst(), bno055_set_gyro_highrate_y_thres(), bno055_set_gyro_highrate_z_durn(), bno055_set_gyro_highrate_z_hyst(), bno055_set_gyro_highrate_z_thres(), bno055_set_gyro_power_mode(), bno055_set_gyro_range(), bno055_set_gyro_sleep_durn(), bno055_set_gyro_unit(), bno055_set_mag_data_output_rate(), bno055_set_mag_operation_mode(), bno055_set_mag_power_mode(), bno055_set_mag_sleep_durn(), bno055_set_mag_sleep_mode(), bno055_set_power_mode(), bno055_set_remap_x_sign(), bno055_set_remap_y_sign(), bno055_set_remap_z_sign(), bno055_set_selftest(), bno055_set_temp_source(), bno055_set_temp_unit(), bno055_set_tilt_unit(), bno055_write_accel_offset(), bno055_write_gyro_offset(), bno055_write_mag_offset(), and bno055_write_sic_matrix().

BNO055_RETURN_FUNCTION_TYPE bno055_set_power_mode

(

u8

power_mode_u8

)

This API used to write the power mode from register from 0x3E bit 0 to 1.

Parameters

v_power_mode_u8

: The value of power mode

v_power_mode_u8	result	comments
0x00	POWER_MODE_NORMAL	In the NORMAL mode the register
-	-	map and the internal peripherals
-	-	of the MCU are always
-	-	operative in this mode
0x01	POWER_MODE_LOWPOWER	This is first level of power saving mode
0x02	POWER_MODE_SUSPEND	In suspend mode the system is
-	-	paused and all the sensors and
-	-	the micro controller are
-	-	put into sleep mode.

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

For detailed about LOWPOWER mode refer data sheet 3.4.2

Parameters

power_mode_u8

: The value of power mode

power_mode_u8	result	comments
0x00	BNO055_POWER_MODE_NORMAL	In the NORMAL mode the register
-	-	map and the internal peripherals
-	-	of the MCU are always
-	-	operative in this mode
0x01	BNO055_POWER_MODE_LOWPOWER	This is first level of power

| - | saving mode 0x02 | BNO055_POWER_MODE_SUSPEND | In suspend mode the system is

• | - | paused and all the sensors and
• | - | the micro controller are
• | - | put into sleep mode.

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

For detailed about LOWPOWER mode refer data sheet 3.4.2

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_POWER_MODE_REG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, and bno055_t::dev_addr.

Referenced by bno055_initialize().

BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_x_sign

(

u8

remap_x_sign_u8

)

This API used to write the x-axis remap sign from register from 0x42 bit 2.

Parameters

v_remap_x_sign_u8

: The value of x-axis remap sign

v_remap_x_sign_u8	result
0X00	REMAP_AXIS_POSITIVE
0X01	REMAP_AXIS_NEGATIVE

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

remap_x_sign_u8

: The value of x-axis remap sign

remap_x_sign_u8	result
0X00	BNO055_REMAP_AXIS_POSITIVE
0X01	BNO055_REMAP_AXIS_NEGATIVE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_REMAP_X_SIGN_REG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_y_sign

(

u8

remap_y_sign_u8

)

This API used to write the y-axis remap sign from register from 0x42 bit 1.

Parameters

v_remap_y_sign_u8

: The value of y-axis remap sign

v_remap_y_sign_u8	result
0X00	REMAP_AXIS_POSITIVE
0X01	REMAP_AXIS_NEGATIVE

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

remap_y_sign_u8

: The value of y-axis remap sign

remap_y_sign_u8	result
0X00	BNO055_REMAP_AXIS_POSITIVE
0X01	BNO055_REMAP_AXIS_NEGATIVE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_REMAP_Y_SIGN_REG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_z_sign

(

u8

remap_z_sign_u8

)

This API used to write the z-axis remap sign from register from 0x42 bit 0.

Parameters

v_remap_z_sign_u8

: The value of z-axis remap sign

v_remap_z_sign_u8	result
0X00	REMAP_AXIS_POSITIVE
0X01	REMAP_AXIS_NEGATIVE

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

remap_z_sign_u8

: The value of z-axis remap sign

remap_z_sign_u8	result
0X00	BNO055_REMAP_AXIS_POSITIVE
0X01	BNO055_REMAP_AXIS_NEGATIVE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_REMAP_Z_SIGN_REG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_selftest

(

u8

selftest_u8

)

This API used to write the self test from register from 0x3F bit 0.

