diff --git a/LICENSE b/LICENSE new file mode 100644 --- /dev/null +++ b/LICENSE @@ -0,0 +1,19 @@ +Copyright (c) 2017 Edward Amsden + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/README.md b/README.md new file mode 100644 --- /dev/null +++ b/README.md @@ -0,0 +1,1 @@ +# bno055-haskell diff --git a/Setup.hs b/Setup.hs new file mode 100644 --- /dev/null +++ b/Setup.hs @@ -0,0 +1,2 @@ +import Distribution.Simple +main = defaultMain diff --git a/bno055-haskell.cabal b/bno055-haskell.cabal new file mode 100644 --- /dev/null +++ b/bno055-haskell.cabal @@ -0,0 +1,45 @@ +-- This file has been generated from package.yaml by hpack version 0.17.0. +-- +-- see: https://github.com/sol/hpack + +name: bno055-haskell +version: 0.1.0 +synopsis: Library for communication with the Bosch BNO055 orientation sensor +description: Library for controlling and reading the Bosch BNO055 absolute orientation sensor. +category: System +homepage: https://bitbucket.org/fmapE/bno055-haskell +bug-reports: https://bitbucket.org/fmapE/bno055-haskell/issues +author: Edward Amsden +maintainer: edwardamsden@gmail.com +copyright: 2017 Edward Amsden +license: MIT +license-file: LICENSE +build-type: Simple +cabal-version: >= 1.10 + +extra-source-files: + cfiles/bno055.h + README.md + +source-repository head + type: git + location: https://bitbucket.org/fmapE/bno055-haskell.git + +library + hs-source-dirs: + src + include-dirs: + cfiles + build-depends: + base >=4.7 && <5 + , bytestring + , cereal + , h2c + , mtl + , resourcet + exposed-modules: + System.Orientation.BNO055 + System.Orientation.BNO055.Internal + other-modules: + Paths_bno055_haskell + default-language: Haskell2010 diff --git a/cfiles/bno055.h b/cfiles/bno055.h new file mode 100644 --- /dev/null +++ b/cfiles/bno055.h @@ -0,0 +1,7976 @@ +// FETCHED FROM https://raw.githubusercontent.com/BoschSensortec/BNO055_driver/master/bno055.h on +// Tue Jun 20 22:40:30 EDT 2017 + +/** \mainpage +* +**************************************************************************** +* Copyright (C) 2015 - 2016 Bosch Sensortec GmbH +* +* File : bno055.h +* +* Date : 2016/03/14 +* +* Revision : 2.0.3 $ +* +* Usage: Sensor Driver file for BNO055 sensor +* +**************************************************************************** +* \section License +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* Neither the name of the copyright holder nor the names of the +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND +* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR +* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER +* OR CONTRIBUTORS BE LIABLE FOR ANY +* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, +* OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO, +* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, +* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE +* +* The information provided is believed to be accurate and reliable. +* The copyright holder assumes no responsibility +* for the consequences of use +* of such information nor for any infringement of patents or +* other rights of third parties which may result from its use. +* No license is granted by implication or otherwise under any patent or +* patent rights of the copyright holder. +**************************************************************************/ +/*! \file bno055.h + \brief BNO055 Sensor Driver Support Header File */ + +#ifndef __BNO055_H__ +#define __BNO055_H__ +/****************************************************************/ +/**\name DATA TYPES INCLUDES */ +/************************************************************/ +/*! +* @brief The following definition uses for define the data types +* +* @note While porting the API please consider the following +* @note Please check the version of C standard +* @note Are you using Linux platform +*/ + +/*! +* @brief For the Linux platform support +* Please use the types.h for your data types definitions +*/ +#ifdef __KERNEL__ + +#include +/* singed integer type*/ +typedef int8_t s8;/**< used for signed 8bit */ +typedef int16_t s16;/**< used for signed 16bit */ +typedef int32_t s32;/**< used for signed 32bit */ +typedef int64_t s64;/**< used for signed 64bit */ + +typedef u_int8_t u8;/**< used for unsigned 8bit */ +typedef u_int16_t u16;/**< used for unsigned 16bit */ +typedef u_int32_t u32;/**< used for unsigned 32bit */ +typedef u_int64_t u64;/**< used for unsigned 64bit */ + + + +#else /* ! __KERNEL__ */ +/********************************************************** +* These definition uses for define the C +* standard version data types +***********************************************************/ +# if !defined(__STDC_VERSION__) + +/************************************************ + * compiler is C11 C standard +************************************************/ +#if (__STDC_VERSION__ == 201112L) + +/************************************************/ +#include +/************************************************/ + +/*unsigned integer types*/ +typedef uint8_t u8;/**< used for unsigned 8bit */ +typedef uint16_t u16;/**< used for unsigned 16bit */ +typedef uint32_t u32;/**< used for unsigned 32bit */ +typedef uint64_t u64;/**< used for unsigned 64bit */ + +/*signed integer types*/ +typedef int8_t s8;/**< used for signed 8bit */ +typedef int16_t s16;/**< used for signed 16bit */ +typedef int32_t s32;/**< used for signed 32bit */ +typedef int64_t s64;/**< used for signed 64bit */ +/************************************************ + * compiler is C99 C standard +************************************************/ + +#elif (__STDC_VERSION__ == 199901L) + +/* stdint.h is a C99 supported c library. +which is used to fixed the integer size*/ +/************************************************/ +#include +/************************************************/ + +/*unsigned integer types*/ +typedef uint8_t u8;/**< used for unsigned 8bit */ +typedef uint16_t u16;/**< used for unsigned 16bit */ +typedef uint32_t u32;/**< used for unsigned 32bit */ +typedef uint64_t u64;/**< used for unsigned 64bit */ + +/*signed integer types*/ +typedef int8_t s8;/**< used for signed 8bit */ +typedef int16_t s16;/**< used for signed 16bit */ +typedef int32_t s32;/**< used for signed 32bit */ +typedef int64_t s64;/**< used for signed 64bit */ +/************************************************ + * compiler is C89 or other C standard +************************************************/ + +#else /* !defined(__STDC_VERSION__) */ +/*! +* @brief By default it is defined as 32 bit machine configuration +* define your data types based on your +* machine/compiler/controller configuration +*/ +#define MACHINE_32_BIT + +/*! @brief + * If your machine support 16 bit + * define the MACHINE_16_BIT + */ +#ifdef MACHINE_16_BIT +#include +/*signed integer types*/ +typedef signed char s8;/**< used for signed 8bit */ +typedef signed short int s16;/**< used for signed 16bit */ +typedef signed long int s32;/**< used for signed 32bit */ + +#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL +typedef long int s64;/**< used for signed 64bit */ +typedef unsigned long int u64;/**< used for unsigned 64bit */ +#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL) +typedef long long int s64;/**< used for signed 64bit */ +typedef unsigned long long int u64;/**< used for unsigned 64bit */ +#else +#warning Either the correct data type for signed 64 bit integer \ +could not be found, or 64 bit integers are not supported in your environment. +#warning If 64 bit integers are supported on your platform, \ +please set s64 manually. +#endif + +/*unsigned integer types*/ +typedef unsigned char u8;/**< used for unsigned 8bit */ +typedef unsigned short int u16;/**< used for unsigned 16bit */ +typedef unsigned long int u32;/**< used for unsigned 32bit */ + +/* If your machine support 32 bit +define the MACHINE_32_BIT*/ +#elif defined MACHINE_32_BIT +/*signed integer types*/ +typedef signed char s8;/**< used for signed 8bit */ +typedef signed short int s16;/**< used for signed 16bit */ +typedef signed int s32;/**< used for signed 32bit */ +typedef signed long long int s64;/**< used for signed 64bit */ + +/*unsigned integer types*/ +typedef unsigned char u8;/**< used for unsigned 8bit */ +typedef unsigned short int u16;/**< used for unsigned 16bit */ +typedef unsigned int u32;/**< used for unsigned 32bit */ +typedef unsigned long long int u64;/**< used for unsigned 64bit */ + +/* If your machine support 64 bit +define the MACHINE_64_BIT*/ +#elif defined MACHINE_64_BIT +/*signed integer types*/ +typedef signed char s8;/**< used for signed 8bit */ +typedef signed short int s16;/**< used for signed 16bit */ +typedef signed int s32;/**< used for signed 32bit */ +typedef signed long int s64;/**< used for signed 64bit */ + +/*unsigned integer types*/ +typedef unsigned char u8;/**< used for unsigned 8bit */ +typedef unsigned short int u16;/**< used for unsigned 16bit */ +typedef unsigned int u32;/**< used for unsigned 32bit */ +typedef unsigned long int u64;/**< used for unsigned 64bit */ + +#else +#warning The data types defined above which not supported \ +define the data types manually +#endif +#endif + +/*** This else will execute for the compilers + * which are not supported the C standards + * Like C89/C99/C11***/ +#else +/*! +* @brief By default it is defined as 32 bit machine configuration +* define your data types based on your +* machine/compiler/controller configuration +*/ +#define MACHINE_32_BIT + +/* If your machine support 16 bit +define the MACHINE_16_BIT*/ +#ifdef MACHINE_16_BIT +#include +/*signed integer types*/ +typedef signed char s8;/**< used for signed 8bit */ +typedef signed short int s16;/**< used for signed 16bit */ +typedef signed long int s32;/**< used for signed 32bit */ + +#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL +typedef long int s64;/**< used for signed 64bit */ +typedef unsigned long int u64;/**< used for unsigned 64bit */ +#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL) +typedef long long int s64;/**< used for signed 64bit */ +typedef unsigned long long int u64;/**< used for unsigned 64bit */ +#else +#warning Either the correct data type for signed 64 bit integer \ +could not be found, or 64 bit integers are not supported in your environment. +#warning If 64 bit integers are supported on your platform, \ +please set s64 manually. +#endif + +/*unsigned integer types*/ +typedef unsigned char u8;/**< used for unsigned 8bit */ +typedef unsigned short int u16;/**< used for unsigned 16bit */ +typedef unsigned long int u32;/**< used for unsigned 32bit */ + +/*! @brief If your machine support 32 bit +define the MACHINE_32_BIT*/ +#elif defined MACHINE_32_BIT +/*signed integer types*/ +typedef signed char s8;/**< used for signed 8bit */ +typedef signed short int s16;/**< used for signed 16bit */ +typedef signed int s32;/**< used for signed 32bit */ +typedef signed long long int s64;/**< used for signed 64bit */ + +/*unsigned integer types*/ +typedef unsigned char u8;/**< used for unsigned 8bit */ +typedef unsigned short int u16;/**< used for unsigned 16bit */ +typedef unsigned int u32;/**< used for unsigned 32bit */ +typedef unsigned long long int u64;/**< used for unsigned 64bit */ + +/* If your machine support 64 bit +define the MACHINE_64_BIT*/ +#elif defined MACHINE_64_BIT +/*signed integer types*/ +typedef signed char s8;/**< used for signed 8bit */ +typedef signed short int s16;/**< used for signed 16bit */ +typedef signed int s32;/**< used for signed 32bit */ +typedef signed long int s64;/**< used for signed 64bit */ + +/*unsigned integer types*/ +typedef unsigned char u8;/**< used for unsigned 8bit */ +typedef unsigned short int u16;/**< used for unsigned 16bit */ +typedef unsigned int u32;/**< used for unsigned 32bit */ +typedef unsigned long int u64;/**< used for unsigned 64bit */ + +#else +#warning The data types defined above which not supported \ +define the data types manually +#endif +#endif +#endif +/***************************************************************/ +/**\name BUS READ AND WRITE FUNCTIONS */ +/***************************************************************/ +#define BNO055_WR_FUNC_PTR s8 (*bus_write)\ +(u8, u8, u8 *, u8) + +#define BNO055_BUS_WRITE_FUNC(dev_addr, reg_addr, reg_data, wr_len)\ + bus_write(dev_addr, reg_addr, reg_data, wr_len) + +#define BNO055_RD_FUNC_PTR s8 \ +(*bus_read)(u8, u8, u8 *, u8) + +#define BNO055_BUS_READ_FUNC(dev_addr, reg_addr, reg_data, r_len)\ +bus_read(dev_addr, reg_addr, reg_data, r_len) + +#define BNO055_DELAY_RETURN_TYPE void + +#define BNO055_DELAY_PARAM_TYPES u32 + +#define BNO055_DELAY_FUNC(delay_in_msec)\ + delay_func(delay_in_msec) + +/********************************************************/ +/**\name I2C ADDRESS DEFINITION FOR BNO055 */ +/********************************************************/ +/* bno055 I2C Address */ +#define BNO055_I2C_ADDR1 (0x28) +#define BNO055_I2C_ADDR2 (0x29) + +/***************************************************/ +/**\name REGISTER ADDRESS DEFINITION */ +/***************************************************/ +/* Page id register definition*/ +#define BNO055_PAGE_ID_ADDR (0X07) + +/* PAGE0 REGISTER DEFINITION START*/ +#define BNO055_CHIP_ID_ADDR (0x00) +#define BNO055_ACCEL_REV_ID_ADDR (0x01) +#define BNO055_MAG_REV_ID_ADDR (0x02) +#define BNO055_GYRO_REV_ID_ADDR (0x03) +#define BNO055_SW_REV_ID_LSB_ADDR (0x04) +#define BNO055_SW_REV_ID_MSB_ADDR (0x05) +#define BNO055_BL_REV_ID_ADDR (0X06) + +/* Accel data register*/ +#define BNO055_ACCEL_DATA_X_LSB_ADDR (0X08) +#define BNO055_ACCEL_DATA_X_MSB_ADDR (0X09) +#define BNO055_ACCEL_DATA_Y_LSB_ADDR (0X0A) +#define BNO055_ACCEL_DATA_Y_MSB_ADDR (0X0B) +#define BNO055_ACCEL_DATA_Z_LSB_ADDR (0X0C) +#define BNO055_ACCEL_DATA_Z_MSB_ADDR (0X0D) + +/*Mag data register*/ +#define BNO055_MAG_DATA_X_LSB_ADDR (0X0E) +#define BNO055_MAG_DATA_X_MSB_ADDR (0X0F) +#define BNO055_MAG_DATA_Y_LSB_ADDR (0X10) +#define BNO055_MAG_DATA_Y_MSB_ADDR (0X11) +#define BNO055_MAG_DATA_Z_LSB_ADDR (0X12) +#define BNO055_MAG_DATA_Z_MSB_ADDR (0X13) + +/*Gyro data registers*/ +#define BNO055_GYRO_DATA_X_LSB_ADDR (0X14) +#define BNO055_GYRO_DATA_X_MSB_ADDR (0X15) +#define BNO055_GYRO_DATA_Y_LSB_ADDR (0X16) +#define BNO055_GYRO_DATA_Y_MSB_ADDR (0X17) +#define BNO055_GYRO_DATA_Z_LSB_ADDR (0X18) +#define BNO055_GYRO_DATA_Z_MSB_ADDR (0X19) + +/*Euler data registers*/ +#define BNO055_EULER_H_LSB_ADDR (0X1A) +#define BNO055_EULER_H_MSB_ADDR (0X1B) + +#define BNO055_EULER_R_LSB_ADDR (0X1C) +#define BNO055_EULER_R_MSB_ADDR (0X1D) + +#define BNO055_EULER_P_LSB_ADDR (0X1E) +#define BNO055_EULER_P_MSB_ADDR (0X1F) + +/*Quaternion data registers*/ +#define BNO055_QUATERNION_DATA_W_LSB_ADDR (0X20) +#define BNO055_QUATERNION_DATA_W_MSB_ADDR (0X21) +#define BNO055_QUATERNION_DATA_X_LSB_ADDR (0X22) +#define BNO055_QUATERNION_DATA_X_MSB_ADDR (0X23) +#define BNO055_QUATERNION_DATA_Y_LSB_ADDR (0X24) +#define BNO055_QUATERNION_DATA_Y_MSB_ADDR (0X25) +#define BNO055_QUATERNION_DATA_Z_LSB_ADDR (0X26) +#define BNO055_QUATERNION_DATA_Z_MSB_ADDR (0X27) + +/* Linear acceleration data registers*/ +#define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR (0X28) +#define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR (0X29) +#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR (0X2A) +#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR (0X2B) +#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR (0X2C) +#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR (0X2D) + +/*Gravity data registers*/ +#define BNO055_GRAVITY_DATA_X_LSB_ADDR (0X2E) +#define BNO055_GRAVITY_DATA_X_MSB_ADDR (0X2F) +#define BNO055_GRAVITY_DATA_Y_LSB_ADDR (0X30) +#define BNO055_GRAVITY_DATA_Y_MSB_ADDR (0X31) +#define BNO055_GRAVITY_DATA_Z_LSB_ADDR (0X32) +#define BNO055_GRAVITY_DATA_Z_MSB_ADDR (0X33) + +/* Temperature data register*/ +#define BNO055_TEMP_ADDR (0X34) + +/* Status registers*/ +#define BNO055_CALIB_STAT_ADDR (0X35) +#define BNO055_SELFTEST_RESULT_ADDR (0X36) +#define BNO055_INTR_STAT_ADDR (0X37) +#define BNO055_SYS_CLK_STAT_ADDR (0X38) +#define BNO055_SYS_STAT_ADDR (0X39) +#define BNO055_SYS_ERR_ADDR (0X3A) + +/* Unit selection register*/ +#define BNO055_UNIT_SEL_ADDR (0X3B) +#define BNO055_DATA_SELECT_ADDR (0X3C) + +/* Mode registers*/ +#define BNO055_OPR_MODE_ADDR (0X3D) +#define BNO055_PWR_MODE_ADDR (0X3E) + +#define BNO055_SYS_TRIGGER_ADDR (0X3F) +#define BNO055_TEMP_SOURCE_ADDR (0X40) +/* Axis remap registers*/ +#define BNO055_AXIS_MAP_CONFIG_ADDR (0X41) +#define BNO055_AXIS_MAP_SIGN_ADDR (0X42) + +/* SIC registers*/ +#define BNO055_SIC_MATRIX_0_LSB_ADDR (0X43) +#define BNO055_SIC_MATRIX_0_MSB_ADDR (0X44) +#define BNO055_SIC_MATRIX_1_LSB_ADDR (0X45) +#define BNO055_SIC_MATRIX_1_MSB_ADDR (0X46) +#define BNO055_SIC_MATRIX_2_LSB_ADDR (0X47) +#define BNO055_SIC_MATRIX_2_MSB_ADDR (0X48) +#define BNO055_SIC_MATRIX_3_LSB_ADDR (0X49) +#define BNO055_SIC_MATRIX_3_MSB_ADDR (0X4A) +#define BNO055_SIC_MATRIX_4_LSB_ADDR (0X4B) +#define BNO055_SIC_MATRIX_4_MSB_ADDR (0X4C) +#define BNO055_SIC_MATRIX_5_LSB_ADDR (0X4D) +#define BNO055_SIC_MATRIX_5_MSB_ADDR (0X4E) +#define BNO055_SIC_MATRIX_6_LSB_ADDR (0X4F) +#define BNO055_SIC_MATRIX_6_MSB_ADDR (0X50) +#define BNO055_SIC_MATRIX_7_LSB_ADDR (0X51) +#define BNO055_SIC_MATRIX_7_MSB_ADDR (0X52) +#define BNO055_SIC_MATRIX_8_LSB_ADDR (0X53) +#define BNO055_SIC_MATRIX_8_MSB_ADDR (0X54) + +/* Accelerometer Offset registers*/ +#define BNO055_ACCEL_OFFSET_X_LSB_ADDR (0X55) +#define BNO055_ACCEL_OFFSET_X_MSB_ADDR (0X56) +#define BNO055_ACCEL_OFFSET_Y_LSB_ADDR (0X57) +#define BNO055_ACCEL_OFFSET_Y_MSB_ADDR (0X58) +#define BNO055_ACCEL_OFFSET_Z_LSB_ADDR (0X59) +#define BNO055_ACCEL_OFFSET_Z_MSB_ADDR (0X5A) + +/* Magnetometer Offset registers*/ +#define BNO055_MAG_OFFSET_X_LSB_ADDR (0X5B) +#define BNO055_MAG_OFFSET_X_MSB_ADDR (0X5C) +#define BNO055_MAG_OFFSET_Y_LSB_ADDR (0X5D) +#define BNO055_MAG_OFFSET_Y_MSB_ADDR (0X5E) +#define BNO055_MAG_OFFSET_Z_LSB_ADDR (0X5F) +#define BNO055_MAG_OFFSET_Z_MSB_ADDR (0X60) + +/* Gyroscope Offset registers*/ +#define BNO055_GYRO_OFFSET_X_LSB_ADDR (0X61) +#define BNO055_GYRO_OFFSET_X_MSB_ADDR (0X62) +#define BNO055_GYRO_OFFSET_Y_LSB_ADDR (0X63) +#define BNO055_GYRO_OFFSET_Y_MSB_ADDR (0X64) +#define BNO055_GYRO_OFFSET_Z_LSB_ADDR (0X65) +#define BNO055_GYRO_OFFSET_Z_MSB_ADDR (0X66) + +/* Radius registers*/ +#define BNO055_ACCEL_RADIUS_LSB_ADDR (0X67) +#define BNO055_ACCEL_RADIUS_MSB_ADDR (0X68) +#define BNO055_MAG_RADIUS_LSB_ADDR (0X69) +#define BNO055_MAG_RADIUS_MSB_ADDR (0X6A) +/* PAGE0 REGISTERS DEFINITION END*/ + +/* PAGE1 REGISTERS DEFINITION START*/ +/* Configuration registers*/ +#define BNO055_ACCEL_CONFIG_ADDR (0X08) +#define BNO055_MAG_CONFIG_ADDR (0X09) +#define BNO055_GYRO_CONFIG_ADDR (0X0A) +#define BNO055_GYRO_MODE_CONFIG_ADDR (0X0B) +#define BNO055_ACCEL_SLEEP_CONFIG_ADDR (0X0C) +#define BNO055_GYRO_SLEEP_CONFIG_ADDR (0X0D) +#define BNO055_MAG_SLEEP_CONFIG_ADDR (0x0E) + +/* Interrupt registers*/ +#define BNO055_INT_MASK_ADDR (0X0F) +#define BNO055_INT_ADDR (0X10) +#define BNO055_ACCEL_ANY_MOTION_THRES_ADDR (0X11) +#define BNO055_ACCEL_INTR_SETTINGS_ADDR (0X12) +#define BNO055_ACCEL_HIGH_G_DURN_ADDR (0X13) +#define BNO055_ACCEL_HIGH_G_THRES_ADDR (0X14) +#define BNO055_ACCEL_NO_MOTION_THRES_ADDR (0X15) +#define BNO055_ACCEL_NO_MOTION_SET_ADDR (0X16) +#define BNO055_GYRO_INTR_SETING_ADDR (0X17) +#define BNO055_GYRO_HIGHRATE_X_SET_ADDR (0X18) +#define BNO055_GYRO_DURN_X_ADDR (0X19) +#define BNO055_GYRO_HIGHRATE_Y_SET_ADDR (0X1A) +#define BNO055_GYRO_DURN_Y_ADDR (0X1B) +#define BNO055_GYRO_HIGHRATE_Z_SET_ADDR (0X1C) +#define BNO055_GYRO_DURN_Z_ADDR (0X1D) +#define BNO055_GYRO_ANY_MOTION_THRES_ADDR (0X1E) +#define BNO055_GYRO_ANY_MOTION_SET_ADDR (0X1F) +/* PAGE1 REGISTERS DEFINITION END*/ + + +#define BNO055_MDELAY_DATA_TYPE u32 + +/*< This refers BNO055 return type as s8 */ +#define BNO055_RETURN_FUNCTION_TYPE s8 + +/* Compile switch definition for Float and double*/ +#define BNO055_FLOAT_ENABLE +#define BNO055_DOUBLE_ENABLE +/**************************************************************/ +/**\name STRUCTURE DEFINITIONS */ +/**************************************************************/ +/*! +* @brief bno055 struct +*/ +struct bno055_t { +u8 chip_id;/**< chip_id of bno055 */ +u16 sw_rev_id;/**< software revision id of bno055 */ +u8 page_id;/**< page_id of bno055 */ +u8 accel_rev_id;/**< accel revision id of bno055 */ +u8 mag_rev_id;/**< mag revision id of bno055 */ +u8 gyro_rev_id;/**< gyro revision id of bno055 */ +u8 bl_rev_id;/**< boot loader revision id of bno055 */ +u8 dev_addr;/**< i2c device address of bno055 */ +BNO055_WR_FUNC_PTR;/**< bus write function pointer */ +BNO055_RD_FUNC_PTR;/**> bitname##_POS) + + +#define BNO055_SET_BITSLICE(regvar, bitname, val)\ +((regvar & ~bitname##_MSK) | ((val< BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While changing the parameter of the bno055_t + * consider the following point: + * Changing the reference value of the parameter + * will changes the local copy or local reference + * make sure your changes will not + * affect the reference value of the parameter + * (Better case don't change the reference value of the parameter) + */ +BNO055_RETURN_FUNCTION_TYPE bno055_init(struct bno055_t *bno055); +/*! + * @brief + * This API gives data to the given register and + * the data is written in the corresponding register address + * + * @param addr_u8 : Address of the register + * @param data_u8 : Data to be written to the register + * @param len_u8 : Length of the Data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * +*/ +BNO055_RETURN_FUNCTION_TYPE bno055_write_register(u8 addr_u8, +u8 *data_u8, u8 len_u8); +/*! + * @brief This API reads the data from + * the given register address + * + * @param addr_u8 : Address of the register + * @param data_u8 : address of the variable, + * read value will be kept + * @param len_u8 : Length of the data + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_register(u8 addr_u8, +u8 *data_u8, u8 len_u8); +/*! + * @brief This API reads chip id + * from register 0x00 it is a byte of data + * + * + * @param chip_id_u8 : The chip id value 0xA0 + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_chip_id(u8 *chip_id_u8); +/*! + * @brief This API reads software revision id + * from register 0x04 and 0x05 it is a two byte of data + * + * @param sw_id_u8 : The SW revision id + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_sw_rev_id(u16 *sw_id_u8); +/*! + * @brief This API reads page id + * from register 0x07 it is a byte of data + * + * + * @param page_id_u8 : The value of page id + * + * BNO055_PAGE_ZERO -> 0x00 + * BNO055_PAGE_ONE -> 0x01 + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_page_id(u8 *page_id_u8); +/*! + * @brief This API used to write + * the page id register 0x07 + * + * @param page_id_u8 : The value of page id + * + * BNO055_PAGE_ZERO -> 0x00 + * BNO055_PAGE_ONE -> 0x01 + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_write_page_id(u8 page_id_u8); +/*! + * @brief This API reads accel revision id + * from register 0x01 it is a byte of value + * + * @param accel_rev_id_u8 : The accel revision id 0xFB + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_rev_id( +u8 *accel_rev_id_u8); +/*! + * @brief This API reads mag revision id + * from register 0x02 it is a byte of value + * + * @param mag_rev_id_u8 : The mag revision id 0x32 + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_rev_id( +u8 *mag_rev_id_u8); +/*! + * @brief This API reads gyro revision id + * from register 0x03 it is a byte of value + * + * @param gyro_rev_id_u8 : The gyro revision id 0xF0 + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_rev_id( +u8 *gyro_rev_id_u8); +/*! + * @brief This API used to read boot loader revision id + * from register 0x06 it is a byte of value + * + * @param bl_rev_id_u8 : The boot loader revision id + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_bl_rev_id( +u8 *bl_rev_id_u8); +/**************************************************/ +/**\name ACCEL DATA READ FUNCTIONS */ +/**************************************************/ +/*! + * @brief This API reads acceleration data X values + * from register 0x08 and 0x09 it is a two byte data + * + * + * + * + * @param accel_x_s16 : The X raw data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_x(s16 *accel_x_s16); +/*! + * @brief This API reads acceleration data Y values + * from register 0x0A and 0x0B it is a two byte data + * + * + * + * + * @param accel_y_s16 : The Y raw data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_y(s16 *accel_y_s16); +/*! + * @brief This API reads acceleration data z values + * from register 0x0C and 0x0D it is a two byte data + * + * + * + * + * @param accel_z_s16 : The z raw data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_z(s16 *accel_z_s16); +/*! + * @brief This API reads acceleration data xyz values + * from register 0x08 to 0x0D it is a six byte data + * + * + * @param accel : The value of accel xyz data + * + * Parameter | result + * --------- | ----------------- + * x | The accel x data + * y | The accel y data + * z | The accel z data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_xyz( +struct bno055_accel_t *accel); +/**************************************************/ +/**\name MAG DATA READ FUNCTIONS */ +/**************************************************/ +/*! + * @brief This API reads mag data x values + * from register 0x0E and 0x0F it is a two byte data + * + * + * + * + * @param mag_x_s16 : The x raw data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_x(s16 *mag_x_s16); +/*! + * @brief This API reads mag data y values + * from register 0x10 and 0x11 it is a two byte data + * + * + * + * + * @param mag_y_s16 : The y raw data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_y(s16 *mag_y_s16); +/*! + * @brief This API reads mag data z values + * from register 0x12 and 0x13 it is a two byte data + * + * + * + * + * @param mag_z_s16 : The z raw data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_z(s16 *mag_z_s16); +/*! + * @brief This API reads mag data xyz values + * from register 0x0E to 0x13 it is a six byte data + * + * + * @param mag : The mag xyz values + * + * Parameter | result + * --------- | ----------------- + * x | The mag x data + * y | The mag y data + * z | The mag z data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_xyz(struct bno055_mag_t *mag); +/**************************************************/ +/**\name GYRO DATA READ FUNCTIONS */ +/**************************************************/ +/*! + * @brief This API reads gyro data x values + * from register 0x14 and 0x15 it is a two byte data + * + * + * + * + * @param gyro_x_s16 : The x raw data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_x(s16 *gyro_x_s16); +/*! + * @brief This API reads gyro data y values + * from register 0x16 and 0x17 it is a two byte data + * + * + * + * + * @param gyro_y_s16 : The y raw data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_y(s16 *gyro_y_s16); +/*! + * @brief This API reads gyro data z values + * from register 0x18 and 0x19 it is a two byte data + * + * @param gyro_z_s16 : The z raw data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_z(s16 *gyro_z_s16); +/*! + * @brief This API reads gyro data xyz values + * from register 0x14 to 0x19 it is a six byte data + * + * + * @param gyro : The value of gyro xyz data's + * + * Parameter | result + * --------- | ----------------- + * x | The gyro x data + * y | The gyro y data + * z | The gyro z data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_xyz(struct bno055_gyro_t *gyro); +/**************************************************/ +/**\name EULER DATA READ FUNCTIONS */ +/**************************************************/ +/*! + * @brief This API reads gyro data z values + * from register 0x1A and 0x1B it is a two byte data + * + * @param euler_h_s16 : The raw h data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_h(s16 *euler_h_s16); +/*! + * @brief This API reads Euler data r values + * from register 0x1C and 0x1D it is a two byte data + * + * @param euler_r_s16 : The raw r data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_r(s16 *euler_r_s16); +/*! + * @brief This API reads Euler data p values + * from register 0x1E and 0x1F it is a two byte data + * + * @param euler_p_s16 : The raw p data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_p(s16 *euler_p_s16); +/*! + * @brief This API reads Euler data hrp values + * from register 0x1A to 0x1F it is a six byte data + * + * + * @param euler : The Euler hrp data's + * + * Parameter | result + * --------- | ----------------- + * h | The Euler h data + * r | The Euler r data + * p | The Euler p data + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_hrp( +struct bno055_euler_t *euler); +/**************************************************/ +/**\name QUATERNION DATA READ FUNCTIONS */ +/**************************************************/ +/*! + * @brief This API reads quaternion data w values + * from register 0x20 and 0x21 it is a two byte data + * + * @param quaternion_w_s16 : The raw w data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_w( +s16 *quaternion_w_s16); +/*! + * @brief This API reads quaternion data x values + * from register 0x22 and 0x23 it is a two byte data + * + * @param quaternion_x_s16 : The raw x data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_x( +s16 *quaternion_x_s16); +/*! + * @brief This API reads quaternion data y values + * from register 0x24 and 0x25 it is a two byte data + * + * @param quaternion_y_s16 : The raw y data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_y( +s16 *quaternion_y_s16); +/*! + * @brief This API reads quaternion data z values + * from register 0x26 and 0x27 it is a two byte data + * + * @param quaternion_z_s16 : The raw z data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_z( +s16 *quaternion_z_s16); +/*! + * @brief This API reads Quaternion data wxyz values + * from register 0x20 to 0x27 it is a six byte data + * + * + * @param quaternion : The value of quaternion wxyz data's + * + * Parameter | result + * --------- | ----------------- + * w | The quaternion w data + * x | The quaternion x data + * y | The quaternion y data + * z | The quaternion z data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_wxyz( +struct bno055_quaternion_t *quaternion); +/**************************************************/ +/**\name LINEAR ACCEL DATA READ FUNCTIONS */ +/**************************************************/ +/*! + * @brief This API reads Linear accel data x values + * from register 0x29 and 0x2A it is a two byte data + * + * @param linear_accel_x_s16 : The raw x data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_x( +s16 *linear_accel_x_s16); +/*! + * @brief This API reads Linear accel data x values + * from register 0x2B and 0x2C it is a two byte data + * + * @param linear_accel_y_s16 : The raw y data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_y( +s16 *linear_accel_y_s16); +/*! + * @brief This API reads Linear accel data x values + * from register 0x2C and 0x2D it is a two byte data + * + * @param linear_accel_z_s16 : The raw z data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_z( +s16 *linear_accel_z_s16); +/*! + * @brief This API reads Linear accel data xyz values + * from register 0x28 to 0x2D it is a six byte data + * + * + * @param linear_accel : The value of linear accel xyz data's + * + * Parameter | result + * --------- | ----------------- + * x | The linear accel x data + * y | The linear accel y data + * z | The linear accel z data + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_xyz( +struct bno055_linear_accel_t *linear_accel); +/**************************************************/ +/**\name GRAVITY DATA READ FUNCTIONS */ +/**************************************************/ +/*! + * @brief This API reads gravity data x values + * from register 0x2E and 0x2F it is a two byte data + * + * @param gravity_x_s16 : The raw x data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_x( +s16 *gravity_x_s16); +/*! + * @brief This API reads gravity data y values + * from register 0x30 and 0x31 it is a two byte data + * + * @param gravity_y_s16 : The raw y data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_y( +s16 *gravity_y_s16); +/*! + * @brief This API reads gravity data z values + * from register 0x32 and 0x33 it is a two byte data + * + * @param gravity_z_s16 : The raw z data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_z( +s16 *gravity_z_s16); +/*! + * @brief This API reads gravity data xyz values + * from register 0x2E to 0x33 it is a six byte data + * + * + * @param gravity : The value of gravity xyz data's + * + * Parameter | result + * --------- | ----------------- + * x | The gravity x data + * y | The gravity y data + * z | The gravity z data + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_xyz( +struct bno055_gravity_t *gravity); +/**************************************************/ +/**\name TEMPERATURE DATA READ FUNCTIONS */ +/**************************************************/ +/*! + * @brief This API reads temperature values + * from register 0x33 it is a byte data + * + * @param temp_s8 : The raw temperature data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_temp_data(s8 *temp_s8); +#ifdef BNO055_FLOAT_ENABLE +/********************************************************************/ +/**\name FUNCTIONS FOR READING ACCEL DATA OUTPUT AS FLOAT PRECISION */ +/********************************************************************/ +/*! + * @brief This API is used to convert the accel x raw data + * to meterpersecseq output as float + * + * @param accel_x_f : The accel x meterpersecseq data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_msq( +float *accel_x_f); +/*! + * @brief This API is used to convert the accel x raw data + * to meterpersecseq output as float + * + * @param accel_y_f : The accel y meterpersecseq data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_msq( +float *accel_y_f); +/*! + * @brief This API is used to convert the accel z raw data + * to meterpersecseq output as float + * + * @param accel_z_f : The accel z meterpersecseq data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_msq( +float *accel_z_f); +/*! + * @brief This API is used to convert the accel y raw data + * to millig output as float + * + * @param accel_x_f : The accel y millig data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_mg( +float *accel_x_f); +/*! + * @brief This API is used to convert the accel y raw data + * to millig output as float + * + * @param accel_y_f : The accel y millig data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_mg( +float *accel_y_f); +/*! + * @brief This API is used to convert the accel z raw data + * to millig output as float + * + * @param accel_z_f : The accel z millig data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_mg( +float *accel_z_f); +/*! + * @brief This API is used to convert the accel xyz raw data + * to meterpersecseq output as float + * + * @param accel_xyz : The meterpersecseq data of accel xyz + * + * Parameter | result + * --------- | ----------------- + * x | meterpersecseq data of accel + * y | meterpersecseq data of accel + * z | meterpersecseq data of accel + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_msq( +struct bno055_accel_float_t *accel_xyz); +/*! + * @brief This API is used to convert the accel xyz raw data + * to millig output as float + * + * @param accel_xyz : The millig data of accel xyz + * + * Parameter | result + * --------- | ----------------- + * x | millig data of accel + * y | millig data of accel + * z | millig data of accel + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_mg( +struct bno055_accel_float_t *accel_xyz); +/********************************************************************/ +/**\name FUNCTIONS FOR READING MAG DATA OUTPUT AS FLOAT PRECISION */ +/********************************************************************/ +/*! + * @brief This API is used to convert the mag x raw data + * to microTesla output as float + * + * @param mag_x_f : The mag x microTesla data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_x_uT( +float *mag_x_f); +/*! + * @brief This API is used to convert the mag y raw data + * to microTesla output as float + * + * @param mag_y_f : The mag y microTesla data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_y_uT( +float *mag_y_f); +/*! + * @brief This API is used to convert the mag z raw data + * to microTesla output as float + * + * @param mag_z_f : The mag z microTesla data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_z_uT( +float *mag_z_f); +/*! + * @brief This API is used to convert the mag yz raw data + * to microTesla output as float + * + * @param mag_xyz_data : The microTesla data of mag xyz + * + * Parameter | result + * --------- | ----------------- + * x | microTesla data of mag + * y | microTesla data of mag + * z | microTesla data of mag + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_xyz_uT( +struct bno055_mag_float_t *mag_xyz_data); +/********************************************************************/ +/**\name FUNCTIONS FOR READING GYRO DATA OUTPUT AS FLOAT PRECISION */ +/********************************************************************/ +/*! + * @brief This API is used to convert the gyro x raw data + * to dps output as float + * + * @param gyro_x_f : The gyro x dps float data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_dps( +float *gyro_x_f); +/*! + * @brief This API is used to convert the gyro x raw data + * to rps output as float + * + * @param gyro_x_f : The gyro x dps float data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_rps( +float *gyro_x_f); +/*! + * @brief This API is used to convert the gyro y raw data + * to dps output as float + * + * @param gyro_y_f : The gyro y dps float data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_dps( +float *gyro_y_f); +/*! + * @brief This API is used to convert the gyro y raw data + * to rps output as float + * + * @param gyro_y_f : The gyro y dps float data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_rps( +float *gyro_y_f); +/*! + * @brief This API is used to convert the gyro z raw data + * to dps output as float + * + * @param gyro_z_f : The gyro z dps float data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_dps( +float *gyro_z_f); +/*! + * @brief This API is used to convert the gyro z raw data + * to rps output as float + * + * @param gyro_z_f : The gyro z rps float data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_rps( +float *gyro_z_f); +/*! + * @brief This API is used to convert the gyro xyz raw data + * to dps output as float + * + * @param gyro_xyz_data : The dps data of gyro xyz + * + * Parameter | result + * --------- | ----------------- + * x | dps data of gyro + * y | dps data of gyro + * z | dps data of gyro + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_dps( +struct bno055_gyro_float_t *gyro_xyz_data); +/*! + * @brief This API is used to convert the gyro xyz raw data + * to rps output as float + * + * @param gyro_xyz_data : The rps data of gyro xyz + * + * Parameter | result + * --------- | ----------------- + * x | rps data of gyro + * y | rps data of gyro + * z | rps data of gyro + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_rps( +struct bno055_gyro_float_t *gyro_xyz_data); +/********************************************************************/ +/**\name FUNCTIONS FOR READING EULER DATA OUTPUT AS FLOAT PRECISION */ +/********************************************************************/ +/*! + * @brief This API is used to convert the Euler h raw data + * to degree output as float + * + * @param euler_h_f : The float value of Euler h degree + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_deg( +float *euler_h_f); +/*! + * @brief This API is used to convert the Euler h raw data + * to radians output as float + * + * @param euler_h_f : The float value of Euler h radians + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_rad( +float *euler_h_f); +/*! + * @brief This API is used to convert the Euler r raw data + * to degree output as float + * + * @param euler_r_f : The float value of Euler r degree + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_deg( +float *euler_r_f); +/*! + * @brief This API is used to convert the Euler r raw data + * to radians output as float + * + * @param euler_r_f : The float value of Euler r radians + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_rad( +float *euler_r_f); +/*! + * @brief This API is used to convert the Euler p raw data + * to degree output as float + * + * @param euler_p_f : The float value of Euler p degree + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_deg( +float *euler_p_f); +/*! + * @brief This API is used to convert the Euler p raw data + * to radians output as float + * + * @param euler_p_f : The float value of Euler p radians + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_rad( +float *euler_p_f); +/*! + * @brief This API is used to convert the Euler hrp raw data + * to degree output as float + * + * @param euler_hpr : The degree data of Euler hrp + * + * Parameter | result + * --------- | ----------------- + * h | degree data of Euler + * r | degree data of Euler + * p | degree data of Euler + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_deg( +struct bno055_euler_float_t *euler_hpr); +/*! + * @brief This API is used to convert the Euler xyz raw data + * to radians output as float + * + * @param euler_hpr : The radians data of Euler hrp + * + * Parameter | result + * --------- | ----------------- + * h | radians data of Euler + * r | radians data of Euler + * p | radians data of Euler + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_rad( +struct bno055_euler_float_t *euler_hpr); +/***************************************************************************/ +/**\name FUNCTIONS FOR READING LINEAR ACCEL DATA OUTPUT AS FLOAT PRECISION */ +/**************************************************************************/ +/*! + * @brief This API is used to convert the linear + * accel x raw data to meterpersecseq output as float + * + * @param linear_accel_x_f : The float value of linear accel x meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_x_msq( +float *linear_accel_x_f); +/*! + * @brief This API is used to convert the linear + * accel y raw data to meterpersecseq output as float + * + * @param linear_accel_y_f : The float value of linear accel y meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_y_msq( +float *linear_accel_y_f); +/*! + * @brief This API is used to convert the linear + * accel z raw data to meterpersecseq output as float + * + * @param linear_accel_z_f : The float value of linear accel z meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_z_msq( +float *linear_accel_z_f); +/*! + * @brief This API is used to convert the linear accel xyz raw data + * to meterpersecseq output as float + * + * @param linear_accel_xyz : The meterpersecseq data of linear accel xyz + * + * Parameter | result + * --------- | ----------------- + * x | meterpersecseq data of linear accel + * y | meterpersecseq data of linear accel + * z | meterpersecseq data of linear accel + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_xyz_msq( +struct bno055_linear_accel_float_t *linear_accel_xyz); +/********************************************************************/ +/**\name FUNCTIONS FOR READING GRAVITY DATA OUTPUT AS FLOAT PRECISION */ +/********************************************************************/ +/*! + * @brief This API is used to convert the gravity + * x raw data to meterpersecseq output as float + * + * @param gravity_x_f : The float value of gravity x meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_x_msq( +float *gravity_x_f); +/*! + * @brief This API is used to convert the gravity + * y raw data to meterpersecseq output as float + * + * @param gravity_y_f : The float value of gravity y meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_y_msq( +float *gravity_y_f); +/*! + * @brief This API is used to convert the gravity + * z raw data to meterpersecseq output as float + * + * @param gravity_z_f : The float value of gravity z meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_z_msq( +float *gravity_z_f); +/*! + * @brief This API is used to convert the gravity xyz raw data + * to meterpersecseq output as float + * + * @param gravity_xyz : The meterpersecseq data of gravity xyz + * + * Parameter | result + * --------- | ----------------- + * x | meterpersecseq data of gravity + * y | meterpersecseq data of gravity + * z | meterpersecseq data of gravity + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gravity_xyz_msq( +struct bno055_gravity_float_t *gravity_xyz); +/**************************************************************************/ +/**\name FUNCTIONS FOR READING TEMPERATURE DATA OUTPUT AS FLOAT PRECISION */ +/*************************************************************************/ +/*! + * @brief This API is used to convert the temperature + * data to Fahrenheit output as float + * + * @param temp_f : The float value of temperature Fahrenheit + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_fahrenheit( +float *temp_f); +/*! + * @brief This API is used to convert the temperature + * data to Celsius output as float + * + * @param temp_f : The float value of temperature Celsius + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_celsius( +float *temp_f); +#endif +#ifdef BNO055_DOUBLE_ENABLE +/**************************************************************************/ +/**\name FUNCTIONS FOR READING ACCEL DATA OUTPUT AS DOUBLE PRECISION */ +/*************************************************************************/ +/*! + * @brief This API is used to convert the accel x raw data + * to meterpersecseq output as double + * + * @param accel_x_d : The accel x meterpersecseq data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_msq( +double *accel_x_d); +/*! + * @brief This API is used to convert the accel y raw data + * to meterpersecseq output as double + * + * @param accel_y_d : The accel y meterpersecseq data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_msq( +double *accel_y_d); +/*! + * @brief This API is used to convert the accel z raw data + * to meterpersecseq output as double + * + * @param accel_z_d : The accel z meterpersecseq data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_msq( +double *accel_z_d); +/*! + * @brief This API is used to convert the accel x raw data + * to millig output as double + * + * @param accel_x_d : The accel x millig data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_mg( +double *accel_x_d); +/*! + * @brief This API is used to convert the accel y raw data + * to millig output as double + * + * @param accel_y_d : The accel y millig data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_mg( +double *accel_y_d); +/*! + * @brief This API is used to convert the accel z raw data + * to millig output as double + * + * @param accel_z_d : The accel z millig data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_mg( +double *accel_z_d); +/*! + * @brief This API is used to convert the accel xyz raw data + * to meterpersecseq output as double + * + * @param accel_xyz : The meterpersecseq data of accel xyz + * + * Parameter | result + * --------- | ----------------- + * x | meterpersecseq data of accel + * y | meterpersecseq data of accel + * z | meterpersecseq data of accel + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_msq( +struct bno055_accel_double_t *accel_xyz); +/*! + * @brief This API is used to convert the accel xyz raw data + * to millig output as double + * + * @param accel_xyz : The millig data of accel xyz + * + * Parameter | result + * --------- | ----------------- + * x | millig data of accel + * y | millig data of accel + * z | millig data of accel + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_mg( +struct bno055_accel_double_t *accel_xyz); +/**************************************************************************/ +/**\name FUNCTIONS FOR READING MAG DATA OUTPUT AS DOUBLE PRECISION */ +/*************************************************************************/ +/*! + * @brief This API is used to convert the mag x raw data + * to microTesla output as double + * + * @param mag_x_d : The mag x microTesla data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_x_uT( +double *mag_x_d); +/*! + * @brief This API is used to convert the mag x raw data + * to microTesla output as double + * + * @param mag_y_d : The mag x microTesla data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_y_uT( +double *mag_y_d); +/*! + * @brief This API is used to convert the mag z raw data + * to microTesla output as double + * + * @param mag_z_d : The mag z microTesla data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_z_uT( +double *mag_z_d); +/*! + * @brief This API is used to convert the mag yz raw data + * to microTesla output as double + * + * @param mag_xyz : The microTesla data of mag xyz + * + * Parameter | result + * --------- | ----------------- + * x | microTesla data of mag + * y | microTesla data of mag + * z | microTesla data of mag + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_xyz_uT( +struct bno055_mag_double_t *mag_xyz); +/**************************************************************************/ +/**\name FUNCTIONS FOR READING GYRO DATA OUTPUT AS DOUBLE PRECISION */ +/*************************************************************************/ +/*! + * @brief This API is used to convert the gyro x raw data + * to dps output as double + * + * @param gyro_x_d : The gyro x dps double data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_dps( +double *gyro_x_d); +/*! + * @brief This API is used to convert the gyro y raw data + * to dps output as double + * + * @param gyro_y_d : The gyro y dps double data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_dps( +double *gyro_y_d); +/*! + * @brief This API is used to convert the gyro z raw data + * to dps output as double + * + * @param gyro_z_d : The gyro z dps double data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_dps( +double *gyro_z_d); +/*! + * @brief This API is used to convert the gyro x raw data + * to rps output as double + * + * @param gyro_x_d : The gyro x dps double data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_rps( +double *gyro_x_d); +/*! + * @brief This API is used to convert the gyro y raw data + * to rps output as double + * + * @param gyro_y_d : The gyro y dps double data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_rps( +double *gyro_y_d); +/*! + * @brief This API is used to convert the gyro z raw data + * to rps output as double + * + * @param gyro_z_d : The gyro z rps double data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_rps( +double *gyro_z_d); +/*! + * @brief This API is used to convert the gyro xyz raw data + * to dps output as double + * + * @param gyro_xyz : The dps data of gyro xyz + * + * Parameter | result + * --------- | ----------------- + * x | dps data of gyro + * y | dps data of gyro + * z | dps data of gyro + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_dps( +struct bno055_gyro_double_t *gyro_xyz); +/*! + * @brief This API is used to convert the gyro xyz raw data + * to rps output as double + * + * @param gyro_xyz : The rps data of gyro xyz + * + * Parameter | result + * --------- | ----------------- + * x | rps data of gyro + * y | rps data of gyro + * z | rps data of gyro + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_rps( +struct bno055_gyro_double_t *gyro_xyz); +/**************************************************************************/ +/**\name FUNCTIONS FOR READING EULER DATA OUTPUT AS DOUBLE PRECISION */ +/*************************************************************************/ +/*! + * @brief This API is used to convert the Euler h raw data + * to degree output as double + * + * @param euler_h_d : The double value of Euler h degree + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_deg( +double *euler_h_d); +/*! + * @brief This API is used to convert the Euler p raw data + * to degree output as double + * + * @param euler_p_d : The double value of Euler p degree + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_deg( +double *euler_p_d); +/*! + * @brief This API is used to convert the Euler r raw data + * to degree output as double + * + * @param euler_r_d : The double value of Euler r degree + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_deg( +double *euler_r_d); +/*! + * @brief This API is used to convert the Euler h raw data + * to radians output as double + * + * @param euler_h_d : The double value of Euler h radians + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_rad( +double *euler_h_d); +/*! + * @brief This API is used to convert the Euler p raw data + * to radians output as double + * + * @param euler_p_d : The double value of Euler p radians + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ + +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_rad( +double *euler_p_d); +/*! + * @brief This API is used to convert the Euler r raw data + * to radians output as double + * + * @param euler_r_d : The double value of Euler r radians + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_rad( +double *euler_r_d); +/*! + * @brief This API is used to convert the Euler hpr raw data + * to degree output as double + * + * @param euler_hpr : The degree data of Euler hpr + * + * Parameter | result + * --------- | ----------------- + * h | degree data of Euler + * r | degree data of Euler + * p | degree data of Euler + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_deg( +struct bno055_euler_double_t *euler_hpr); +/*! + * @brief This API is used to convert the Euler hpr raw data + * to radians output as double + * + * @param euler_hpr : The radians data of Euler hpr + * + * Parameter | result + * --------- | ----------------- + * h | radians data of Euler + * r | radians data of Euler + * p | radians data of Euler + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_rad( +struct bno055_euler_double_t *euler_hpr); +/****************************************************************************/ +/**\name FUNCTIONS FOR READING LINEAR ACCEL DATA OUTPUT AS DOUBLE PRECISION */ +/****************************************************************************/ +/*! + * @brief This API is used to convert the linear + * accel x raw data to meterpersecseq output as double + * + * @param linear_accel_x_d : The double value of + * linear accel x meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_x_msq( +double *linear_accel_x_d); +/*! + * @brief This API is used to convert the linear + * accel y raw data to meterpersecseq output as double + * + * @param linear_accel_y_d : The double value of + * linear accel y meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_y_msq( +double *linear_accel_y_d); +/*! + * @brief This API is used to convert the linear + * accel z raw data to meterpersecseq output as double + * + * @param linear_accel_z_d : The double value of + * linear accel z meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ + +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_z_msq( +double *linear_accel_z_d); +/*! + * @brief This API is used to convert the linear accel xyz raw data + * to meterpersecseq output as double + * + * @param linear_accel_xyz : The meterpersecseq data of linear accel xyz + * + * Parameter | result + * --------- | ----------------- + * x | meterpersecseq data of linear accel + * y | meterpersecseq data of linear accel + * z | meterpersecseq data of linear accel + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ + +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_xyz_msq( +struct bno055_linear_accel_double_t *linear_accel_xyz); +/**************************************************************************/ +/**\name FUNCTIONS FOR READING GRAVITY DATA OUTPUT AS DOUBLE PRECISION */ +/*************************************************************************/ +/*! + * @brief This API is used to convert the gravity + * x raw data to meterpersecseq output as double + * + * @param gravity_x_d : The double value of gravity x meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_x_msq( +double *gravity_x_d); +/*! + * @brief This API is used to convert the gravity + * y raw data to meterpersecseq output as double + * + * @param gravity_y_d : The double value of gravity y meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_y_msq( +double *gravity_y_d); +/*! + * @brief This API is used to convert the gravity + * z raw data to meterpersecseq output as double + * + * @param gravity_z_d : The double value of gravity z meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_z_msq( +double *gravity_z_d); +/*! + * @brief This API is used to convert the gravity xyz raw data + * to meterpersecseq output as double + * + * @param gravity_xyz : The meterpersecseq data of gravity xyz + * + * Parameter | result + * --------- | ----------------- + * x | meterpersecseq data of gravity + * y | meterpersecseq data of gravity + * z | meterpersecseq data of gravity + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gravity_xyz_msq( +struct bno055_gravity_double_t *gravity_xyz); +/**************************************************************************/ +/**\name FUNCTIONS FOR READING TEMPERATURE DATA OUTPUT AS DOUBLE PRECISION*/ +/*************************************************************************/ +/*! + * @brief This API is used to convert the temperature + * data to Fahrenheit output as double + * + * @param temp_d : The double value of temperature Fahrenheit + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_fahrenheit( +double *temp_d); +/*! + * @brief This API is used to convert the temperature + * data to Celsius output as double + * + * @param temp_d : The double value of temperature Celsius + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_celsius( +double *temp_d); +#endif +/**************************************************************************/ +/**\name FUNCTIONS FOR READING ACCEL,MAG,GYRO AND SYSTEM CALIBRATION STATUS*/ +/*************************************************************************/ +/*! + * @brief This API used to read + * mag calibration status from register from 0x35 bit 0 and 1 + * + * @param mag_calib_u8 : The value of mag calib status + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_calib_stat( +u8 *mag_calib_u8); +/*! + * @brief This API used to read + * accel calibration status from register from 0x35 bit 2 and 3 + * + * @param accel_calib_u8 : The value of accel calib status + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_calib_stat( +u8 *accel_calib_u8); +/*! + * @brief This API used to read + * gyro calibration status from register from 0x35 bit 4 and 5 + * + * @param gyro_calib_u8 : The value of gyro calib status + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_calib_stat( +u8 *gyro_calib_u8); +/*! + * @brief This API used to read + * system calibration status from register from 0x35 bit 6 and 7 + * + * @param sys_calib_u8 : The value of system calib status + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_calib_stat( +u8 *sys_calib_u8); +/******************************************************************/ +/**\name FUNCTIONS FOR READING ACCEL,MAG,GYRO AND SYSTEM SELF TEST */ +/******************************************************************/ +/*! + * @brief This API used to read + * self test of accel from register from 0x36 bit 0 + * + * @param selftest_accel_u8 : The value of self test of accel + * + * selftest_accel_u8 | result + * -------------------- | --------------------- + * 0x00 | indicates test failed + * 0x01 | indicated test passed + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_accel( +u8 *selftest_accel_u8); +/*! + * @brief This API used to read + * self test of mag from register from 0x36 bit 1 + * + * @param selftest_mag_u8 : The value of self test of mag + * + * selftest_mag_u8 | result + * -------------------- | --------------------- + * 0x00 | indicates test failed + * 0x01 | indicated test passed + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mag( +u8 *selftest_mag_u8); +/*! + * @brief This API used to read + * self test of gyro from register from 0x36 bit 2 + * + * @param selftest_gyro_u8 : The value of self test of gyro + * + * selftest_gyro_u8 | result + * -------------------- | --------------------- + * 0x00 | indicates test failed + * 0x01 | indicated test passed + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_gyro( +u8 *selftest_gyro_u8); +/*! + * @brief This API used to read + * self test of micro controller from register from 0x36 bit 3 + * + * @param selftest_mcu_u8 : The value of self test of micro controller + * + * selftest_mcu_u8 | result + * -------------------- | --------------------- + * 0x00 | indicates test failed + * 0x01 | indicated test passed + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mcu( +u8 *selftest_mcu_u8); +/*****************************************************/ +/**\name FUNCTIONS FOR READING GYRO INTERRUPT STATUS */ +/*****************************************************/ +/*! + * @brief This API used to read the stat_s8 of + * gyro anymotion interrupt from register from 0x37 bit 2 + * + * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt + * + * gyro_any_motion_u8 | result + * -------------------- | --------------------- + * 0x00 | indicates no interrupt triggered + * 0x01 | indicates interrupt triggered + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro anymotion interrupt can be BNO055_BIT_ENABLE + * by the following APIs + * + * bno055_set_intr_mask_gyro_any_motion() + * + * bno055_set_intr_gyro_any_motion() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_any_motion( +u8 *gyro_any_motion_u8); +/*! + * @brief This API used to read the stat_s8 of + * gyro highrate interrupt from register from 0x37 bit 3 + * + * @param gyro_highrate_u8 : The value of gyro highrate interrupt + * + * gyro_highrate_u8 | result + * ------------------- | --------------------- + * 0x00 | indicates no interrupt triggered + * 0x01 | indicates interrupt triggered + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate interrupt can be configured + * by the following APIs + * + * bno055_set_intr_mask_gyro_highrate() + * + * bno055_set_intr_gyro_highrate() + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_highrate( +u8 *gyro_highrate_u8); +/*****************************************************/ +/**\name FUNCTIONS FOR READING ACCEL INTERRUPT STATUS */ +/*****************************************************/ +/*! + * @brief This API used to read the status of + * accel highg interrupt from register from 0x37 bit 5 + * + * @param accel_high_g_u8 : The value of accel highg interrupt + * + * accel_high_g_u8 | result + * ------------------- | --------------------- + * 0x00 | indicates no interrupt triggered + * 0x01 | indicates interrupt triggered + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Accel highg interrupt can be configured + * by the following APIs + * + * bno055_set_intr_mask_accel_high_g() + * + * bno055_set_intr_accel_high_g() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_high_g( +u8 *accel_high_g_u8); +/*! + * @brief This API used to read the stat_s8 of + * accel anymotion interrupt from register from 0x37 bit 6 + * + * @param accel_any_motion_u8 : The value of accel anymotion interrupt + * + * accel_any_motion_u8 | result + * ------------------- | --------------------- + * 0x00 | indicates no interrupt triggered + * 0x01 | indicates interrupt triggered + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Accel anymotion interrupt can be configured + * by the following APIs + * + * bno055_set_intr_mask_accel_any_motion() + * + * bno055_set_intr_accel_any_motion() + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_any_motion( +u8 *accel_any_motion_u8); +/*! + * @brief This API used to read the stat_s8 of + * accel nomotion/slowmotion interrupt from register from 0x37 bit 6 + * + * @param accel_no_motion_u8 : + * The value of accel nomotion/slowmotion interrupt + * + * accel_no_motion_u8 | result + * ------------------- | --------------------- + * 0x00 | indicates no interrupt triggered + * 0x01 | indicates interrupt triggered + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Accel nomotion/slowmotion interrupt can be configured + * by the following APIs + * + * bno055_set_intr_mask_accel_nomotion() + * + * bno055_set_intr_accel_nomotion() + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_no_motion( +u8 *accel_no_motion_u8); +/**************************************************************************/ +/**\name FUNCTIONS FOR READING SYSTEM CLOCK, STATUS AND BNO055_ERROR CODE */ +/*************************************************************************/ +/*! + * @brief This API is used to read status of main clock + * from the register 0x38 bit 0 + * + * @param stat_main_clk_u8 : the status of main clock + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_stat_main_clk( +u8 *stat_main_clk_u8); +/*! + * @brief This API is used to read system status + * code from the register 0x39 it is a byte of data + * + * @param sys_stat_u8 : the status of system + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_stat_code( +u8 *sys_stat_u8); +/*! + * @brief This API is used to read system BNO055_ERROR + * code from the register 0x3A it is a byte of data + * + * @param sys_error_u8 : The value of system BNO055_ERROR code + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_error_code( +u8 *sys_error_u8); +/********************************************/ +/**\name FUNCTIONS FOR ACCEL UNIT SELECTION */ +/********************************************/ +/*! + * @brief This API used to read the accel unit + * from register from 0x3B bit 0 + * + * @param accel_unit_u8 : The value of accel unit + * + * accel_unit_u8 | result + * ------------- | --------------- + * 0x00 | BNO055_ACCEL_UNIT_MSQ + * 0x01 | BNO055_ACCEL_UNIT_MG + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_unit( +u8 *accel_unit_u8); +/*! + * @brief This API used to write the accel unit + * from register from 0x3B bit 0 + * + * @param accel_unit_u8 : The value of accel unit + * + * accel_unit_u8 | result + * ------------- | --------------- + * 0x00 | BNO055_ACCEL_UNIT_MSQ + * 0x01 | BNO055_ACCEL_UNIT_MG + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_unit( +u8 accel_unit_u8); +/********************************************/ +/**\name FUNCTIONS FOR GYRO UNIT SELECTION */ +/********************************************/ +/*! + * @brief This API used to read the gyro unit + * from register from 0x3B bit 1 + * + * @param gyro_unit_u8 : The value of accel unit + * + * gyro_unit_u8 | result + * ------------- | ----------- + * 0x00 | BNO055_GYRO_UNIT_DPS + * 0x01 | BNO055_GYRO_UNIT_RPS + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_unit( +u8 *gyro_unit_u8); +/*! + * @brief This API used to write the gyro unit + * from register from 0x3B bit 1 + * + * @param gyro_unit_u8 : The value of accel unit + * + * gyro_unit_u8 | result + * ------------- | ----------- + * 0x00 | BNO055_GYRO_UNIT_DPS + * 0x01 | BNO055_GYRO_UNIT_RPS + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_unit(u8 gyro_unit_u8); +/********************************************/ +/**\name FUNCTIONS FOR EULER UNIT SELECTION */ +/********************************************/ +/*! + * @brief This API used to read the Euler unit + * from register from 0x3B bit 2 + * + * @param euler_unit_u8 : The value of accel unit + * + * euler_unit_u8 | result + * -------------- | ----------- + * 0x00 | BNO055_EULER_UNIT_DEG + * 0x01 | BNO055_EULER_UNIT_RAD + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_euler_unit( +u8 *euler_unit_u8); +/*! + * @brief This API used to write the Euler unit + * from register from 0x3B bit 2 + * + * @param euler_unit_u8 : The value of Euler unit + * + * euler_unit_u8 | result + * -------------- | ----------- + * 0x00 | BNO055_EULER_UNIT_DEG + * 0x01 | BNO055_EULER_UNIT_RAD + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_euler_unit(u8 euler_unit_u8); +/********************************************/ +/**\name FUNCTIONS FOR TILT UNIT SELECTION */ +/********************************************/ +/*! + * @brief This API used to write the tilt unit + * from register from 0x3B bit 3 + * + * @param tilt_unit_u8 : The value of tilt unit + * + * tilt_unit_u8 | result + * --------------- | --------- + * 0x00 | degrees + * 0x01 | radians + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_tilt_unit( +u8 *tilt_unit_u8); +/*! + * @brief This API used to write the tilt unit + * from register from 0x3B bit 3 + * + * @param tilt_unit_u8 : The value of tilt unit + * + * tilt_unit_u8 | result + * --------------- | --------- + * 0x00 | degrees + * 0x01 | radians + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + * + * \return Communication results + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_tilt_unit( +u8 tilt_unit_u8); +/**************************************************/ +/**\name FUNCTIONS FOR TEMPERATURE UNIT SELECTION */ +/**************************************************/ +/*! + * @brief This API used to read the temperature unit + * from register from 0x3B bit 4 + * + * @param temp_unit_u8 : The value of temperature unit + * + * temp_unit_u8 | result + * ----------- | -------------- + * 0x00 | BNO055_TEMP_UNIT_CELSIUS + * 0x01 | BNO055_TEMP_UNIT_FAHRENHEIT + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_unit( +u8 *temp_unit_u8); +/*! + * @brief This API used to write the temperature unit + * from register from 0x3B bit 4 + * + * @param temp_unit_u8 : The value of temperature unit + * + * temp_unit_u8 | result + * ----------- | -------------- + * 0x00 | BNO055_TEMP_UNIT_CELSIUS + * 0x01 | BNO055_TEMP_UNIT_FAHRENHEIT + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_unit( +u8 temp_unit_u8); +/**************************************************/ +/**\name FUNCTIONS FOR DATA OUTPUT FORMAT SELECT */ +/**************************************************/ +/*! + * @brief This API used to read the current selected orientation mode + * from register from 0x3B bit 7 + * + * @param data_output_format_u8 : The value of data output format + * + * data_output_format_u8 | result + * -------------------- | -------- + * 0x00 | Windows + * 0x01 | Android + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_data_output_format( +u8 *data_output_format_u8); +/*! + * @brief This API used to read the current selected orientation mode + * from register from 0x3B bit 7 + * + * @param data_output_format_u8 : The value of data output format + * + * data_output_format_u8 | result + * -------------------- | -------- + * 0x00 | Windows + * 0x01 | Android + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_data_output_format( +u8 data_output_format_u8); +/**************************************************/ +/**\name FUNCTIONS FOR DATA OPERATION MODE */ +/**************************************************/ +/*! @brief This API used to read the operation mode + * from register from 0x3D bit 0 to 3 + * + * @param operation_mode_u8 : The value of operation mode + * + * operation_mode_u8 | result | comments + * ----------|----------------------------|---------------------------- + * 0x00 | BNO055_OPERATION_MODE_CONFIG | Configuration mode + * 0x01 | BNO055_OPERATION_MODE_ACCONLY | Reads accel data alone + * 0x02 | BNO055_OPERATION_MODE_MAGONLY | Reads mag data alone + * 0x03 | BNO055_OPERATION_MODE_GYRONLY | Reads gyro data alone + * 0x04 | BNO055_OPERATION_MODE_ACCMAG | Reads accel and mag data + * 0x05 | BNO055_OPERATION_MODE_ACCGYRO | Reads accel and gyro data + * 0x06 | BNO055_OPERATION_MODE_MAGGYRO | Reads accel and mag data + * 0x07 | OPERATION_MODE_ANY_MOTION | Reads accel mag and gyro data + * 0x08 | BNO055_OPERATION_MODE_IMUPLUS | Inertial measurement unit + * - | - | Reads accel,gyro and fusion data + * 0x09 | BNO055_OPERATION_MODE_COMPASS | Reads accel, mag data + * - | - | and fusion data + * 0x0A | BNO055_OPERATION_MODE_M4G | Reads accel, mag data + * - | - | and fusion data + * 0x0B | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with + * - | - | fast magnetic calibration + * - | - | Reads accel,mag, gyro + * - | - | and fusion data + * 0x0C | BNO055_OPERATION_MODE_NDOF | Nine degrees of freedom + * - | - | Reads accel,mag, gyro + * - | - | and fusion data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note In the config mode, all sensor and fusion data + * becomes zero and it is mainly derived + * to configure the various settings of the BNO + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_operation_mode( +u8 *operation_mode_u8); +/*! @brief This API used to write the operation mode + * from register from 0x3D bit 0 to 3 + * + * @param operation_mode_u8 : The value of operation mode + * + * operation_mode_u8 | result | comments + * ---------|-----------------------------------|-------------------------- + * 0x00 | BNO055_OPERATION_MODE_CONFIG | Configuration mode + * 0x01 | BNO055_OPERATION_MODE_ACCONLY | Reads accel data alone + * 0x02 | BNO055_OPERATION_MODE_MAGONLY | Reads mag data alone + * 0x03 | BNO055_OPERATION_MODE_GYRONLY | Reads gyro data alone + * 0x04 | BNO055_OPERATION_MODE_ACCMAG | Reads accel and mag data + * 0x05 | BNO055_OPERATION_MODE_ACCGYRO | Reads accel and gyro data + * 0x06 | BNO055_OPERATION_MODE_MAGGYRO | Reads accel and mag data + * 0x07 | OPERATION_MODE_ANY_MOTION | Reads accel mag and + * | - | gyro data + * 0x08 | BNO055_OPERATION_MODE_IMUPLUS | Inertial measurement unit + * - | | Reads accel,gyro and + * | - | fusion data + * 0x09 | BNO055_OPERATION_MODE_COMPASS | Reads accel, mag data + * - | - | and fusion data + * 0x0A | BNO055_OPERATION_MODE_M4G | Reads accel, mag data + * - | - | and fusion data + * 0x0B | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with + * - | - | fast magnetic calibration + * - | - | Reads accel,mag, gyro + * - | - | and fusion data + * 0x0C | BNO055_OPERATION_MODE_NDOF | Nine degrees of freedom + * - | - | Reads accel,mag, gyro + * - | - | and fusion data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note In the config mode, all sensor and fusion data + * becomes zero and it is mainly derived + * to configure the various settings of the BNO + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_operation_mode(u8 operation_mode_u8); +/**************************************************/ +/**\name FUNCTIONS FOR POWER MODE */ +/**************************************************/ +/*! @brief This API used to read the power mode + * from register from 0x3E bit 0 to 1 + * + * @param power_mode_u8 : The value of power mode + * + * power_mode_u8| result | comments + * ---------|---------------------------|------------------------------------- + * 0x00 |BNO055_POWER_MODE_NORMAL | In the NORMAL mode the register + * - | - | map and the internal peripherals + * - | - | of the MCU are always + * - | - | operative in this mode + * 0x01 |BNO055_POWER_MODE_LOWPOWER | This is first level of power + * | - | saving mode + * 0x02 |BNO055_POWER_MODE_SUSPEND | In suspend mode the system is + * - | - | paused and all the sensors and + * - | - | the micro controller are + * - | - | put into sleep mode. + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note For detailed about LOWPOWER mode + * refer data sheet 3.4.2 + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_power_mode( +u8 *power_mode_u8); +/*! @brief This API used to write the power mode + * from register from 0x3E bit 0 to 1 + * + * @param power_mode_u8 : The value of power mode + * + * + * power_mode_u8| result | comments + * -------|----------------------------|--------------------------------- + * 0x00 | BNO055_POWER_MODE_NORMAL | In the NORMAL mode the register + * - | - | map and the internal peripherals + * - | - | of the MCU are always + * - | - | operative in this mode + * 0x01 | BNO055_POWER_MODE_LOWPOWER | This is first level of power + * | - | saving mode + * 0x02 | BNO055_POWER_MODE_SUSPEND | In suspend mode the system is + * - | - | paused and all the sensors and + * - | - | the micro controller are + * - | - | put into sleep mode. + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note For detailed about LOWPOWER mode + * refer data sheet 3.4.2 + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_power_mode(u8 power_mode_u8); +/**************************************************/ +/**\name FUNCTIONS FOR RESET INTERRUPT */ +/**************************************************/ +/*! + * @brief This API used to read the reset interrupt + * from register from 0x3F bit 6 + * It resets all the interrupt bit and interrupt output + * + * @param intr_rst_u8 : The value of reset interrupt + * + * intr_rst_u8 | result + * -------------|---------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_rst( +u8 *intr_rst_u8); +/*! + * @brief This API used to write the reset interrupt + * from register from 0x3F bit 6 + * It resets all the interrupt bit and interrupt output + * + * @param intr_rst_u8 : The value of reset interrupt + * + * intr_rst_u8 | result + * -------------- |---------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_rst(u8 intr_rst_u8); +/**************************************************/ +/**\name FUNCTIONS FOR CLOCK SOURCE */ +/**************************************************/ +/*! + * @brief This API used to read the clk source + * from register from 0x3F bit 7 + * + * @param clk_src_u8 : The value of clk source + * + * clk_src_u8 | result + * -------------|---------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_clk_src( +u8 *clk_src_u8); +/*! + * @brief This API used to write the clk source + * from register from 0x3F bit 7 + * + * @param clk_src_u8 : The value of clk source + * + * clk_src_u8 | result + * -------------- |---------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_clk_src(u8 clk_src_u8); +/**************************************************/ +/**\name FUNCTIONS FOR RESET SYSTEM */ +/**************************************************/ +/*! + * @brief This API used to read the reset system + * from register from 0x3F bit 5 + * + * @param sys_rst_u8 : The value of reset system + * + * sys_rst_u8 | result + * -------------- |---------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note It resets the whole system + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_rst( +u8 *sys_rst_u8); +/*! + * @brief This API used to write the reset system + * from register from 0x3F bit 5 + * + * @param sys_rst_u8 : The value of reset system + * + * sys_rst_u8 | result + * -------------- |---------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note It resets the whole system + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_sys_rst(u8 sys_rst_u8); +/**************************************************/ +/**\name FUNCTIONS FOR SELF TEST */ +/**************************************************/ +/*! + * @brief This API used to read the self test + * from register from 0x3F bit 0 + * + * @param selftest_u8 : The value of self test + * + * selftest_u8 | result + * -------------- |---------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note It triggers the self test + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest( +u8 *selftest_u8); +/*! + * @brief This API used to write the self test + * from register from 0x3F bit 0 + * + * @param selftest_u8 : The value of self test + * + * selftest_u8 | result + * -------------- |---------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note It triggers the self test + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_selftest(u8 selftest_u8); +/**************************************************/ +/**\name FUNCTIONS FOR TEMPERATURE SOURCE */ +/**************************************************/ +/*! + * @brief This API used to read the temperature source + * from register from 0x40 bit 0 and 1 + * + * @param temp_source_u8 : The value of selected temperature source + * + * temp_source_u8 | result + * ---------------- |--------------- + * 0x00 | BNO055_ACCEL_TEMP_EN + * 0X01 | BNO055_GYRO_TEMP_EN + * 0X03 | BNO055_MCU_TEMP_EN + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_source( +u8 *temp_source_u8); +/*! + * @brief This API used to write the temperature source + * from register from 0x40 bit 0 and 1 + * + * @param temp_source_u8 : The value of selected temperature source + * + * temp_source_u8 | result + * ---------------- |--------------- + * 0x00 | BNO055_ACCEL_TEMP_EN + * 0X01 | BNO055_GYRO_TEMP_EN + * 0X03 | BNO055_MCU_TEMP_EN + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_source(u8 temp_source_u8); +/**************************************************/ +/**\name APIs FOR AXIS REMAP */ +/**************************************************/ +/*! + * @brief This API used to read the axis remap value + * from register from 0x41 bit 0 and 5 + * + * @param remap_axis_u8 : The value of axis remapping + * + * remap_axis_u8 | result | comments + * ------------|-------------------|------------ + * 0X21 | BNO055_REMAP_X_Y | Z=Z;X=Y;Y=X + * 0X18 | BNO055_REMAP_Y_Z | X=X;Y=Z;Z=Y + * 0X06 | BNO055_REMAP_Z_X | Y=Y;X=Z;Z=X + * 0X12 | BNO055_REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y + * 0X09 | BNO055_REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X + * 0X24 | BNO055_DEFAULT_AXIS | X=X;Y=Y;Z=Z + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note : For axis sign remap refer the following APIs + * x-axis : + * + * bno055_set_x_remap_sign() + * + * y-axis : + * + * bno055_set_y_remap_sign() + * + * z-axis : + * + * bno055_set_z_remap_sign() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_axis_remap_value( +u8 *remap_axis_u8); +/*! + * @brief This API used to write the axis remap value + * from register from 0x41 bit 0 and 5 + * + * @param remap_axis_u8 : The value of axis remapping + * + * remap_axis_u8 | result | comments + * ------------|--------------------------|------------ + * 0X21 | BNO055_REMAP_X_Y | Z=Z;X=Y;Y=X + * 0X18 | BNO055_REMAP_Y_Z | X=X;Y=Z;Z=Y + * 0X06 | BNO055_REMAP_Z_X | Y=Y;X=Z;Z=X + * 0X12 | BNO055_REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y + * 0X09 | BNO055_REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X + * 0X24 | BNO055_DEFAULT_AXIS | X=X;Y=Y;Z=Z + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note : For axis sign remap refer the following APIs + * x-axis : + * + * bno055_set_x_remap_sign() + * + * y-axis : + * + * bno055_set_y_remap_sign() + * + * z-axis : + * + * bno055_set_z_remap_sign() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_axis_remap_value( +u8 remap_axis_u8); +/**************************************************/ +/**\name APIs FOR AXIS REMAP SIGN */ +/**************************************************/ +/*! + * @brief This API used to read the x-axis remap + * sign from register from 0x42 bit 2 + * + * @param remap_x_sign_u8 : The value of x-axis remap sign + * + * remap_x_sign_u8 | result + * ------------------- |-------------------- + * 0X00 | BNO055_REMAP_AXIS_POSITIVE + * 0X01 | BNO055_REMAP_AXIS_NEGATIVE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_x_sign( +u8 *remap_x_sign_u8); +/*! + * @brief This API used to write the x-axis remap + * sign from register from 0x42 bit 2 + * + * @param remap_x_sign_u8 : The value of x-axis remap sign + * + * remap_x_sign_u8 | result + * ------------------- |-------------------- + * 0X00 | BNO055_REMAP_AXIS_POSITIVE + * 0X01 | BNO055_REMAP_AXIS_NEGATIVE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_x_sign( +u8 remap_x_sign_u8); +/*! + * @brief This API used to read the y-axis remap + * sign from register from 0x42 bit 1 + * + * @param remap_y_sign_u8 : The value of y-axis remap sign + * + * remap_y_sign_u8 | result + * ------------------- |-------------------- + * 0X00 | BNO055_REMAP_AXIS_POSITIVE + * 0X01 | BNO055_REMAP_AXIS_NEGATIVE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_y_sign( +u8 *remap_y_sign_u8); +/*! + * @brief This API used to write the y-axis remap + * sign from register from 0x42 bit 1 + * + * @param remap_y_sign_u8 : The value of y-axis remap sign + * + * remap_y_sign_u8 | result + * ------------------- |-------------------- + * 0X00 | BNO055_REMAP_AXIS_POSITIVE + * 0X01 | BNO055_REMAP_AXIS_NEGATIVE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_y_sign( +u8 remap_y_sign_u8); +/*! + * @brief This API used to read the z-axis remap + * sign from register from 0x42 bit 0 + * + * @param remap_z_sign_u8 : The value of z-axis remap sign + * + * remap_z_sign_u8 | result + * ------------------- |-------------------- + * 0X00 | BNO055_REMAP_AXIS_POSITIVE + * 0X01 | BNO055_REMAP_AXIS_NEGATIVE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_z_sign( +u8 *remap_z_sign_u8); +/*! + * @brief This API used to write the z-axis remap + * sign from register from 0x42 bit 0 + * + * @param remap_z_sign_u8 : The value of z-axis remap sign + * + * remap_z_sign_u8 | result + * ------------------|-------------------- + * 0X00 | BNO055_REMAP_AXIS_POSITIVE + * 0X01 | BNO055_REMAP_AXIS_NEGATIVE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_z_sign( +u8 remap_z_sign_u8); +/*****************************************************/ +/**\name FUNCTIONS FOR SOFT IRON CALIBRATION MATRIX */ +/*****************************************************/ +/*! + * @brief This API is used to read soft iron calibration matrix + * from the register 0x43 to 0x53 it is a 18 bytes of data + * + * @param sic_matrix : The value of soft iron calibration matrix + * + * sic_matrix | result + * --------------------|---------------------------------- + * sic_0 | soft iron calibration matrix zero + * sic_1 | soft iron calibration matrix one + * sic_2 | soft iron calibration matrix two + * sic_3 | soft iron calibration matrix three + * sic_4 | soft iron calibration matrix four + * sic_5 | soft iron calibration matrix five + * sic_6 | soft iron calibration matrix six + * sic_7 | soft iron calibration matrix seven + * sic_8 | soft iron calibration matrix eight + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note : Each soft iron calibration matrix range from -32768 to +32767 + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_sic_matrix( +struct bno055_sic_matrix_t *sic_matrix); +/*! + * @brief This API is used to write soft iron calibration matrix + * from the register 0x43 to 0x53 it is a 18 bytes of data + * + * @param sic_matrix : The value of soft iron calibration matrix + * + * sic_matrix | result + * --------------------|---------------------------------- + * sic_0 | soft iron calibration matrix zero + * sic_1 | soft iron calibration matrix one + * sic_2 | soft iron calibration matrix two + * sic_3 | soft iron calibration matrix three + * sic_4 | soft iron calibration matrix four + * sic_5 | soft iron calibration matrix five + * sic_6 | soft iron calibration matrix six + * sic_7 | soft iron calibration matrix seven + * sic_8 | soft iron calibration matrix eight + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note : Each soft iron calibration matrix range from -32768 to +32767 + */ +BNO055_RETURN_FUNCTION_TYPE bno055_write_sic_matrix( +struct bno055_sic_matrix_t *sic_matrix); +/*****************************************************/ +/**\name FUNCTIONS FOR ACCEL OFFSET AND RADIUS */ +/*****************************************************/ +/*! + * @brief This API is used to read accel offset and accel radius + * offset form register 0x55 to 0x5A and radius form 0x67 and 0x68 + * + * @param accel_offset : The value of accel offset and radius + * + * bno055_accel_offset_t | result + * ------------------- | ---------------- + * x | accel offset x + * y | accel offset y + * z | accel offset z + * r | accel offset r + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note The range of the accel offset varies based on + * the G-range of accel sensor. + * + * accel G range | offset range + * --------------- | -------------- + * BNO055_ACCEL_RANGE_2G | +/-2000 + * BNO055_ACCEL_RANGE_4G | +/-4000 + * BNO055_ACCEL_RANGE_8G | +/-8000 + * BNO055_ACCEL_RANGE_16G | +/-16000 + * + * accel G range can be configured by using the + * bno055_set_accel_range() API + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_offset( +struct bno055_accel_offset_t *accel_offset); +/*! + * @brief This API is used to write accel offset and accel radius + * offset form register 0x55 to 0x5A and radius form 0x67 and 0x68 + * + * @param accel_offset : The value of accel offset and radius + * + * bno055_accel_offset_t | result + * ------------------- | ---------------- + * x | accel offset x + * y | accel offset y + * z | accel offset z + * r | accel offset r + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note The range of the accel offset varies based on + * the G-range of accel sensor. + * + * accel G range | offset range + * --------------- | -------------- + * BNO055_ACCEL_RANGE_2G | +/-2000 + * BNO055_ACCEL_RANGE_4G | +/-4000 + * BNO055_ACCEL_RANGE_8G | +/-8000 + * BNO055_ACCEL_RANGE_16G | +/-16000 + * + * accel G range can be configured by using the + * bno055_set_accel_range() API + */ +BNO055_RETURN_FUNCTION_TYPE bno055_write_accel_offset( +struct bno055_accel_offset_t *accel_offset); +/*****************************************************/ +/**\name FUNCTIONS FOR MAG OFFSET AND RADIUS*/ +/*****************************************************/ +/*! + * @brief This API is used to read mag offset + * offset form register 0x69 to 0x6A + * + * @param mag_offset : The value of mag offset and radius + * + * bno055_mag_offset_t | result + * ------------------- | ---------------- + * x | mag offset x + * y | mag offset y + * z | mag offset z + * r | mag radius r + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note The range of the magnetometer offset is +/-6400 in LSB + */ + +BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_offset( +struct bno055_mag_offset_t *mag_offset); +/*! + * @brief This API is used to read mag offset + * offset form register 0x69 to 0x6A + * + * @param mag_offset : The value of mag offset and radius + * + * bno055_mag_offset_t | result + * ------------------- | ---------------- + * x | mag offset x + * y | mag offset y + * z | mag offset z + * r | mag radius r + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note The range of the magnetometer offset is +/-6400 in LSB + */ +BNO055_RETURN_FUNCTION_TYPE bno055_write_mag_offset( +struct bno055_mag_offset_t *mag_offset); +/*****************************************************/ +/**\name FUNCTIONS FOR GYRO OFFSET */ +/*****************************************************/ +/*! + * @brief This API is used to read gyro offset + * offset form register 0x61 to 0x66 + * + * @param gyro_offset : The value of gyro offset + * + * bno055_gyro_offset_t | result + * ------------------- | ---------------- + * x | gyro offset x + * y | gyro offset y + * z | gyro offset z + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note The range of the gyro offset varies based on + * the range of gyro sensor + * + * gyro G range | offset range + * -------------------- | ------------ + * BNO055_GYRO_RANGE_2000DPS | +/-32000 + * BNO055_GYRO_RANGE_1000DPS | +/-16000 + * BNO055_GYRO_RANGE_500DPS | +/-8000 + * BNO055_GYRO_RANGE_250DPS | +/-4000 + * BNO055_GYRO_RANGE_125DPS | +/-2000 + * + * Gyro range can be configured by using the + * bno055_set_gyro_range() API + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_offset( +struct bno055_gyro_offset_t *gyro_offset); +/*! + * @brief This API is used to read gyro offset + * offset form register 0x61 to 0x66 + * + * @param gyro_offset : The value of gyro offset + * + * bno055_gyro_offset_t | result + * ------------------- | ---------------- + * x | gyro offset x + * y | gyro offset y + * z | gyro offset z + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note The range of the gyro offset varies based on + * the range of gyro sensor + * + * gyro G range | offset range + * -------------------- | ------------ + * BNO055_GYRO_RANGE_2000DPS | +/-32000 + * BNO055_GYRO_RANGE_1000DPS | +/-16000 + * BNO055_GYRO_RANGE_500DPS | +/-8000 + * BNO055_GYRO_RANGE_250DPS | +/-4000 + * BNO055_GYRO_RANGE_125DPS | +/-2000 + * + * Gyro range can be configured by using the + * bno055_set_gyro_range() API + */ +BNO055_RETURN_FUNCTION_TYPE bno055_write_gyro_offset( +struct bno055_gyro_offset_t *gyro_offset); +/********************************************************/ +/************** PAGE1 Functions *********************/ +/********************************************************/ +/*****************************************************/ +/**\name FUNCTIONS FOR ACCEL CONFIGURATION */ +/*****************************************************/ +/*! + * @brief This API used to read the accel range + * from page one register from 0x08 bit 0 and 1 + * + * @param accel_range_u8 : The value of accel range + * accel_range_u8 | result + * ----------------- | -------------- + * 0x00 | BNO055_ACCEL_RANGE_2G + * 0x01 | BNO055_ACCEL_RANGE_4G + * 0x02 | BNO055_ACCEL_RANGE_8G + * 0x03 | BNO055_ACCEL_RANGE_16G + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_range( +u8 *accel_range_u8); +/*! + * @brief This API used to write the accel range + * from page one register from 0x08 bit 0 and 1 + * + * @param accel_range_u8 : The value of accel range + * + * accel_range_u8 | result + * ----------------- | -------------- + * 0x00 | BNO055_ACCEL_RANGE_2G + * 0x01 | BNO055_ACCEL_RANGE_4G + * 0x02 | BNO055_ACCEL_RANGE_8G + * 0x03 | BNO055_ACCEL_RANGE_16G + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_range( +u8 accel_range_u8); +/*! + * @brief This API used to read the accel bandwidth + * from page one register from 0x08 bit 2 to 4 + * + * @param accel_bw_u8 : The value of accel bandwidth + * + * accel_bw_u8 | result + * ----------------- | --------------- + * 0x00 | BNO055_ACCEL_BW_7_81HZ + * 0x01 | BNO055_ACCEL_BW_15_63HZ + * 0x02 | BNO055_ACCEL_BW_31_25HZ + * 0x03 | BNO055_ACCEL_BW_62_5HZ + * 0x04 | BNO055_ACCEL_BW_125HZ + * 0x05 | BNO055_ACCEL_BW_250HZ + * 0x06 | BNO055_ACCEL_BW_500HZ + * 0x07 | BNO055_ACCEL_BW_1000HZ + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_bw( +u8 *accel_bw_u8); +/*! + * @brief This API used to write the accel bandwidth + * from page one register from 0x08 bit 2 to 4 + * + * @param accel_bw_u8 : The value of accel bandwidth + * + * accel_bw_u8 | result + * ----------------- | --------------- + * 0x00 | BNO055_ACCEL_BW_7_81HZ + * 0x01 | BNO055_ACCEL_BW_15_63HZ + * 0x02 | BNO055_ACCEL_BW_31_25HZ + * 0x03 | BNO055_ACCEL_BW_62_5HZ + * 0x04 | BNO055_ACCEL_BW_125HZ + * 0x05 | BNO055_ACCEL_BW_250HZ + * 0x06 | BNO055_ACCEL_BW_500HZ + * 0x07 | BNO055_ACCEL_BW_1000HZ + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_bw( +u8 accel_bw_u8); +/*! + * @brief This API used to read the accel power mode + * from page one register from 0x08 bit 5 to 7 + * + * @param accel_power_mode_u8 : The value of accel power mode + * accel_power_mode_u8 | result + * ----------------- | ------------- + * 0x00 | BNO055_ACCEL_NORMAL + * 0x01 | BNO055_ACCEL_SUSPEND + * 0x02 | BNO055_ACCEL_LOWPOWER_1 + * 0x03 | BNO055_ACCEL_STANDBY + * 0x04 | BNO055_ACCEL_LOWPOWER_2 + * 0x05 | BNO055_ACCEL_DEEPSUSPEND + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_power_mode( +u8 *accel_power_mode_u8); +/*! + * @brief This API used to write the accel power mode + * from page one register from 0x08 bit 5 to 7 + * + * @param accel_power_mode_u8 : The value of accel power mode + * accel_power_mode_u8 | result + * ----------------- | ------------- + * 0x00 | BNO055_ACCEL_NORMAL + * 0x01 | BNO055_ACCEL_SUSPEND + * 0x02 | BNO055_ACCEL_LOWPOWER_1 + * 0x03 | BNO055_ACCEL_STANDBY + * 0x04 | BNO055_ACCEL_LOWPOWER_2 + * 0x05 | BNO055_ACCEL_DEEPSUSPEND + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_power_mode( +u8 accel_power_mode_u8); +/*****************************************************/ +/**\name FUNCTIONS FOR MAG CONFIGURATION */ +/*****************************************************/ +/*! + * @brief This API used to read the mag output data rate + * from page one register from 0x09 bit 0 to 2 + * + * @param mag_data_output_rate_u8 : The value of mag output data rate + * + * mag_data_output_rate_u8 | result + * ---------------------- |---------------------- + * 0x00 | MAG_DATA_OUTPUT_RATE_2HZ + * 0x01 | MAG_DATA_OUTPUT_RATE_6HZ + * 0x02 | MAG_DATA_OUTPUT_RATE_8HZ + * 0x03 | MAG_DATA_OUTPUT_RATE_10HZ + * 0x04 | MAG_DATA_OUTPUT_RATE_15HZ + * 0x05 | MAG_DATA_OUTPUT_RATE_20HZ + * 0x06 | MAG_DATA_OUTPUT_RATE_25HZ + * 0x07 | MAG_DATA_OUTPUT_RATE_30HZ + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_data_output_rate( +u8 *mag_data_output_rate_u8); +/*! + * @brief This API used to write the mag output data rate + * from page one register from 0x09 bit 0 to 2 + * + * @param mag_data_output_rate_u8 : The value of mag output data rate + * + * mag_data_output_rate_u8 | result + * ---------------------- |---------------------- + * 0x00 | MAG_DATA_OUTPUT_RATE_2HZ + * 0x01 | MAG_DATA_OUTPUT_RATE_6HZ + * 0x02 | MAG_DATA_OUTPUT_RATE_8HZ + * 0x03 | MAG_DATA_OUTPUT_RATE_10HZ + * 0x04 | MAG_DATA_OUTPUT_RATE_15HZ + * 0x05 | MAG_DATA_OUTPUT_RATE_20HZ + * 0x06 | MAG_DATA_OUTPUT_RATE_25HZ + * 0x07 | MAG_DATA_OUTPUT_RATE_30HZ + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_data_output_rate( +u8 mag_data_output_rate_u8); +/*! + * @brief This API used to read the mag operation mode + * from page one register from 0x09 bit 3 to 4 + * + * @param mag_operation_mode_u8 : The value of mag operation mode + * + * mag_operation_mode_u8 | result + * ------------------------|-------------------------- + * 0x00 | MAG_OPR_MODE_LOWPOWER + * 0x01 | MAG_OPR_MODE_REGULAR + * 0x02 | MAG_OPR_MODE_ENHANCED_REGULAR + * 0x03 | MAG_OPR_MODE_HIGH_ACCURACY + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_operation_mode( +u8 *mag_operation_mode_u8); +/*! + * @brief This API used to write the mag operation mode + * from page one register from 0x09 bit 3 to 4 + * + * @param mag_operation_mode_u8 : The value of mag operation mode + * + * mag_operation_mode_u8 | result + * ------------------------|-------------------------- + * 0x00 | MAG_OPR_MODE_LOWPOWER + * 0x01 | MAG_OPR_MODE_REGULAR + * 0x02 | MAG_OPR_MODE_ENHANCED_REGULAR + * 0x03 | MAG_OPR_MODE_HIGH_ACCURACY + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_operation_mode( +u8 mag_operation_mode_u8); +/*! + * @brief This API used to read the mag power mode + * from page one register from 0x09 bit 4 to 6 + * + * @param mag_power_mode_u8 : The value of mag power mode + * + * mag_power_mode_u8 | result + * --------------------|----------------- + * 0x00 | BNO055_MAG_POWER_MODE_NORMAL + * 0x01 | BNO055_MAG_POWER_MODE_SLEEP + * 0x02 | BNO055_MAG_POWER_MODE_SUSPEND + * 0x03 | BNO055_MAG_POWER_MODE_FORCE_MODE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_power_mode( +u8 *mag_power_mode_u8); +/*! + * @brief This API used to write the mag power mode + * from page one register from 0x09 bit 4 to 6 + * + * @param mag_power_mode_u8 : The value of mag power mode + * + * mag_power_mode_u8 | result + * ------------------|----------------- + * 0x00 | BNO055_MAG_POWER_MODE_NORMAL + * 0x01 | BNO055_MAG_POWER_MODE_SLEEP + * 0x02 | BNO055_MAG_POWER_MODE_SUSPEND + * 0x03 | BNO055_MAG_POWER_MODE_FORCE_MODE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_power_mode( +u8 mag_power_mode_u8); +/*****************************************************/ +/**\name FUNCTIONS FOR GYRO CONFIGURATION */ +/*****************************************************/ +/*! + * @brief This API used to read the gyro range + * from page one register from 0x0A bit 0 to 3 + * + * @param gyro_range_u8 : The value of gyro range + * + * gyro_range_u8 | result + * --------------------|----------------- + * 0x00 | BNO055_GYRO_RANGE_2000DPS + * 0x01 | BNO055_GYRO_RANGE_1000DPS + * 0x02 | BNO055_GYRO_RANGE_500DPS + * 0x03 | BNO055_GYRO_RANGE_250DPS + * 0x04 | BNO055_GYRO_RANGE_125DPS + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_range( +u8 *gyro_range_u8); +/*! + * @brief This API used to write the gyro range + * from page one register from 0x0A bit 0 to 3 + * + * @param gyro_range_u8 : The value of gyro range + * + * gyro_range_u8 | result + * --------------------|----------------- + * 0x00 | BNO055_GYRO_RANGE_2000DPS + * 0x01 | BNO055_GYRO_RANGE_1000DPS + * 0x02 | BNO055_GYRO_RANGE_500DPS + * 0x03 | BNO055_GYRO_RANGE_250DPS + * 0x04 | BNO055_GYRO_RANGE_125DPS + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_range( +u8 gyro_range_u8); +/*! + * @brief This API used to read the gyro bandwidth + * from page one register from 0x0A bit 3 to 5 + * + * @param gyro_bw_u8 : The value of gyro bandwidth + * + * gyro_bw_u8 | result + * --------------------|----------------- + * 0x00 | BNO055_GYRO_BW_523HZ + * 0x01 | BNO055_GYRO_BW_230HZ + * 0x02 | BNO055_GYRO_BW_116HZ + * 0x03 | BNO055_GYRO_BW_47HZ + * 0x04 | BNO055_GYRO_BW_23HZ + * 0x05 | BNO055_GYRO_BW_12HZ + * 0x06 | BNO055_GYRO_BW_64HZ + * 0x07 | BNO055_GYRO_BW_32HZ + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_bw( +u8 *gyro_bw_u8); +/*! + * @brief This API used to write the gyro bandwidth + * from page one register from 0x0A bit 3 to 5 + * + * @param gyro_bw_u8 : The value of gyro bandwidth + * + * gyro_bw_u8 | result + * --------------------|----------------- + * 0x00 | BNO055_GYRO_BW_523HZ + * 0x01 | BNO055_GYRO_BW_230HZ + * 0x02 | BNO055_GYRO_BW_116HZ + * 0x03 | BNO055_GYRO_BW_47HZ + * 0x04 | BNO055_GYRO_BW_23HZ + * 0x05 | BNO055_GYRO_BW_12HZ + * 0x06 | BNO055_GYRO_BW_64HZ + * 0x07 | BNO055_GYRO_BW_32HZ + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_bw( +u8 gyro_bw_u8); +/*! + * @brief This API used to read the gyro power mode + * from page one register from 0x0B bit 0 to 2 + * + * @param gyro_power_mode_u8 : The value of gyro power mode + * + * gyro_power_mode_u8 | result + * ----------------------|---------------------------- + * 0x00 | GYRO_OPR_MODE_NORMAL + * 0x01 | GYRO_OPR_MODE_FASTPOWERUP + * 0x02 | GYRO_OPR_MODE_DEEPSUSPEND + * 0x03 | GYRO_OPR_MODE_SUSPEND + * 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_power_mode( +u8 *gyro_power_mode_u8); +/*! + * @brief This API used to write the gyro power mode + * from page one register from 0x0B bit 0 to 2 + * + * @param gyro_power_mode_u8 : The value of gyro power mode + * + * gyro_power_mode_u8 | result + * ----------------------|---------------------------- + * 0x00 | GYRO_OPR_MODE_NORMAL + * 0x01 | GYRO_OPR_MODE_FASTPOWERUP + * 0x02 | GYRO_OPR_MODE_DEEPSUSPEND + * 0x03 | GYRO_OPR_MODE_SUSPEND + * 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_power_mode( +u8 gyro_power_mode_u8); +/*****************************************************/ +/**\name FUNCTIONS FOR ACCEL SLEEP SETTINGS */ +/*****************************************************/ +/*! + * @brief This API used to read the accel sleep mode + * from page one register from 0x0C bit 0 + * + * @param sleep_tmr_u8 : The value of accel sleep mode + * + * sleep_tmr_u8 | result + * ----------------- |------------------------------------ + * 0x00 | enable EventDrivenSampling(EDT) + * 0x01 | enable Equidistant sampling mode(EST) + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_tmr_mode( +u8 *sleep_tmr_u8); +/*! + * @brief This API used to write the accel sleep mode + * from page one register from 0x0C bit 0 + * + * @param sleep_tmr_u8 : The value of accel sleep mode + * + * sleep_tmr_u8 | result + * ----------------- |------------------------------------ + * 0x00 | enable EventDrivenSampling(EDT) + * 0x01 | enable Equidistant sampling mode(EST) + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_tmr_mode( +u8 sleep_tmr_u8); +/*! + * @brief This API used to read the accel sleep duration + * from page one register from 0x0C bit 1 to 4 + * + * @param sleep_durn_u8 : The value of accel sleep duration + * + * sleep_durn_u8 | result + * ---------------- |----------------------------- + * 0x05 | BNO055_ACCEL_SLEEP_DURN_0_5MS + * 0x06 | BNO055_ACCEL_SLEEP_DURN_1MS + * 0x07 | BNO055_ACCEL_SLEEP_DURN_2MS + * 0x08 | BNO055_ACCEL_SLEEP_DURN_4MS + * 0x09 | BNO055_ACCEL_SLEEP_DURN_6MS + * 0x0A | BNO055_ACCEL_SLEEP_DURN_10MS + * 0x0B | BNO055_ACCEL_SLEEP_DURN_25MS + * 0x0C | BNO055_ACCEL_SLEEP_DURN_50MS + * 0x0D | BNO055_ACCEL_SLEEP_DURN_100MS + * 0x0E | BNO055_ACCEL_SLEEP_DURN_500MS + * 0x0F | BNO055_ACCEL_SLEEP_DURN_1S + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_durn( +u8 *sleep_durn_u8); +/*! + * @brief This API used to write the accel sleep duration + * from page one register from 0x0C bit 1 to 4 + * + * @param sleep_durn_u8 : The value of accel sleep duration + * + * sleep_durn_u8 | result + * ---------------- |----------------------------- + * 0x05 | BNO055_ACCEL_SLEEP_DURN_0_5MS + * 0x06 | BNO055_ACCEL_SLEEP_DURN_1MS + * 0x07 | BNO055_ACCEL_SLEEP_DURN_2MS + * 0x08 | BNO055_ACCEL_SLEEP_DURN_4MS + * 0x09 | BNO055_ACCEL_SLEEP_DURN_6MS + * 0x0A | BNO055_ACCEL_SLEEP_DURN_10MS + * 0x0B | BNO055_ACCEL_SLEEP_DURN_25MS + * 0x0C | BNO055_ACCEL_SLEEP_DURN_50MS + * 0x0D | BNO055_ACCEL_SLEEP_DURN_100MS + * 0x0E | BNO055_ACCEL_SLEEP_DURN_500MS + * 0x0F | BNO055_ACCEL_SLEEP_DURN_1S + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_durn( +u8 sleep_durn_u8); +/*****************************************************/ +/**\name FUNCTIONS FOR GYRO SLEEP SETTINGS */ +/*****************************************************/ +/*! + * @brief This API used to write the gyro sleep duration + * from page one register from 0x0D bit 0 to 2 + * + * @param sleep_durn_u8 : The value of gyro sleep duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_sleep_durn( +u8 *sleep_durn_u8); +/*! + * @brief This API used to write the gyro sleep duration + * from page one register from 0x0D bit 0 to 2 + * + * @param sleep_durn_u8 : The value of gyro sleep duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_sleep_durn( +u8 sleep_durn); +/*! + * @brief This API used to read the gyro auto sleep duration + * from page one register from 0x0D bit 3 to 5 + * + * @param auto_sleep_durn_u8 : The value of gyro auto sleep duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_auto_sleep_durn( +u8 *auto_sleep_durn_u8); +/*! + * @brief This API used to write the gyro auto sleep duration + * from page one register from 0x0D bit 3 to 5 + * + * @param auto_sleep_durn_u8 : The value of gyro auto sleep duration + * @param bw : The value of gyro bandwidth + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_gyro_set_auto_sleep_durn( +u8 auto_sleep_durn_u8, u8 bw); +/*****************************************************/ +/**\name FUNCTIONS FOR MAG SLEEP SETTINGS */ +/*****************************************************/ +/*! + * @brief This API used to read the mag sleep mode + * from page one register from 0x0E bit 0 + * + * @param sleep_mode_u8 : The value of mag sleep mode + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_mode( +u8 *sleep_mode_u8); +/*! + * @brief This API used to write the mag sleep mode + * from page one register from 0x0E bit 0 + * + * @param sleep_mode_u8 : The value of mag sleep mode + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_mode( +u8 sleep_mode_u8); +/*! + * @brief This API used to read the mag sleep duration + * from page one register from 0x0E bit 1 to 4 + * + * @param sleep_durn_u8 : The value of mag sleep duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_durn( +u8 *sleep_durn_u8); +/*! + * @brief This API used to write the mag sleep duration + * from page one register from 0x0E bit 1 to 4 + * + * @param sleep_durn_u8 : The value of mag sleep duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_durn( +u8 sleep_durn_u8); +/*****************************************************/ +/**\name FUNCTIONS FOR GYRO INTERRUPT MASK */ +/*****************************************************/ +/*! + * @brief This API used to read the gyro anymotion interrupt mask + * from page one register from 0x0F bit 2 + * + * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask + * gyro_any_motion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the gyro anymotion interrupt + * configure the following settings + * + * Axis: + * bno055_set_gyro_any_motion_axis_enable() + * + * Filter setting: + * bno055_set_gyro_any_motion_filter() + * + * Threshold : + * + * bno055_set_gyro_any_motion_thres() + * + * Slope samples : + * + * bno055_set_gyro_any_motion_slope_samples() + * + * Awake duration : + * + * bno055_set_gyro_any_motion_awake_durn() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_any_motion( +u8 *gyro_any_motion_u8); +/*! + * @brief This API used to write the gyro anymotion interrupt mask + * from page one register from 0x0F bit 2 + * + * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask + * gyro_any_motion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the gyro anymotion interrupt + * configure the following settings + * + * Axis: + * bno055_set_gyro_any_motion_axis_enable() + * + * Filter setting: + * bno055_set_gyro_any_motion_filter() + * + * Threshold : + * + * bno055_set_gyro_any_motion_thres() + * + * Slope samples : + * + * bno055_set_gyro_any_motion_slope_samples() + * + * Awake duration : + * + * bno055_set_gyro_any_motion_awake_durn() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_any_motion( +u8 gyro_any_motion_u8); +/*! + * @brief This API used to read the gyro highrate interrupt mask + * from page one register from 0x0F bit 3 + * + * @param gyro_highrate_u8 : The value of gyro highrate interrupt mask + * gyro_highrate_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the gyro highrate interrupt + * configure the below settings by using + * the following APIs + * + * Axis : + * + * bno055_set_gyro_highrate_axis_enable() + * + * Filter : + * + * bno055_set_gyro_highrate_filter() + * + * Threshold : + * + * bno055_get_gyro_highrate_x_thres() + * + * bno055_get_gyro_highrate_y_thres() + * + * bno055_get_gyro_highrate_z_thres() + * + * Hysteresis : + * + * bno055_set_gyro_highrate_x_hyst() + * + * bno055_set_gyro_highrate_y_hyst() + * + * bno055_set_gyro_highrate_z_hyst() + * + * Duration : + * + * bno055_set_gyro_highrate_x_durn() + * + * bno055_set_gyro_highrate_y_durn() + * + * bno055_set_gyro_highrate_z_durn() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_highrate( +u8 *gyro_highrate_u8); +/*! + * @brief This API used to write the gyro highrate interrupt mask + * from page one register from 0x0F bit 3 + * + * @param gyro_highrate_u8 : The value of gyro highrate interrupt mask + * gyro_highrate_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the gyro highrate interrupt + * configure the below settings by using + * the following APIs + * + * Axis : + * + * bno055_set_gyro_highrate_axis_enable() + * + * Filter : + * + * bno055_set_gyro_highrate_filter() + * + * Threshold : + * + * bno055_get_gyro_highrate_x_thres() + * + * bno055_get_gyro_highrate_y_thres() + * + * bno055_get_gyro_highrate_z_thres() + * + * Hysteresis : + * + * bno055_set_gyro_highrate_x_hyst() + * + * bno055_set_gyro_highrate_y_hyst() + * + * bno055_set_gyro_highrate_z_hyst() + * + * Duration : + * + * bno055_set_gyro_highrate_x_durn() + * + * bno055_set_gyro_highrate_y_durn() + * + * bno055_set_gyro_highrate_z_durn() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_highrate( +u8 gyro_highrate_u8); +/*****************************************************/ +/**\name APIs FOR ACCEL INTERRUPT MASK */ +/*****************************************************/ +/*! + * @brief This API used to read the accel highg interrupt mask + * from page one register from 0x0F bit 5 + * + * @param accel_high_g_u8 : The value of accel highg interrupt mask + * accel_high_g_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the accel highg interrupt + * configure the below settings by using + * the following APIs + * + * Axis : + * + * bno055_set_accel_high_g_axis_enable() + * + * Threshold : + * + * bno055_set_accel_high_g_thres() + * + * Duration : + * + * bno055_set_accel_high_g_durn() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_high_g( +u8 *accel_high_g_u8); +/*! + * @brief This API used to write the accel highg interrupt mask + * from page one register from 0x0F bit 5 + * + * @param accel_high_g_u8 : The value of accel highg interrupt mask + * accel_high_g_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the accel highg interrupt + * configure the below settings by using + * the following APIs + * + * Axis : + * + * bno055_set_accel_high_g_axis_enable() + * + * Threshold : + * + * bno055_set_accel_high_g_thres() + * + * Duration : + * + * bno055_set_accel_high_g_durn() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_high_g( +u8 accel_high_g_u8); +/*! + * @brief This API used to read the accel anymotion interrupt mask + * from page one register from 0x0F bit 6 + * + * @param accel_any_motion_u8 : The value of accel anymotion interrupt mask + * accel_any_motion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the accel highg interrupt + * configure the below settings by using + * the following APIs + * + * Axis : + * + * bno055_set_accel_high_g_axis_enable() + * + * Threshold : + * + * bno055_set_accel_high_g_thres() + * + * Duration : + * + * bno055_set_accel_high_g_durn() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_any_motion( +u8 *accel_any_motion_u8); +/*! + * @brief This API used to write the accel anymotion interrupt mask + * from page one register from 0x0F bit 6 + * + * @param accel_any_motion_u8 : The value of accel anymotion interrupt mask + * accel_any_motion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the accel anymotion interrupt + * configure the following settings + * + * Axis: + * + * bno055_set_accel_any_motion_no_motion_axis_enable() + * + * Duration: + * + * bno055_set_accel_any_motion_durn() + * + * Threshold: + * + * bno055_set_accel_any_motion_thres() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_any_motion( +u8 accel_any_motion_u8); +/*! + * @brief This API used to read the accel nomotion interrupt mask + * from page one register from 0x0F bit 7 + * + * @param accel_nomotion_u8 : The value of accel nomotion interrupt mask + * accel_nomotion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * + * @note While enabling the accel anymotion interrupt + * configure the following settings + * + * Axis: + * + * bno055_set_accel_any_motion_no_motion_axis_enable() + * + * Duration: + * + * bno055_set_accel_any_motion_durn() + * + * Threshold: + * + * bno055_set_accel_any_motion_thres()) + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_no_motion( +u8 *accel_nomotion_u8); +/*! + * @brief This API used to write the accel nomotion interrupt mask + * from page one register from 0x0F bit 7 + * + * @param accel_nomotion_u8 : The value of accel nomotion interrupt mask + * accel_nomotion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the accel nomotion interrupt + * configure the following settings + * + * Axis: + * + * bno055_set_accel_any_motion_no_motion_axis_enable() + * + * Threshold : + * + * bno055_set_accel_slow_no_motion_thres() + * + * Duration : + * + * bno055_set_accel_slow_no_motion_durn() + * + * Slow/no motion enable: + * + * bno055_set_accel_slow_no_motion_enable() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_no_motion( +u8 accel_nomotion_u8); +/*****************************************************/ +/**\name FUNCTIONS FOR GYRO INTERRUPT */ +/*****************************************************/ +/*! + * @brief This API used to read the gyro anymotion interrupt + * from page one register from 0x10 bit 2 + * + * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt + * gyro_any_motion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the gyro anymotion interrupt + * configure the following settings + * + * Axis: + * bno055_set_gyro_any_motion_axis_enable() + * + * Filter setting: + * bno055_set_gyro_any_motion_filter() + * + * Threshold : + * + * bno055_set_gyro_any_motion_thres() + * + * Slope samples : + * + * bno055_set_gyro_any_motion_slope_samples() + * + * Awake duration : + * + * bno055_set_gyro_any_motion_awake_durn() + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_any_motion( +u8 *gyro_any_motion_u8); +/*! + * @brief This API used to write the gyro anymotion interrupt + * from page one register from 0x10 bit 2 + * + * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt + * gyro_any_motion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the gyro anymotion interrupt + * configure the following settings + * + * Axis: + * bno055_set_gyro_any_motion_axis_enable() + * + * Filter setting: + * bno055_set_gyro_any_motion_filter() + * + * Threshold : + * + * bno055_set_gyro_any_motion_thres() + * + * Slope samples : + * + * bno055_set_gyro_any_motion_slope_samples() + * + * Awake duration : + * + * bno055_set_gyro_any_motion_awake_durn() + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_any_motion( +u8 gyro_any_motion_u8); +/*! + * @brief This API used to read the gyro highrate interrupt + * from page one register from 0x10 bit 3 + * + * @param gyro_highrate_u8 : The value of gyro highrate interrupt + * gyro_highrate_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the gyro highrate interrupt + * configure the below settings by using + * the following APIs + * + * Axis : + * + * bno055_set_gyro_highrate_axis_enable() + * + * Filter : + * + * bno055_set_gyro_highrate_filter() + * + * Threshold : + * + * bno055_get_gyro_highrate_x_thres() + * + * bno055_get_gyro_highrate_y_thres() + * + * bno055_get_gyro_highrate_z_thres() + * + * Hysteresis : + * + * bno055_set_gyro_highrate_x_hyst() + * + * bno055_set_gyro_highrate_y_hyst() + * + * bno055_set_gyro_highrate_z_hyst() + * + * Duration : + * + * bno055_set_gyro_highrate_x_durn() + * + * bno055_set_gyro_highrate_y_durn() + * + * bno055_set_gyro_highrate_z_durn() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_highrate( +u8 *gyro_highrate_u8); +/*! + * @brief This API used to write the gyro highrate interrupt + * from page one register from 0x10 bit 3 + * + * @param gyro_highrate_u8 : The value of gyro highrate interrupt + * gyro_highrate_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the gyro highrate interrupt + * configure the below settings by using + * the following APIs + * + * Axis : + * + * bno055_set_gyro_highrate_axis_enable() + * + * Filter : + * + * bno055_set_gyro_highrate_filter() + * + * Threshold : + * + * bno055_get_gyro_highrate_x_thres() + * + * bno055_get_gyro_highrate_y_thres() + * + * bno055_get_gyro_highrate_z_thres() + * + * Hysteresis : + * + * bno055_set_gyro_highrate_x_hyst() + * + * bno055_set_gyro_highrate_y_hyst() + * + * bno055_set_gyro_highrate_z_hyst() + * + * Duration : + * + * bno055_set_gyro_highrate_x_durn() + * + * bno055_set_gyro_highrate_y_durn() + * + * bno055_set_gyro_highrate_z_durn() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_highrate( +u8 gyro_highrate_u8); +/*****************************************************/ +/**\name FUNCTIONS FOR ACCEL INTERRUPT */ +/*****************************************************/ +/*! + * @brief This API used to read the accel highg interrupt + * from page one register from 0x10 bit 5 + * + * @param accel_high_g_u8 : The value of accel highg interrupt + * accel_high_g_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the accel highg interrupt + * configure the below settings by using + * the following APIs + * + * Axis : + * + * bno055_set_accel_high_g_axis_enable() + * + * Threshold : + * + * bno055_set_accel_high_g_thres() + * + * Duration : + * + * bno055_set_accel_high_g_durn() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_high_g( +u8 *accel_high_g_u8); +/*! + * @brief This API used to write the accel highg interrupt + * from page one register from 0x10 bit 5 + * + * @param accel_high_g_u8 : The value of accel highg interrupt + * accel_high_g_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the accel highg interrupt + * configure the below settings by using + * the following APIs + * + * Axis : + * + * bno055_set_accel_high_g_axis_enable() + * + * Threshold : + * + * bno055_set_accel_high_g_thres() + * + * Duration : + * + * bno055_set_accel_high_g_durn() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_high_g( +u8 accel_high_g_u8); +/*! + * @brief This API used to read the accel anymotion interrupt + * from page one register from 0x10 bit 6 + * + * @param accel_any_motion_u8 : The value of accel anymotion interrupt + * accel_any_motion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the accel anymotion interrupt + * configure the following settings + * + * Axis: + * + * bno055_set_accel_any_motion_no_motion_axis_enable() + * + * Duration: + * + * bno055_set_accel_any_motion_durn() + * + * Threshold: + * + * bno055_set_accel_any_motion_thres() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_any_motion( +u8 *accel_any_motion_u8); +/*! + * @brief This API used to write the accel anymotion interrupt + * from page one register from 0x10 bit 6 + * + * @param accel_any_motion_u8 : The value of accel anymotion interrupt + * accel_any_motion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the accel anymotion interrupt + * configure the following settings + * + * Axis: + * + * bno055_set_accel_any_motion_no_motion_axis_enable() + * + * Duration: + * + * bno055_set_accel_any_motion_durn() + * + * Threshold: + * + * bno055_set_accel_any_motion_thres() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_any_motion( +u8 accel_any_motion_u8); +/*! + * @brief This API used to read the accel nomotion interrupt + * from page one register from 0x10 bit 6 + * + * @param accel_nomotion_u8 : The value of accel nomotion interrupt + * accel_nomotion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the accel nomotion interrupt + * configure the following settings + * + * Axis: + * + * bno055_set_accel_any_motion_no_motion_axis_enable() + * + * Threshold : + * + * bno055_set_accel_slow_no_motion_thres() + * + * Duration : + * + * bno055_set_accel_slow_no_motion_durn() + * + * Slow/no motion enable: + * + * bno055_set_accel_slow_no_motion_enable() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_no_motion( +u8 *accel_nomotion_u8); +/*! + * @brief This API used to write the accel nomotion interrupt + * from page one register from 0x10 bit 6 + * + * @param accel_nomotion_u8 : The value of accel nomotion interrupt + * accel_nomotion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the accel nomotion interrupt + * configure the following settings + * + * Axis: + * + * bno055_set_accel_any_motion_no_motion_axis_enable() + * + * Threshold : + * + * bno055_set_accel_slow_no_motion_thres() + * + * Duration : + * + * bno055_set_accel_slow_no_motion_durn() + * + * Slow/no motion enable: + * + * bno055_set_accel_slow_no_motion_enable() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_no_motion( +u8 accel_nomotion_u8); +/*****************************************************/ +/**\name FUNCTIONS FOR ACCEL ANY_MOTION THRESHOLD */ +/*****************************************************/ +/*! + * @brief This API used to read the accel any motion threshold + * from page one register from 0x11 bit 0 to 7 + * + * @param accel_any_motion_thres_u8 : The value of any motion threshold + * accel_any_motion_thres_u8 | result + * ------------------------ | ------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Accel anymotion threshold dependent on the + * range values + * + * accel_range_u8 | threshold | LSB + * ------------- | ------------- | --------- + * 2g | 3.19mg | 1LSB + * 4g | 7.81mg | 1LSB + * 8g | 15.63mg | 1LSB + * 16g | 31.25mg | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_thres( +u8 *accel_any_motion_thres_u8); +/*! + * @brief This API used to write the accel any motion threshold + * from page one register from 0x11 bit 0 to 7 + * + * @param accel_any_motion_thres_u8 : The value of any motion threshold + * accel_any_motion_thres_u8 | result + * ------------------------ | ------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Accel anymotion threshold dependent on the + * range values + * + * accel_range_u8 | threshold | LSB + * ------------- | ------------- | --------- + * 2g | 3.19mg | 1LSB + * 4g | 7.81mg | 1LSB + * 8g | 15.63mg | 1LSB + * 16g | 31.25mg | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_thres( +u8 accel_any_motion_thres_u8); +/*****************************************************/ +/**\name FUNCTIONS FOR ACCEL ANY_MOTION DURATION */ +/*****************************************************/ +/*! + * @brief This API used to read the accel anymotion duration + * from page one register from 0x12 bit 0 to 1 + * + * @param accel_any_motion_durn_u8 : The value of accel anymotion duration + * accel_any_motion_durn_u8 | result + * ------------------------- | ------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_durn( +u8 *accel_any_motion_durn_u8); +/*! + * @brief This API used to write the accel anymotion duration + * from page one register from 0x12 bit 0 to 1 + * + * @param accel_any_motion_durn_u8 : The value of accel anymotion duration + * + * accel_any_motion_durn_u8 | result + * ------------------------- | ------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_durn( +u8 accel_any_motion_durn_u8); +/*****************************************************/ +/**\name FUNCTIONS FOR ACCEL ANY_MOTION AXIS ENABLE */ +/*****************************************************/ +/*! + * @brief This API used to read the accel anymotion enable + * from page one register from 0x12 bit 2 to 4 + * + * @param data_u8 : The value of accel anymotion enable + * data_u8 | result + * ------------ | ------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * @param channel_u8 : The value of accel anymotion axis selection + * channel_u8 | value + * -------------------------- | ---------- + * BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS | 0 + * BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 1 + * BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 2 + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_no_motion_axis_enable( +u8 channel_u8, u8 *data_u8); +/*! + * @brief This API used to write the accel anymotion enable + * from page one register from 0x12 bit 2 to 4 + * + * @param data_u8 : The value of accel anymotion enable + * data_u8 | result + * ------------ | ------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * @param channel_u8 : The value of accel anymotion axis selection + * channel_u8 | value + * -------------------------- | ---------- + * BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS | 0 + * BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 1 + * BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 2 + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_no_motion_axis_enable( +u8 channel_u8, u8 data_u8); +/*****************************************************/ +/**\name FUNCTIONS FOR ACCEL HIGHG AXIS ENABLE */ +/*****************************************************/ +/*! + * @brief This API used to read the accel highg enable + * from page one register from 0x12 bit 5 to 7 + * + * @param data_u8 : The value of accel highg enable + * data_u8| result + * ------------ | ------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * @param channel_u8 : The value of accel highg axis selection + * channel_u8 | value + * -------------------------- | ---------- + * BNO055_ACCEL_HIGH_G_X_AXIS | 0 + * BNO055_ACCEL_HIGH_G_Y_AXIS | 1 + * BNO055_ACCEL_HIGH_G_Z_AXIS | 2 + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_axis_enable( +u8 channel_u8, u8 *data_u8); +/*! + * @brief This API used to write the accel highg enable + * from page one register from 0x12 bit 5 to 7 + * + * @param data_u8 : The value of accel highg enable + * data_u8| result + * ------------ | ------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * @param channel_u8 : The value of accel highg axis selection + * channel_u8 | value + * -------------------------- | ---------- + * BNO055_ACCEL_HIGH_G_X_AXIS | 0 + * BNO055_ACCEL_HIGH_G_Y_AXIS | 1 + * BNO055_ACCEL_HIGH_G_Z_AXIS | 2 + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_axis_enable( +u8 channel_u8, u8 data_u8); +/*****************************************************/ +/**\name FUNCTIONS FOR ACCEL HIGHG DURATION */ +/*****************************************************/ +/*! + * @brief This API used to read the accel highg duration + * from page one register from 0x13 bit 0 to 7 + * + * @param accel_high_g_durn_u8 : The value of accel highg duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note The high-g interrupt trigger delay according + * to [highg duration + 1] * 2 ms + * + * in a range from 2 ms to 512 ms + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_durn( +u8 *accel_high_g_durn_u8); +/*! + * @brief This API used to write the accel highg duration + * from page one register from 0x13 bit 0 to 7 + * + * @param accel_high_g_durn_u8 : The value of accel highg duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note The high-g interrupt trigger delay according + * to [highg duration + 1] * 2 ms + * + * in a range from 2 ms to 512 ms + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_durn( +u8 accel_high_g_durn_u8); +/*****************************************************/ +/**\name FUNCTIONS FOR ACCEL HIGHG THRESHOLD */ +/*****************************************************/ +/*! + * @brief This API used to read the accel highg threshold + * from page one register from 0x14 bit 0 to 7 + * + * @param accel_high_g_thres_u8 : The value of accel highg threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Accel highg interrupt threshold dependent + * for accel g range + * + * accel_range_u8 | threshold | LSB + * ------------- | ------------- | --------- + * 2g | 7.81mg | 1LSB + * 4g | 15.63mg | 1LSB + * 8g | 31.25mg | 1LSB + * 16g | 62.5mg | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_thres( +u8 *accel_high_g_thres_u8); +/*! + * @brief This API used to write the accel highg threshold + * from page one register from 0x14 bit 0 to 7 + * + * @param accel_high_g_thres_u8 : The value of accel highg threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Accel highg interrupt threshold dependent + * for accel g range + * + * accel_range_u8 | threshold | LSB + * ------------- | ------------- | --------- + * 2g | 7.81mg | 1LSB + * 4g | 15.63mg | 1LSB + * 8g | 31.25mg | 1LSB + * 16g | 62.5mg | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_thres( +u8 accel_high_g_thres_u8); +/**************************************************************/ +/**\name FUNCTIONS FOR ACCEL SLOWNOMOTION THRESHOLD */ +/**************************************************************/ +/*! + * @brief This API used to read the accel slownomotion threshold + * from page one register from 0x15 bit 0 to 7 + * + * @param accel_slow_no_motion_thres_u8 : + * The value of accel slownomotion threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Accel slow no motion interrupt threshold dependent + * for accel g range + * + * accel_range_u8 | threshold | LSB + * ------------- | ------------- | --------- + * 2g | 3.19mg | 1LSB + * 4g | 7.81mg | 1LSB + * 8g | 15.63mg | 1LSB + * 16g | 31.25mg | 1LSB + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_thres( +u8 *accel_slow_no_motion_thres_u8); +/*! + * @brief This API used to write the accel slownomotion threshold + * from page one register from 0x15 bit 0 to 7 + * + * @param accel_slow_no_motion_thres_u8 : + * The value of accel slownomotion threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Accel slow no motion interrupt threshold dependent + * for accel g range + * + * accel_range_u8 | threshold | LSB + * ------------- | ------------- | --------- + * 2g | 3.19mg | 1LSB + * 4g | 7.81mg | 1LSB + * 8g | 15.63mg | 1LSB + * 16g | 31.25mg | 1LSB + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_thres( +u8 accel_slow_no_motion_thres_u8); +/**************************************************************/ +/**\name FUNCTIONS FOR ACCEL SLOWNOMOTION ENABLE */ +/**************************************************************/ +/*! + * @brief This API used to read accel slownomotion enable + * from page one register from 0x16 bit 0 + * + * @param accel_slow_no_motion_en_u8 : The value of accel slownomotion enable + * accel_slow_no_motion_en_u8 | result + * ------------------------ | -------- + * 0x01 | Slow motion + * 0x00 | No motion + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_enable( +u8 *accel_slow_no_motion_en_u8); +/*! + * @brief This API used to write accel slownomotion enable + * from page one register from 0x16 bit 0 + * + * @param accel_slow_no_motion_en_u8 : The value of accel slownomotion enable + * accel_slow_no_motion_en_u8 | result + * ------------------------ | -------- + * 0x01 | Slow motion + * 0x00 | No motion + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_enable( +u8 accel_slow_no_motion_en_u8); +/**************************************************************/ +/**\name FUNCTIONS FOR ACCEL SLOWNOMOTION DURATION */ +/**************************************************************/ +/*! + * @brief This API used to read accel slownomotion duration + * from page one register from 0x16 bit 1 to 6 + * + * @param accel_slow_no_motion_durn_u8 : + * The value of accel slownomotion duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_durn( +u8 *accel_slow_no_motion_durn_u8); +/*! + * @brief This API used to write accel slownomotion duration + * from page one register from 0x16 bit 1 to 6 + * + * @param accel_slow_no_motion_durn_u8 : + * The value of accel slownomotion duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_durn( +u8 accel_slow_no_motion_durn_u8); +/**************************************************************/ +/**\name FUNCTIONS FOR GYRO ANY_MOTION AXIS ENABLE */ +/**************************************************************/ +/*! + * @brief This API used to read the gyro anymotion enable + * from page one register from 0x17 bit 0 to 2 + * + * @param data_u8 : The value of gyro anymotion enable + * data_u8 | result + * ----------------- |------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * @param channel_u8 : The value of gyro anymotion axis selection + * channel_u8 | value + * --------------------------- | ---------- + * BNO055_GYRO_ANY_MOTIONX_AXIS | 0 + * BNO055_GYRO_ANY_MOTIONY_AXIS | 1 + * BNO055_GYRO_ANY_MOTIONZ_AXIS | 2 + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_axis_enable( +u8 channel_u8, u8 *data_u8); +/*! + * @brief This API used to write the gyro anymotion enable + * from page one register from 0x17 bit 0 to 2 + * + * @param data_u8 : The value of gyro anymotion enable + * data_u8 | result + * ----------------- |------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * @param channel_u8 : The value of gyro anymotion axis selection + * channel_u8 | value + * --------------------------- | ---------- + * BNO055_GYRO_ANY_MOTIONX_AXIS | 0 + * BNO055_GYRO_ANY_MOTIONY_AXIS | 1 + * BNO055_GYRO_ANY_MOTIONZ_AXIS | 2 + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_axis_enable( +u8 channel_u8, u8 data_u8); +/**************************************************************/ +/**\name FUNCTIONS FOR GYRO HIGHRATE ENABLE */ +/**************************************************************/ +/*! + * @brief This API used to read the gyro highrate enable + * from page one register from 0x17 bit 3 to 5 + * + * @param data_u8 : The value of gyro highrate enable + * data_u8 | result + * ---------------- |------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * @param channel_u8 : The value of gyro highrate axis selection + * channel_u8 | value + * ------------------------ | ---------- + * BNO055_GYRO_HIGHRATE_X_AXIS | 0 + * BNO055_GYRO_HIGHRATE_Y_AXIS | 1 + * BNO055_GYRO_HIGHRATE_Z_AXIS | 2 + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_axis_enable( +u8 channel_u8, u8 *data_u8); +/**************************************************************/ +/**\name FUNCTIONS FOR GYRO HIGHRATE AXIS ENABLE */ +/**************************************************************/ +/*! + * @brief This API used to write the gyro highrate enable + * from page one register from 0x17 bit 3 to 5 + * + * @param data_u8 : The value of gyro highrate enable + * data_u8 | result + * ---------------- |------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * @param channel_u8 : The value of gyro highrate axis selection + * channel_u8 | value + * ------------------------ | ---------- + * BNO055_GYRO_HIGHRATE_X_AXIS | 0 + * BNO055_GYRO_HIGHRATE_Y_AXIS | 1 + * BNO055_GYRO_HIGHRATE_Z_AXIS | 2 + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_axis_enable( +u8 channel_u8, u8 data_u8); +/**************************************************************/ +/**\name FUNCTIONS FOR GYRO ANY_MOTION FILTER */ +/**************************************************************/ +/*! + * @brief This API used to read gyro anymotion filter + * from page one register from 0x17 bit 6 + * + * @param gyro_any_motion_filter_u8 : The value of gyro anymotion filter + * gyro_any_motion_filter_u8 | result + * --------------------------- |------------ + * 0x00 | BNO055_GYRO_FILTERED_CONFIG + * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_filter( +u8 *gyro_any_motion_filter_u8); +/*! + * @brief This API used to write gyro anymotion filter + * from page one register from 0x17 bit 6 + * + * @param gyro_any_motion_filter_u8 : The value of gyro anymotion filter + * gyro_any_motion_filter_u8 | result + * --------------------------- |------------ + * 0x00 | BNO055_GYRO_FILTERED_CONFIG + * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_filter( +u8 gyro_any_motion_filter_u8); +/**************************************************************/ +/**\name FUNCTIONS FOR GYRO HIGHRATE FILTER */ +/**************************************************************/ +/*! + * @brief This API used to read gyro highrate filter + * from page one register from 0x17 bit 7 + * + * @param gyro_highrate_filter_u8 : The value of gyro highrate filter + * gyro_highrate_filter_u8 | result + * --------------------------- |------------ + * 0x00 | BNO055_GYRO_FILTERED_CONFIG + * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_filter( +u8 *gyro_highrate_filter_u8); +/*! + * @brief This API used to write gyro highrate filter + * from page one register from 0x17 bit 7 + * + * @param gyro_highrate_filter_u8 : The value of gyro highrate filter + * gyro_highrate_filter_u8 | result + * --------------------------- |------------ + * 0x00 | BNO055_GYRO_FILTERED_CONFIG + * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_filter( +u8 gyro_highrate_filter_u8); +/**************************************************************/ +/**\name FUNCTIONS FOR GYRO HIGHRATE X THRESHOLD */ +/**************************************************************/ +/*! + * @brief This API used to read gyro highrate x threshold + * from page one register from 0x18 bit 0 to 4 + * + * @param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate threshold dependent on the + * selection of gyro range + * + * gyro_range_u8 | threshold | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.5dps | 1LSB + * 1000 | 31.25dps | 1LSB + * 500 | 15.625dps | 1LSB + * 125 | 7.8125dps | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_thres( +u8 *gyro_highrate_x_thres_u8); +/*! + * @brief This API used to write gyro highrate x threshold + * from page one register from 0x18 bit 0 to 4 + * + * @param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate threshold dependent on the + * selection of gyro range + * + * gyro_range_u8 | threshold | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.5dps | 1LSB + * 1000 | 31.25dps | 1LSB + * 500 | 15.625dps | 1LSB + * 125 | 7.8125dps | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_thres( +u8 gyro_highrate_x_thres_u8); +/**************************************************************/ +/**\name FUNCTIONS FOR GYRO HIGHRATE X HYSTERESIS */ +/**************************************************************/ +/*! + * @brief This API used to read gyro highrate x hysteresis + * from page one register from 0x18 bit 5 to 6 + * + * @param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro high rate hysteresis calculated by + * + * using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB + * + * The high rate value scales with the range setting + * + * gyro_range_u8 | hysteresis | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.26dps | 1LSB + * 1000 | 31.13dps | 1LSB + * 500 | 15.56dps | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_hyst( +u8 *gyro_highrate_x_hyst_u8); +/*! + * @brief This API used to write gyro highrate x hysteresis + * from page one register from 0x18 bit 5 to 6 + * + * @param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro high rate hysteresis calculated by + * + * using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB + * + * The high rate value scales with the range setting + * + * gyro_range_u8 | hysteresis | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.26dps | 1LSB + * 1000 | 31.13dps | 1LSB + * 500 | 15.56dps | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_hyst( +u8 gyro_highrate_x_hyst_u8); +/**************************************************************/ +/**\name FUNCTIONS FOR GYRO HIGHRATE X DURATION */ +/**************************************************************/ +/*! + * @brief This API used to read gyro highrate x duration + * from page one register from 0x19 bit 0 to 7 + * + * @param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate duration calculate by using the formula + * + * (1 + gyro_highrate_x_durn_u8)*2.5ms + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_durn( +u8 *gyro_highrate_x_durn_u8); +/*! + * @brief This API used to write gyro highrate x duration + * from page one register from 0x19 bit 0 to 7 + * + * @param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate duration calculate by using the formula + * + * (1 + gyro_highrate_x_durn_u8)*2.5ms + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_durn( +u8 gyro_highrate_x_durn_u8); +/**************************************************************/ +/**\name FUNCTIONS FOR GYRO HIGHRATE Y THRESHOLD */ +/**************************************************************/ +/*! + * @brief This API used to read gyro highrate y threshold + * from page one register from 0x1A bit 0 to 4 + * + * @param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate threshold dependent on the + * selection of gyro range + * + * gyro_range_u8 | threshold | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.5dps | 1LSB + * 1000 | 31.25dps | 1LSB + * 500 | 15.625dps | 1LSB + * 125 | 7.8125dps | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_thres( +u8 *gyro_highrate_y_thres_u8); +/*! + * @brief This API used to write gyro highrate y threshold + * from page one register from 0x1A bit 0 to 4 + * + * @param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate threshold dependent on the + * selection of gyro range + * + * gyro_range_u8 | threshold | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.5dps | 1LSB + * 1000 | 31.25dps | 1LSB + * 500 | 15.625dps | 1LSB + * 125 | 7.8125dps | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_thres( +u8 gyro_highrate_y_thres_u8); +/**************************************************************/ +/**\name FUNCTIONS FOR GYRO HIGHRATE Y HYSTERESIS */ +/**************************************************************/ +/*! + * @brief This API used to read gyro highrate y hysteresis + * from page one register from 0x1A bit 5 to 6 + * + * @param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro high rate hysteresis calculated by + * + * using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB + * + * The high rate value scales with the range setting + * + * gyro_range_u8 | hysteresis | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.26dps | 1LSB + * 1000 | 31.13dps | 1LSB + * 500 | 15.56dps | 1LSB + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_hyst( +u8 *gyro_highrate_y_hyst_u8); +/*! + * @brief This API used to write gyro highrate y hysteresis + * from page one register from 0x1A bit 5 to 6 + * + * @param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro high rate hysteresis calculated by + * + * using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB + * + * The high rate value scales with the range setting + * + * gyro_range_u8 | hysteresis | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.26dps | 1LSB + * 1000 | 31.13dps | 1LSB + * 500 | 15.56dps | 1LSB + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_hyst( +u8 gyro_highrate_y_hyst_u8); +/**************************************************************/ +/**\name FUNCTIONS FOR GYRO HIGHRATE Y DURATION */ +/**************************************************************/ +/*! + * @brief This API used to read gyro highrate y duration + * from page one register from 0x1B bit 0 to 7 + * + * @param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate duration calculate by using the formula + * + * (1 + gyro_highrate_y_durn_u8)*2.5ms + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_durn( +u8 *gyro_highrate_y_durn_u8); +/*! + * @brief This API used to write gyro highrate y duration + * from page one register from 0x1B bit 0 to 7 + * + * @param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate duration calculate by using the formula + * + * (1 + gyro_highrate_y_durn_u8)*2.5ms + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_durn( +u8 gyro_highrate_y_durn_u8); +/**************************************************************/ +/**\name FUNCTIONS FOR GYRO HIGHRATE Z THRESHOLD */ +/**************************************************************/ +/*! + * @brief This API used to read gyro highrate z threshold + * from page one register from 0x1C bit 0 to 4 + * + * @param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate threshold dependent on the + * selection of gyro range + * + * gyro_range_u8 | threshold | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.5dps | 1LSB + * 1000 | 31.25dps | 1LSB + * 500 | 15.625dps | 1LSB + * 125 | 7.8125dps | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_thres( +u8 *gyro_highrate_z_thres_u8); +/*! + * @brief This API used to write gyro highrate z threshold + * from page one register from 0x1C bit 0 to 4 + * + * @param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate threshold dependent on the + * selection of gyro range + * + * gyro_range_u8 | threshold | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.5dps | 1LSB + * 1000 | 31.25dps | 1LSB + * 500 | 15.625dps | 1LSB + * 125 | 7.8125dps | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_thres( +u8 gyro_highrate_z_thres_u8); +/**************************************************************/ +/**\name FUNCTIONS FOR GYRO HIGHRATE Z HYSTERESIS */ +/**************************************************************/ +/*! + * @brief This API used to read gyro highrate z hysteresis + * from page one register from 0x1C bit 5 to 6 + * + * @param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro high rate hysteresis calculated by + * + * using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB + * + * The high rate value scales with the range setting + * + * gyro_range_u8 | hysteresis | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.26dps | 1LSB + * 1000 | 31.13dps | 1LSB + * 500 | 15.56dps | 1LSB + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_hyst( +u8 *gyro_highrate_z_hyst_u8); +/*! + * @brief This API used to write gyro highrate z hysteresis + * from page one register from 0x1C bit 5 to 6 + * + * @param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro high rate hysteresis calculated by + * + * using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB + * + * The high rate value scales with the range setting + * + * gyro_range_u8 | hysteresis | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.26dps | 1LSB + * 1000 | 31.13dps | 1LSB + * 500 | 15.56dps | 1LSB + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_hyst( +u8 gyro_highrate_z_hyst_u8); +/**************************************************************/ +/**\name FUNCTIONS FOR GYRO HIGHRATE Z DURATION */ +/**************************************************************/ +/*! + * @brief This API used to read gyro highrate z duration + * from page one register from 0x1D bit 0 to 7 + * + * @param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate duration calculate by using the formula + * + * (1 + gyro_highrate_z_durn_u8)*2.5ms + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_durn( +u8 *gyro_highrate_z_durn_u8); +/*! + * @brief This API used to write gyro highrate z duration + * from page one register from 0x1D bit 0 to 7 + * + * @param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate duration calculate by using the formula + * + * (1 + gyro_highrate_z_durn_u8)*2.5ms + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_durn( +u8 gyro_highrate_z_durn_u8); +/**************************************************************/ +/**\name FUNCTIONS FOR GYRO ANY_MOTION THRESHOLD */ +/**************************************************************/ +/*! + * @brief This API used to read gyro anymotion threshold + * from page one register from 0x1E bit 0 to 6 + * + * @param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro anymotion interrupt threshold dependent + * on the selection of gyro range + * + * gyro_range_u8 | threshold | LSB + * ----------------- | ------------- | --------- + * 2000 | 1dps | 1LSB + * 1000 | 0.5dps | 1LSB + * 500 | 0.25dps | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_thres( +u8 *gyro_any_motion_thres_u8); +/*! + * @brief This API used to write gyro anymotion threshold + * from page one register from 0x1E bit 0 to 6 + * + * @param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro anymotion interrupt threshold dependent + * on the selection of gyro range + * + * gyro_range_u8 | threshold | LSB + * ----------------- | ------------- | --------- + * 2000 | 1dps | 1LSB + * 1000 | 0.5dps | 1LSB + * 500 | 0.25dps | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_thres( +u8 gyro_any_motion_thres_u8); +/**************************************************************/ +/**\name FUNCTIONS FOR GYRO ANY_MOTION SLOPE SAMPLES */ +/**************************************************************/ +/*! + * @brief This API used to read gyro anymotion slope samples + * from page one register from 0x1F bit 0 to 1 + * + * @param gyro_any_motion_slope_samples_u8 : + * The value of gyro anymotion slope samples + * gyro_any_motion_slope_samples_u8 | result + * ---------------------------------- | ----------- + * 0 | 8 samples + * 1 | 16 samples + * 2 | 32 samples + * 3 | 64 samples + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_slope_samples( +u8 *gyro_any_motion_slope_samples_u8); +/*! + * @brief This API used to write gyro anymotion slope samples + * from page one register from 0x1F bit 0 to 1 + * + * @param gyro_any_motion_slope_samples_u8 : + * The value of gyro anymotion slope samples + * gyro_any_motion_slope_samples_u8 | result + * ---------------------------------- | ----------- + * 0 | 8 samples + * 1 | 16 samples + * 2 | 32 samples + * 3 | 64 samples + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_slope_samples( +u8 gyro_any_motion_slope_samples_u8); +/**************************************************************/ +/**\name FUNCTIONS FOR GYRO ANY_MOTION AWAKE DURATION */ +/**************************************************************/ +/*! + * @brief This API used to read gyro anymotion awake duration + * from page one register from 0x1F bit 2 to 3 + * + * @param gyro_awake_durn_u8 : The value of gyro anymotion awake duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_awake_durn( +u8 *gyro_awake_durn_u8); +/*! + * @brief This API used to write gyro anymotion awake duration + * from page one register from 0x1F bit 2 to 3 + * + * @param gyro_awake_durn_u8 : The value of gyro anymotion awake duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_awake_durn( +u8 gyro_awake_durn_u8); +#endif diff --git a/src/System/Orientation/BNO055.hs b/src/System/Orientation/BNO055.hs new file mode 100644 --- /dev/null +++ b/src/System/Orientation/BNO055.hs @@ -0,0 +1,160 @@ +module System.Orientation.BNO055 where + +import Control.Concurrent (threadDelay) +import Control.Monad +import Data.Bits +import Data.ByteString (ByteString, pack) +import qualified Data.ByteString as ByteString +import Data.Int +import Data.Serialize.Get +import Data.Word +import System.IO.I2C +import System.Orientation.BNO055.Internal +import Text.Printf + +-- | The BNO055 has two pages of registers, so a register address may point to two different registers depending on which page is selected. +data RegisterPage = Page0 | Page1 + +-- | The BNO055 can have slave address 0x28 or 0x29. +-- +-- On the Adafruit board without modification, it takes address 0x28. +data BNO055Address = Address0x28 | Address0x29 + +-- | Serialize the register page to the value for the page register +registerPage :: RegisterPage -> Word8 +registerPage Page0 = bno055PageZero +registerPage Page1 = bno055PageOne + +-- | Serialize the address to an I2C address +addressBNO055 :: BNO055Address -> I2CAddress +addressBNO055 Address0x28 = 0x28 +addressBNO055 Address0x29 = 0x29 + +-- | Read a sequence of registers from the BNO055 +readRegisters + :: I2Cfd -- ^ A handle to the I2C bus to which the BNO055 is connected + -> BNO055Address -- ^ The address of the BNO055 on the bus + -> RegisterPage -- ^ The register page to read from + -> Word8 -- ^ The first register to read + -> Word8 -- ^ The number of registers to read + -> IO ByteString +readRegisters fd address page register count = + let i2cAddress = addressBNO055 address + pageByte = registerPage page + in do + runI2CTransaction fd + $ writeToSlave i2cAddress (pack [bno055PageIdAddr, pageByte]) + runI2CTransaction fd + $ writeToSlave i2cAddress (pack [register]) + *> readFromSlave i2cAddress (fromIntegral count) + +-- | Write a register on the BNO055 +writeRegister + :: I2Cfd -- ^ A handle to the I2C bus to wich the BNO055 is connected + -> BNO055Address -- ^ The address of the BNO055 on the bus + -> RegisterPage -- ^ The register page to write to + -> Word8 -- ^ The register to write + -> Word8 -- ^ The byte to write to the register + -> IO () +writeRegister fd address page register value = + let i2cAddress = addressBNO055 address + pageByte = registerPage page + in do + runI2CTransaction fd + $ writeToSlave i2cAddress (pack [bno055PageIdAddr, pageByte]) + runI2CTransaction fd + $ writeToSlave i2cAddress (pack [register, value]) + +-- | An enumeration of calibration statuses +data CalibrationStatus + = NotCalibrated + | PoorlyCalibrated + | FairlyCalibrated + | Calibrated + deriving (Eq, Ord, Show, Enum, Bounded) + +-- | A record of calibration statuses for the accelerometer, gyroscope, magnometer, and entire system +data BNO055CalibrationStatus + = BNO055CalibrationStatus + { systemCalibrationStatus :: CalibrationStatus + , gyroscopeCalibrationStatus :: CalibrationStatus + , accelerometerCalibrationStatus :: CalibrationStatus + , magnometerCalibrationStatus :: CalibrationStatus + } deriving (Eq, Show) + +-- | Deserialize the calibration record read from the device +getBNO055CalibrationStatus :: Get BNO055CalibrationStatus +getBNO055CalibrationStatus = calibrationStatusRecordFromWord <$> getWord8 + where + calibrationStatusFromWord :: Int -> Int -> Word8 -> CalibrationStatus + calibrationStatusFromWord lsb msb word8 = toEnum $ (if testBit word8 msb then bit 1 else zeroBits) .|. (if testBit word8 lsb then bit 0 else zeroBits) + calibrationStatusRecordFromWord :: Word8 -> BNO055CalibrationStatus + calibrationStatusRecordFromWord word8 + = BNO055CalibrationStatus + (calibrationStatusFromWord 7 6 word8) + (calibrationStatusFromWord 5 4 word8) + (calibrationStatusFromWord 3 2 word8) + (calibrationStatusFromWord 1 0 word8) + +-- | Read the calibration status record from the device +readCalibrationStatus + :: I2Cfd -- ^ The bus to which the BNO055 is connected + -> BNO055Address -- ^ The address of the BNO055 on the bus + -> IO BNO055CalibrationStatus +readCalibrationStatus fd address = + either error id <$> runGet getBNO055CalibrationStatus <$> readRegisters fd address Page0 bno055CalibStatAddr 1 + +-- | Deserialize an orientation quaternion read from the device +getBNO055Quaternion :: Get (Double, Double, Double, Double) +getBNO055Quaternion = + (,,,) + <$> (toQuaternionComponent <$> getInt16le) -- w + <*> (toQuaternionComponent <$> getInt16le) -- x + <*> (toQuaternionComponent <$> getInt16le) -- y + <*> (toQuaternionComponent <$> getInt16le) -- z + where + toQuaternionComponent :: Int16 -> Double + toQuaternionComponent component = fromIntegral component / fromIntegral (2^14) -- Magic number divisor from BNO055 data sheet + +-- | Read the fused orientation as a quaternion from the device +readQuaternion + :: I2Cfd -- ^ The bus to which the BNO055 is connected + -> BNO055Address -- ^ The address of the BNO055 on the bus + -> IO (Double, Double, Double, Double) -- ^ (w, x, y, z) +readQuaternion fd address = + either error id <$> runGet getBNO055Quaternion <$> readRegisters fd address Page0 bno055QuaternionDataWLsbAddr 8 + +-- | An enumeration of the operation modes of the BNO055 (incomplete) +data BNO055Mode + = BNO055ConfigMode + | BNO055NdofMode + deriving (Eq, Show) + +-- | Serialize the operation mode to a byte for the mode register +bno055Mode :: BNO055Mode -> Word8 +bno055Mode BNO055ConfigMode = bno055OperationModeConfig +bno055Mode BNO055NdofMode = bno055OperationModeNdof + +-- | Set the mode of the BNO055 +setMode + :: I2Cfd -- ^ The bus to which the BNO055 is connected + -> BNO055Address -- ^ The address of the BNO055 on the bus + -> BNO055Mode -- ^ The mode to set the device to + -> IO () +setMode fd address mode = writeRegister fd address Page0 bno055OprModeAddr $ bno055Mode mode + +-- | An example which streams orientation and calibration status information to the console +spewData :: I2Cfd -> BNO055Address -> IO () +spewData fd address = do + setMode fd address BNO055NdofMode + forever $ do + calibrationStatus <- readCalibrationStatus fd address + (w, x, y, z) <- readQuaternion fd address + printf "(%6.3f, %6.3f, %6.3f, %6.3f)\t\t" w x y z + printf "s %d g %d a %d m %d\n" + (fromEnum $ systemCalibrationStatus calibrationStatus) + (fromEnum $ gyroscopeCalibrationStatus calibrationStatus) + (fromEnum $ accelerometerCalibrationStatus calibrationStatus) + (fromEnum $ magnometerCalibrationStatus calibrationStatus) + threadDelay 10000 + diff --git a/src/System/Orientation/BNO055/Internal.hsc b/src/System/Orientation/BNO055/Internal.hsc new file mode 100644 --- /dev/null +++ b/src/System/Orientation/BNO055/Internal.hsc @@ -0,0 +1,189 @@ +module System.Orientation.BNO055.Internal where + +#include "bno055.h" + +import System.IO.I2C (I2CAddress) +import Data.Word + +-- Device addresses +#{enum I2CAddress, , BNO055_I2C_ADDR1, BNO055_I2C_ADDR2} + +-- Page register address +#{enum Word8, , BNO055_PAGE_ID_ADDR} + +-- Page 0 Register addresses +#{enum Word8, , BNO055_CHIP_ID_ADDR , BNO055_ACCEL_REV_ID_ADDR , BNO055_MAG_REV_ID_ADDR , BNO055_GYRO_REV_ID_ADDR , BNO055_SW_REV_ID_LSB_ADDR , BNO055_SW_REV_ID_MSB_ADDR , BNO055_BL_REV_ID_ADDR} + +-- Accel data register +#{enum Word8, , BNO055_ACCEL_DATA_X_LSB_ADDR , BNO055_ACCEL_DATA_X_MSB_ADDR , BNO055_ACCEL_DATA_Y_LSB_ADDR , BNO055_ACCEL_DATA_Y_MSB_ADDR , BNO055_ACCEL_DATA_Z_LSB_ADDR , BNO055_ACCEL_DATA_Z_MSB_ADDR} + +-- Mag data register +#{enum Word8, , BNO055_MAG_DATA_X_LSB_ADDR , BNO055_MAG_DATA_X_MSB_ADDR , BNO055_MAG_DATA_Y_LSB_ADDR , BNO055_MAG_DATA_Y_MSB_ADDR , BNO055_MAG_DATA_Z_LSB_ADDR , BNO055_MAG_DATA_Z_MSB_ADDR} + +-- Gyro data registers +#{enum Word8, , BNO055_GYRO_DATA_X_LSB_ADDR , BNO055_GYRO_DATA_X_MSB_ADDR , BNO055_GYRO_DATA_Y_LSB_ADDR , BNO055_GYRO_DATA_Y_MSB_ADDR , BNO055_GYRO_DATA_Z_LSB_ADDR , BNO055_GYRO_DATA_Z_MSB_ADDR} + +-- Euler data registers +#{enum Word8, , BNO055_EULER_H_LSB_ADDR , BNO055_EULER_H_MSB_ADDR , BNO055_EULER_R_LSB_ADDR , BNO055_EULER_R_MSB_ADDR , BNO055_EULER_P_LSB_ADDR , BNO055_EULER_P_MSB_ADDR} + +-- Quaternion data registers +#{enum Word8, , BNO055_QUATERNION_DATA_W_LSB_ADDR , BNO055_QUATERNION_DATA_W_MSB_ADDR , BNO055_QUATERNION_DATA_X_LSB_ADDR , BNO055_QUATERNION_DATA_X_MSB_ADDR , BNO055_QUATERNION_DATA_Y_LSB_ADDR , BNO055_QUATERNION_DATA_Y_MSB_ADDR , BNO055_QUATERNION_DATA_Z_LSB_ADDR , BNO055_QUATERNION_DATA_Z_MSB_ADDR} + +-- Linear acceleration data registers +#{enum Word8, , BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR , BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR , BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR , BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR , BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR , BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR} + +-- Gravity data registers +#{enum Word8, , BNO055_GRAVITY_DATA_X_LSB_ADDR , BNO055_GRAVITY_DATA_X_MSB_ADDR , BNO055_GRAVITY_DATA_Y_LSB_ADDR , BNO055_GRAVITY_DATA_Y_MSB_ADDR , BNO055_GRAVITY_DATA_Z_LSB_ADDR , BNO055_GRAVITY_DATA_Z_MSB_ADDR} + +-- Temperature data register +#{enum Word8, , BNO055_TEMP_ADDR} + +-- Status registers +#{enum Word8, , BNO055_CALIB_STAT_ADDR , BNO055_SELFTEST_RESULT_ADDR , BNO055_INTR_STAT_ADDR , BNO055_SYS_CLK_STAT_ADDR , BNO055_SYS_STAT_ADDR , BNO055_SYS_ERR_ADDR} + +-- Unit selection register +#{enum Word8, , BNO055_UNIT_SEL_ADDR , BNO055_DATA_SELECT_ADDR} + +-- Mode registers +#{enum Word8, , BNO055_OPR_MODE_ADDR , BNO055_PWR_MODE_ADDR , BNO055_SYS_TRIGGER_ADDR , BNO055_TEMP_SOURCE_ADDR} + +-- Axis remap registers +#{enum Word8, , BNO055_AXIS_MAP_CONFIG_ADDR , BNO055_AXIS_MAP_SIGN_ADDR} + +-- SIC registers +#{enum Word8, , BNO055_SIC_MATRIX_0_LSB_ADDR , BNO055_SIC_MATRIX_0_MSB_ADDR , BNO055_SIC_MATRIX_1_LSB_ADDR , BNO055_SIC_MATRIX_1_MSB_ADDR , BNO055_SIC_MATRIX_2_LSB_ADDR , BNO055_SIC_MATRIX_2_MSB_ADDR , BNO055_SIC_MATRIX_3_LSB_ADDR , BNO055_SIC_MATRIX_3_MSB_ADDR , BNO055_SIC_MATRIX_4_LSB_ADDR , BNO055_SIC_MATRIX_4_MSB_ADDR , BNO055_SIC_MATRIX_5_LSB_ADDR , BNO055_SIC_MATRIX_5_MSB_ADDR , BNO055_SIC_MATRIX_6_LSB_ADDR , BNO055_SIC_MATRIX_6_MSB_ADDR , BNO055_SIC_MATRIX_7_LSB_ADDR , BNO055_SIC_MATRIX_7_MSB_ADDR , BNO055_SIC_MATRIX_8_LSB_ADDR , BNO055_SIC_MATRIX_8_MSB_ADDR} + +-- Accelerometer Offset registers +#{enum Word8, , BNO055_ACCEL_OFFSET_X_LSB_ADDR , BNO055_ACCEL_OFFSET_X_MSB_ADDR , BNO055_ACCEL_OFFSET_Y_LSB_ADDR , BNO055_ACCEL_OFFSET_Y_MSB_ADDR , BNO055_ACCEL_OFFSET_Z_LSB_ADDR , BNO055_ACCEL_OFFSET_Z_MSB_ADDR} + +-- Magnetometer Offset registers +#{enum Word8, , BNO055_MAG_OFFSET_X_LSB_ADDR , BNO055_MAG_OFFSET_X_MSB_ADDR , BNO055_MAG_OFFSET_Y_LSB_ADDR , BNO055_MAG_OFFSET_Y_MSB_ADDR , BNO055_MAG_OFFSET_Z_LSB_ADDR , BNO055_MAG_OFFSET_Z_MSB_ADDR} + +-- Gyroscope Offset registers +#{enum Word8, , BNO055_GYRO_OFFSET_X_LSB_ADDR , BNO055_GYRO_OFFSET_X_MSB_ADDR , BNO055_GYRO_OFFSET_Y_LSB_ADDR , BNO055_GYRO_OFFSET_Y_MSB_ADDR , BNO055_GYRO_OFFSET_Z_LSB_ADDR , BNO055_GYRO_OFFSET_Z_MSB_ADDR} + +-- Radius registers +#{enum Word8, , BNO055_ACCEL_RADIUS_LSB_ADDR , BNO055_ACCEL_RADIUS_MSB_ADDR , BNO055_MAG_RADIUS_LSB_ADDR , BNO055_MAG_RADIUS_MSB_ADDR} + +-- Page 1 Register addresses +-- Configuration registers +#{enum Word8, , BNO055_ACCEL_CONFIG_ADDR , BNO055_MAG_CONFIG_ADDR , BNO055_GYRO_CONFIG_ADDR , BNO055_GYRO_MODE_CONFIG_ADDR , BNO055_ACCEL_SLEEP_CONFIG_ADDR , BNO055_GYRO_SLEEP_CONFIG_ADDR , BNO055_MAG_SLEEP_CONFIG_ADDR} + +-- Interrupt registers +#{enum Word8, , BNO055_INT_MASK_ADDR , BNO055_INT_ADDR , BNO055_ACCEL_ANY_MOTION_THRES_ADDR , BNO055_ACCEL_INTR_SETTINGS_ADDR , BNO055_ACCEL_HIGH_G_DURN_ADDR , BNO055_ACCEL_HIGH_G_THRES_ADDR , BNO055_ACCEL_NO_MOTION_THRES_ADDR , BNO055_ACCEL_NO_MOTION_SET_ADDR , BNO055_GYRO_INTR_SETING_ADDR , BNO055_GYRO_HIGHRATE_X_SET_ADDR , BNO055_GYRO_DURN_X_ADDR , BNO055_GYRO_HIGHRATE_Y_SET_ADDR , BNO055_GYRO_DURN_Y_ADDR , BNO055_GYRO_HIGHRATE_Z_SET_ADDR , BNO055_GYRO_DURN_Z_ADDR , BNO055_GYRO_ANY_MOTION_THRES_ADDR , BNO055_GYRO_ANY_MOTION_SET_ADDR} + +-- Miscellaneous constants +#{enum Word8, , BNO055_INIT_VALUE , BNO055_GEN_READ_WRITE_LENGTH , BNO055_LSB_MSB_READ_LENGTH , BNO055_MAG_POWER_MODE_RANGE , BNO055_MAG_OPR_MODE_RANGE , BNO055_ACCEL_POWER_MODE_RANGE , BNO055_ACCEL_SLEEP_DURATION_RANGE , BNO055_GYRO_AUTO_SLEEP_DURATION_RANGE , BNO055_ACCEL_GYRO_BW_RANGE , BNO055_MAG_OUTPUT_RANGE , BNO055_ACCEL_RANGE , BNO055_SHIFT_EIGHT_BITS , BNO055_GYRO_RANGE , BNO055_ACCEL_SLEEP_MODE_RANGE} + +-- Selection for bit enable and disable +#{enum Word8, , BNO055_BIT_ENABLE , BNO055_BIT_DISABLE} + +-- Page ID +#{enum Word8, , BNO055_PAGE_ZERO , BNO055_PAGE_ONE} + +-- Enable the temperature source +#{enum Word8, , BNO055_ACCEL_TEMP_EN , BNO055_GYRO_TEMP_EN , BNO055_MCU_TEMP_EN} + +-- Accel unit +#{enum Word8, , BNO055_ACCEL_UNIT_MSQ , BNO055_ACCEL_UNIT_MG} + +-- Gyro unit +#{enum Word8, , BNO055_GYRO_UNIT_DPS , BNO055_GYRO_UNIT_RPS} + +-- Euler unit +#{enum Word8, , BNO055_EULER_UNIT_DEG , BNO055_EULER_UNIT_RAD} + +-- Temperature unit +#{enum Word8, , BNO055_TEMP_UNIT_CELSIUS, BNO055_TEMP_UNIT_FAHRENHEIT} + +-- Accel division factor +#{enum Double, , BNO055_ACCEL_DIV_MSQ, BNO055_ACCEL_DIV_MG} + +-- Mag division factor +#{enum Double, , BNO055_MAG_DIV_UT} + +-- Gyro division factor +#{enum Double, , BNO055_GYRO_DIV_DPS, BNO055_GYRO_DIV_RPS} + +-- Euler division factor +#{enum Double, , BNO055_EULER_DIV_DEG , BNO055_EULER_DIV_RAD} + +-- Linear accel division factor +#{enum Double, , BNO055_LINEAR_ACCEL_DIV_MSQ} + +-- Gravity accel division factor +#{enum Double, , BNO055_GRAVITY_DIV_MSQ} + +-- Temperature division factor +#{enum Double, , BNO055_TEMP_DIV_FAHRENHEIT , BNO055_TEMP_DIV_CELSIUS , BNO055_MODE_SWITCHING_DELAY , BNO055_CONFIG_MODE_SWITCHING_DELAY} + +-- Operation mode settings +#{enum Word8, , BNO055_OPERATION_MODE_CONFIG , BNO055_OPERATION_MODE_ACCONLY , BNO055_OPERATION_MODE_MAGONLY , BNO055_OPERATION_MODE_GYRONLY , BNO055_OPERATION_MODE_ACCMAG , BNO055_OPERATION_MODE_ACCGYRO , BNO055_OPERATION_MODE_MAGGYRO , BNO055_OPERATION_MODE_AMG , BNO055_OPERATION_MODE_IMUPLUS , BNO055_OPERATION_MODE_COMPASS , BNO055_OPERATION_MODE_M4G , BNO055_OPERATION_MODE_NDOF_FMC_OFF , BNO055_OPERATION_MODE_NDOF} + +-- Power mode +#{enum Word8, , BNO055_POWER_MODE_NORMAL , BNO055_POWER_MODE_LOWPOWER , BNO055_POWER_MODE_SUSPEND} + +-- Accel Range +#{enum Word8, , BNO055_ACCEL_RANGE_2G , BNO055_ACCEL_RANGE_4G , BNO055_ACCEL_RANGE_8G , BNO055_ACCEL_RANGE_16G} + +-- Accel Bandwidth +#{enum Word8, , BNO055_ACCEL_BW_7_81HZ , BNO055_ACCEL_BW_15_63HZ , BNO055_ACCEL_BW_31_25HZ , BNO055_ACCEL_BW_62_5HZ , BNO055_ACCEL_BW_125HZ , BNO055_ACCEL_BW_250HZ , BNO055_ACCEL_BW_500HZ , BNO055_ACCEL_BW_1000HZ} + +-- Accel Power mode +#{enum Word8, , BNO055_ACCEL_NORMAL , BNO055_ACCEL_SUSPEND , BNO055_ACCEL_LOWPOWER_1 , BNO055_ACCEL_STANDBY , BNO055_ACCEL_LOWPOWER_2 , BNO055_ACCEL_DEEPSUSPEND} + +-- Mag data output rate +#{enum Word8, , BNO055_MAG_DATA_OUTRATE_2HZ , BNO055_MAG_DATA_OUTRATE_6HZ , BNO055_MAG_DATA_OUTRATE_8HZ , BNO055_MAG_DATA_OUTRATE_10HZ , BNO055_MAG_DATA_OUTRATE_15HZ , BNO055_MAG_DATA_OUTRATE_20HZ , BNO055_MAG_DATA_OUTRATE_25HZ , BNO055_MAG_DATA_OUTRATE_30HZ} + +-- Mag Operation mode +#{enum Word8, , BNO055_MAG_OPERATION_MODE_LOWPOWER , BNO055_MAG_OPERATION_MODE_REGULAR , BNO055_MAG_OPERATION_MODE_ENHANCED_REGULAR , BNO055_MAG_OPERATION_MODE_HIGH_ACCURACY} + +-- Mag power mode +#{enum Word8, , BNO055_MAG_POWER_MODE_NORMAL , BNO055_MAG_POWER_MODE_SLEEP , BNO055_MAG_POWER_MODE_SUSPEND , BNO055_MAG_POWER_MODE_FORCE_MODE} + +-- Gyro range +#{enum Word8, , BNO055_GYRO_RANGE_2000DPS , BNO055_GYRO_RANGE_1000DPS , BNO055_GYRO_RANGE_500DPS , BNO055_GYRO_RANGE_250DPS , BNO055_GYRO_RANGE_125DPS} + +-- Gyro Bandwidth +#{enum Word8, , BNO055_GYRO_BW_523HZ , BNO055_GYRO_BW_230HZ , BNO055_GYRO_BW_116HZ , BNO055_GYRO_BW_47HZ , BNO055_GYRO_BW_23HZ , BNO055_GYRO_BW_12HZ , BNO055_GYRO_BW_64HZ , BNO055_GYRO_BW_32HZ} + +-- Gyro power mode +#{enum Word8, , BNO055_GYRO_POWER_MODE_NORMAL , BNO055_GYRO_POWER_MODE_FASTPOWERUP , BNO055_GYRO_POWER_MODE_DEEPSUSPEND , BNO055_GYRO_POWER_MODE_SUSPEND , BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE} + +-- Accel Sleep Duration +#{enum Word8, , BNO055_ACCEL_SLEEP_DURN_0_5MS , BNO055_ACCEL_SLEEP_DURN_1MS , BNO055_ACCEL_SLEEP_DURN_2MS , BNO055_ACCEL_SLEEP_DURN_4MS , BNO055_ACCEL_SLEEP_DURN_6MS , BNO055_ACCEL_SLEEP_DURN_10MS , BNO055_ACCEL_SLEEP_DURN_25MS , BNO055_ACCEL_SLEEP_DURN_50MS , BNO055_ACCEL_SLEEP_DURN_100MS , BNO055_ACCEL_SLEEP_DURN_500MS , BNO055_ACCEL_SLEEP_DURN_1S} + +-- Gyro Auto sleep duration +#{enum Word8, , BNO055_GYRO_No_AUTOSLPDUR , BNO055_GYRO_4MS_AUTOSLPDUR , BNO055_GYRO_5MS_AUTOSLPDUR , BNO055_GYRO_8MS_AUTOSLPDUR , BNO055_GYRO_10MS_AUTOSLPDUR , BNO055_GYRO_15MS_AUTOSLPDUR , BNO055_GYRO_20MS_AUTOSLPDUR , BNO055_GYRO_40MS_AUTOSLPDUR} + +-- Accel Any/No motion axis selection +#{enum Word8, , BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS , BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS , BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS} + +-- Accel High g axis selection +#{enum Word8, , BNO055_ACCEL_HIGH_G_X_AXIS , BNO055_ACCEL_HIGH_G_Y_AXIS , BNO055_ACCEL_HIGH_G_Z_AXIS} + +-- Gyro Any motion axis selection +#{enum Word8, , BNO055_GYRO_ANY_MOTION_X_AXIS , BNO055_GYRO_ANY_MOTION_Y_AXIS , BNO055_GYRO_ANY_MOTION_Z_AXIS} + + +-- Gyro High rate axis selection +#{enum Word8, , BNO055_GYRO_HIGHRATE_X_AXIS , BNO055_GYRO_HIGHRATE_Y_AXIS , BNO055_GYRO_HIGHRATE_Z_AXIS} + +-- Axis remap values +#{enum Word8, , BNO055_REMAP_X_Y , BNO055_REMAP_Y_Z , BNO055_REMAP_Z_X , BNO055_REMAP_X_Y_Z_TYPE0 , BNO055_REMAP_X_Y_Z_TYPE1 , BNO055_DEFAULT_AXIS} + +-- Axis remap sign +#{enum Word8, , BNO055_REMAP_AXIS_POSITIVE , BNO055_REMAP_AXIS_NEGATIVE} + +-- Gyro anymotion and high rate filter configuration +#{enum Word8, , BNO055_GYRO_FILTERED_CONFIG , BNO055_GYRO_UNFILTERED_CONFIG} + +-- mask definitions +#{enum Word16, , BNO055_SIC_HEX_0_0_F_F_DATA} + +-- Array size definitions +#{enum Int, , BNO055_REV_ID_SIZE , BNO055_ACCEL_DATA_SIZE , BNO055_ACCEL_XYZ_DATA_SIZE , BNO055_MAG_DATA_SIZE , BNO055_MAG_XYZ_DATA_SIZE , BNO055_GYRO_DATA_SIZE , BNO055_GYRO_XYZ_DATA_SIZE , BNO055_EULER_DATA_SIZE , BNO055_EULER_HRP_DATA_SIZE , BNO055_QUATERNION_DATA_SIZE , BNO055_QUATERNION_WXYZ_DATA_SIZE , BNO055_GRAVITY_DATA_SIZE , BNO055_GRAVITY_XYZ_DATA_SIZE , BNO055_ACCEL_OFFSET_ARRAY , BNO055_MAG_OFFSET_ARRAY , BNO055_GYRO_OFFSET_ARRAY , BNO055_SOFT_IRON_CALIBRATION_MATRIX_SIZE} + + +-- Array index definitions +#{enum Int, , BNO055_SW_ID_LSB , BNO055_SW_ID_MSB , BNO055_SENSOR_DATA_LSB , BNO055_SENSOR_DATA_MSB , BNO055_SENSOR_DATA_EULER_LSB , BNO055_SENSOR_DATA_EULER