Parameters

v_selftest_u8

: The value of self test

v_selftest_u8	result
0x01	ENABLED
0x00	DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

It triggers the self test

Parameters

selftest_u8

: The value of self test

selftest_u8	result
0x01	BNO055_BIT_ENABLE
0x00	BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

It triggers the self test

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SELFTEST_REG, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_sys_rst

(

u8

sys_rst_u8

)

This API used to write the reset system from register from 0x3F bit 5.

Parameters

v_sys_rst_u8

: The value of reset system

v_sys_rst_u8	result
0x01	ENABLED
0x00	DISABLED

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

It resets the whole system

Parameters

sys_rst_u8

: The value of reset system

sys_rst_u8	result
0x01	BNO055_BIT_ENABLE
0x00	BNO055_BIT_DISABLE

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

It resets the whole system

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_INIT_VALUE, BNO055_PAGE_ZERO, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, BNO055_SUCCESS, BNO055_SYS_RST_REG, bno055_write_page_id(), bno055_t::dev_addr, and bno055_t::page_id.

BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_source

(

u8

temp_source_u8

)

This API used to write the temperature source from register from 0x40 bit 0 and 1.

Parameters

v_temp_source_u8

: The value of selected temperature source

v_temp_source_u8	result
0x00	ACCEL_TEMP_EN
0X01	GYRO_TEMP_EN
0X03	MCU_TEMP_EN

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

temp_source_u8

: The value of selected temperature source

temp_source_u8	result
0x00	BNO055_ACCEL_TEMP_EN
0X01	BNO055_GYRO_TEMP_EN
0X03	BNO055_MCU_TEMP_EN

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, BNO055_TEMP_SOURCE_REG, and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_unit

(

u8

temp_unit_u8

)

This API used to write the temperature unit from register from 0x3B bit 4.

Parameters

v_temp_unit_u8

: The value of temperature unit

v_temp_unit_u8	result
0x00	TEMP_UNIT_CELCIUS
0x01	TEMP_UNIT_FAHRENHEIT

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

temp_unit_u8

: The value of temperature unit

temp_unit_u8	result
0x00	BNO055_TEMP_UNIT_CELSIUS
0x01	BNO055_TEMP_UNIT_FAHRENHEIT

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, BNO055_TEMP_UNIT_REG, and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_set_tilt_unit

(

u8

tilt_unit_u8

)

This API used to write the tilt unit from register from 0x3B bit 3.

Parameters

v_tilt_unit_u8

: The value of tilt unit

v_tilt_unit_u8	result
0x00	degrees
0x01	radians

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Returns

Communication results

Parameters

tilt_unit_u8

: The value of tilt unit

tilt_unit_u8	result
0x00	degrees
0x01	radians

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Returns

Communication results

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SUCCESS, BNO055_TILT_UNIT_REG, and bno055_t::dev_addr.

BNO055_RETURN_FUNCTION_TYPE bno055_write_accel_offset

(

struct bno055_accel_offset_t *

accel_offset

)

This API is used to write accel offset and accel radius offset form register 0x55 to 0x5A and radius form 0x67 and 0x68.

Parameters

accel_offset

: The value of accel offset and radius bno055_accel_offset_t | result ------------------- | ---------------- x | accel offset x y | accel offset y z | accel offset z r | accel offset r

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

The range of the accel offset varies based on the G-range of accel sensor.

accel G range	offset range
ACCEL_RANGE_2G	+/-2000
ACCEL_RANGE_4G	+/-4000
ACCEL_RANGE_8G	+/-8000
ACCEL_RANGE_16G	+/-16000

accel G range can be configured by using the bno055_set_accel_range() function

Parameters

accel_offset

: The value of accel offset and radius bno055_accel_offset_t | result ------------------- | ---------------- x | accel offset x y | accel offset y z | accel offset z r | accel offset r

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

The range of the accel offset varies based on the G-range of accel sensor.

accel G range	offset range
BNO055_ACCEL_RANGE_2G	+/-2000
BNO055_ACCEL_RANGE_4G	+/-4000
BNO055_ACCEL_RANGE_8G	+/-8000
BNO055_ACCEL_RANGE_16G	+/-16000

accel G range can be configured by using the bno055_set_accel_range() API

References BNO055_ACCEL_OFFSET_X_LSB_REG, BNO055_ACCEL_OFFSET_X_MSB_REG, BNO055_ACCEL_OFFSET_Y_LSB_REG, BNO055_ACCEL_OFFSET_Y_MSB_REG, BNO055_ACCEL_OFFSET_Z_LSB_REG, BNO055_ACCEL_OFFSET_Z_MSB_REG, BNO055_ACCEL_RADIUS_LSB_REG, BNO055_ACCEL_RADIUS_MSB_REG, BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SHIFT_EIGHT_BITS, BNO055_SIC_HEX_0_0_F_F_DATA, BNO055_SUCCESS, bno055_t::dev_addr, bno055_accel_offset_t::r, bno055_accel_offset_t::x, bno055_accel_offset_t::y, and bno055_accel_offset_t::z.

BNO055_RETURN_FUNCTION_TYPE bno055_write_gyro_offset

(

struct bno055_gyro_offset_t *

gyro_offset

)

This API is used to read gyro offset offset form register 0x61 to 0x66.

Parameters

gyro_offset

: The value of gyro offset bno055_gyro_offset_t | result ------------------- | ---------------- x | gyro offset x y | gyro offset y z | gyro offset z

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

The range of the gyro offset varies based on the range of gyro sensor

gyro G range	offset range
GYRO_RANGE_2000DPS	+/-32000
GYRO_RANGE_1000DPS	+/-16000
GYRO_RANGE_500DPS	+/-8000
GYRO_RANGE_250DPS	+/-4000
GYRO_RANGE_125DPS	+/-2000

Gyro range can be configured by using the bno055_set_gyro_range() function

Parameters

gyro_offset

: The value of gyro offset bno055_gyro_offset_t | result ------------------- | ---------------- x | gyro offset x y | gyro offset y z | gyro offset z

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

The range of the gyro offset varies based on the range of gyro sensor

gyro G range	offset range
BNO055_GYRO_RANGE_2000DPS	+/-32000
BNO055_GYRO_RANGE_1000DPS	+/-16000
BNO055_GYRO_RANGE_500DPS	+/-8000
BNO055_GYRO_RANGE_250DPS	+/-4000
BNO055_GYRO_RANGE_125DPS	+/-2000

Gyro range can be configured by using the bno055_set_gyro_range() API

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_GYRO_OFFSET_X_LSB_REG, BNO055_GYRO_OFFSET_X_MSB_REG, BNO055_GYRO_OFFSET_Y_LSB_REG, BNO055_GYRO_OFFSET_Y_MSB_REG, BNO055_GYRO_OFFSET_Z_LSB_REG, BNO055_GYRO_OFFSET_Z_MSB_REG, BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SHIFT_EIGHT_BITS, BNO055_SIC_HEX_0_0_F_F_DATA, BNO055_SUCCESS, bno055_t::dev_addr, bno055_gyro_offset_t::x, bno055_gyro_offset_t::y, and bno055_gyro_offset_t::z.

BNO055_RETURN_FUNCTION_TYPE bno055_write_mag_offset

(

struct bno055_mag_offset_t *

mag_offset

)

This API is used to read mag offset offset form register 0x69 to 0x6A.

Parameters

mag_offset

: The value of mag offset and radius bno055_mag_offset_t | result ------------------- | ---------------- x | mag offset x y | mag offset y z | mag offset z r | mag radius r

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

The range of the magnetometer offset is +/-6400 in LSB

Parameters

mag_offset

: The value of mag offset and radius bno055_mag_offset_t | result ------------------- | ---------------- x | mag offset x y | mag offset y z | mag offset z r | mag radius r

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

The range of the magnetometer offset is +/-6400 in LSB

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_MAG_OFFSET_X_LSB_REG, BNO055_MAG_OFFSET_X_MSB_REG, BNO055_MAG_OFFSET_Y_LSB_REG, BNO055_MAG_OFFSET_Y_MSB_REG, BNO055_MAG_OFFSET_Z_LSB_REG, BNO055_MAG_OFFSET_Z_MSB_REG, BNO055_MAG_RADIUS_LSB_REG, BNO055_MAG_RADIUS_MSB_REG, BNO055_OPERATION_MODE_CONFIG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SHIFT_EIGHT_BITS, BNO055_SIC_HEX_0_0_F_F_DATA, BNO055_SUCCESS, bno055_t::dev_addr, bno055_mag_offset_t::r, bno055_mag_offset_t::x, bno055_mag_offset_t::y, and bno055_mag_offset_t::z.

BNO055_RETURN_FUNCTION_TYPE bno055_write_page_id

(

u8

page_id_u8

)

This API used to write the page id register 0x07.

Parameters

v_page_id_u8

: The value of page id

PAGE_ZERO -> 0x00 PAGE_ONE -> 0x01

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

page_id_u8

: The value of page id

BNO055_PAGE_ZERO -> 0x00 BNO055_PAGE_ONE -> 0x01

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, BNO055_INIT_VALUE, BNO055_PAGE_ID_REG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, BNO055_SUCCESS, bno055_t::dev_addr, and bno055_t::page_id.

Referenced by bno055_get_accel_any_motion_durn(), bno055_get_accel_any_motion_no_motion_axis_enable(), bno055_get_accel_any_motion_thres(), bno055_get_accel_bw(), bno055_get_accel_calib_stat(), bno055_get_accel_high_g_axis_enable(), bno055_get_accel_high_g_durn(), bno055_get_accel_high_g_thres(), bno055_get_accel_power_mode(), bno055_get_accel_range(), bno055_get_accel_sleep_durn(), bno055_get_accel_sleep_tmr_mode(), bno055_get_accel_slow_no_motion_durn(), bno055_get_accel_slow_no_motion_enable(), bno055_get_accel_slow_no_motion_thres(), bno055_get_accel_unit(), bno055_get_axis_remap_value(), bno055_get_clk_src(), bno055_get_data_output_format(), bno055_get_euler_unit(), bno055_get_gyro_any_motion_awake_durn(), bno055_get_gyro_any_motion_axis_enable(), bno055_get_gyro_any_motion_filter(), bno055_get_gyro_any_motion_slope_samples(), bno055_get_gyro_any_motion_thres(), bno055_get_gyro_auto_sleep_durn(), bno055_get_gyro_bw(), bno055_get_gyro_calib_stat(), bno055_get_gyro_highrate_axis_enable(), bno055_get_gyro_highrate_filter(), bno055_get_gyro_highrate_x_durn(), bno055_get_gyro_highrate_x_hyst(), bno055_get_gyro_highrate_x_thres(), bno055_get_gyro_highrate_y_durn(), bno055_get_gyro_highrate_y_hyst(), bno055_get_gyro_highrate_y_thres(), bno055_get_gyro_highrate_z_durn(), bno055_get_gyro_highrate_z_hyst(), bno055_get_gyro_highrate_z_thres(), bno055_get_gyro_power_mode(), bno055_get_gyro_range(), bno055_get_gyro_sleep_durn(), bno055_get_gyro_unit(), bno055_get_intr_accel_any_motion(), bno055_get_intr_accel_high_g(), bno055_get_intr_accel_no_motion(), bno055_get_intr_gyro_any_motion(), bno055_get_intr_gyro_highrate(), bno055_get_intr_mask_accel_any_motion(), bno055_get_intr_mask_accel_high_g(), bno055_get_intr_mask_accel_no_motion(), bno055_get_intr_mask_gyro_any_motion(), bno055_get_intr_mask_gyro_highrate(), bno055_get_intr_rst(), bno055_get_intr_stat_accel_any_motion(), bno055_get_intr_stat_accel_high_g(), bno055_get_intr_stat_accel_no_motion(), bno055_get_intr_stat_gyro_any_motion(), bno055_get_intr_stat_gyro_highrate(), bno055_get_mag_calib_stat(), bno055_get_mag_data_output_rate(), bno055_get_mag_operation_mode(), bno055_get_mag_power_mode(), bno055_get_mag_sleep_durn(), bno055_get_mag_sleep_mode(), bno055_get_operation_mode(), bno055_get_power_mode(), bno055_get_remap_x_sign(), bno055_get_remap_y_sign(), bno055_get_remap_z_sign(), bno055_get_selftest(), bno055_get_selftest_accel(), bno055_get_selftest_gyro(), bno055_get_selftest_mag(), bno055_get_selftest_mcu(), bno055_get_stat_main_clk(), bno055_get_sys_calib_stat(), bno055_get_sys_error_code(), bno055_get_sys_rst(), bno055_get_sys_stat_code(), bno055_get_temp_source(), bno055_get_temp_unit(), bno055_get_tilt_unit(), bno055_gyro_set_auto_sleep_durn(), bno055_read_accel_offset(), bno055_read_accel_rev_id(), bno055_read_accel_x(), bno055_read_accel_xyz(), bno055_read_accel_y(), bno055_read_accel_z(), bno055_read_bl_rev_id(), bno055_read_chip_id(), bno055_read_euler_h(), bno055_read_euler_hrp(), bno055_read_euler_p(), bno055_read_euler_r(), bno055_read_gravity_x(), bno055_read_gravity_xyz(), bno055_read_gravity_y(), bno055_read_gravity_z(), bno055_read_gyro_offset(), bno055_read_gyro_rev_id(), bno055_read_gyro_x(), bno055_read_gyro_xyz(), bno055_read_gyro_y(), bno055_read_gyro_z(), bno055_read_linear_accel_x(), bno055_read_linear_accel_xyz(), bno055_read_linear_accel_y(), bno055_read_linear_accel_z(), bno055_read_mag_offset(), bno055_read_mag_rev_id(), bno055_read_mag_x(), bno055_read_mag_xyz(), bno055_read_mag_y(), bno055_read_mag_z(), bno055_read_quaternion_w(), bno055_read_quaternion_wxyz(), bno055_read_quaternion_x(), bno055_read_quaternion_y(), bno055_read_quaternion_z(), bno055_read_sic_matrix(), bno055_read_sw_rev_id(), bno055_read_temp_data(), bno055_set_accel_any_motion_durn(), bno055_set_accel_any_motion_no_motion_axis_enable(), bno055_set_accel_any_motion_thres(), bno055_set_accel_bw(), bno055_set_accel_high_g_axis_enable(), bno055_set_accel_high_g_durn(), bno055_set_accel_high_g_thres(), bno055_set_accel_power_mode(), bno055_set_accel_range(), bno055_set_accel_sleep_durn(), bno055_set_accel_sleep_tmr_mode(), bno055_set_accel_slow_no_motion_durn(), bno055_set_accel_slow_no_motion_enable(), bno055_set_accel_slow_no_motion_thres(), bno055_set_clk_src(), bno055_set_gyro_any_motion_awake_durn(), bno055_set_gyro_any_motion_axis_enable(), bno055_set_gyro_any_motion_filter(), bno055_set_gyro_any_motion_slope_samples(), bno055_set_gyro_any_motion_thres(), bno055_set_gyro_bw(), bno055_set_gyro_highrate_axis_enable(), bno055_set_gyro_highrate_filter(), bno055_set_gyro_highrate_x_durn(), bno055_set_gyro_highrate_x_hyst(), bno055_set_gyro_highrate_x_thres(), bno055_set_gyro_highrate_y_durn(), bno055_set_gyro_highrate_y_hyst(), bno055_set_gyro_highrate_y_thres(), bno055_set_gyro_highrate_z_durn(), bno055_set_gyro_highrate_z_hyst(), bno055_set_gyro_highrate_z_thres(), bno055_set_gyro_power_mode(), bno055_set_gyro_range(), bno055_set_gyro_sleep_durn(), bno055_set_intr_accel_any_motion(), bno055_set_intr_accel_high_g(), bno055_set_intr_accel_no_motion(), bno055_set_intr_gyro_any_motion(), bno055_set_intr_gyro_highrate(), bno055_set_intr_mask_accel_any_motion(), bno055_set_intr_mask_accel_high_g(), bno055_set_intr_mask_accel_no_motion(), bno055_set_intr_mask_gyro_any_motion(), bno055_set_intr_mask_gyro_highrate(), bno055_set_intr_rst(), bno055_set_mag_data_output_rate(), bno055_set_mag_operation_mode(), bno055_set_mag_power_mode(), bno055_set_mag_sleep_durn(), bno055_set_mag_sleep_mode(), and bno055_set_sys_rst().

BNO055_RETURN_FUNCTION_TYPE bno055_write_register	(	u8	addr_u8,
		u8 *	data_u8,
		u8	len_u8
	)

This API gives data to the given register and the data is written in the corresponding register address.

Parameters

v_addr_u8	: Address of the register
p_data_u8	: Data to be written to the register
v_len_u8	: Length of the Data

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Parameters

addr_u8	: Address of the register
data_u8	: Data to be written to the register
len_u8	: Length of the Data

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_INIT_VALUE, BNO055_RETURN_FUNCTION_TYPE, and bno055_t::dev_addr.

Referenced by bno055_set_operation_mode().

BNO055_RETURN_FUNCTION_TYPE bno055_write_sic_matrix

(

struct bno055_sic_matrix_t *

sic_matrix

)

This API is used to write soft iron calibration matrix from the register 0x43 to 0x53 it is a 18 bytes of data.

Parameters

sic_matrix

: The value of soft iron calibration matrix

sic_matrix	result
sic_0	soft iron calibration matrix zero
sic_1	soft iron calibration matrix one
sic_2	soft iron calibration matrix two
sic_3	soft iron calibration matrix three
sic_4	soft iron calibration matrix four
sic_5	soft iron calibration matrix five
sic_6	soft iron calibration matrix six
sic_7	soft iron calibration matrix seven
sic_8	soft iron calibration matrix eight

Returns

results of bus communication function

Return values

0	-> Success
1	-> Error

Note

: Each soft iron calibration matrix range from -32768 to +32767

Parameters

sic_matrix

: The value of soft iron calibration matrix

sic_matrix	result
sic_0	soft iron calibration matrix zero
sic_1	soft iron calibration matrix one
sic_2	soft iron calibration matrix two
sic_3	soft iron calibration matrix three
sic_4	soft iron calibration matrix four
sic_5	soft iron calibration matrix five
sic_6	soft iron calibration matrix six
sic_7	soft iron calibration matrix seven
sic_8	soft iron calibration matrix eight

Returns

results of bus communication function

Return values

0	-> BNO055_SUCCESS
1	-> BNO055_ERROR

Note

: Each soft iron calibration matrix range from -32768 to +32767

References BNO055_E_NULL_PTR, BNO055_ERROR, BNO055_GEN_READ_WRITE_LENGTH, bno055_get_operation_mode(), BNO055_INIT_VALUE, BNO055_OPERATION_MODE_CONFIG, BNO055_RETURN_FUNCTION_TYPE, BNO055_SET_BITSLICE, bno055_set_operation_mode(), BNO055_SHIFT_EIGHT_BITS, BNO055_SIC_HEX_0_0_F_F_DATA, BNO055_SIC_MATRIX_0_LSB_REG, BNO055_SIC_MATRIX_0_MSB_REG, BNO055_SIC_MATRIX_1_LSB_REG, BNO055_SIC_MATRIX_1_MSB_REG, BNO055_SIC_MATRIX_2_LSB_REG, BNO055_SIC_MATRIX_2_MSB_REG, BNO055_SIC_MATRIX_3_LSB_REG, BNO055_SIC_MATRIX_3_MSB_REG, BNO055_SIC_MATRIX_4_LSB_REG, BNO055_SIC_MATRIX_4_MSB_REG, BNO055_SIC_MATRIX_5_LSB_REG, BNO055_SIC_MATRIX_5_MSB_REG, BNO055_SIC_MATRIX_6_LSB_REG, BNO055_SIC_MATRIX_6_MSB_REG, BNO055_SIC_MATRIX_7_LSB_REG, BNO055_SIC_MATRIX_7_MSB_REG, BNO055_SIC_MATRIX_8_LSB_REG, BNO055_SIC_MATRIX_8_MSB_REG, BNO055_SUCCESS, bno055_t::dev_addr, bno055_sic_matrix_t::sic_0, bno055_sic_matrix_t::sic_1, bno055_sic_matrix_t::sic_2, bno055_sic_matrix_t::sic_3, bno055_sic_matrix_t::sic_4, bno055_sic_matrix_t::sic_5, bno055_sic_matrix_t::sic_6, bno055_sic_matrix_t::sic_7, and bno055_sic_matrix_t::sic_8.

struct bno055_t* p_bno055

static

file <BNO055> brief <Sensor driver="" for="" bno055>="">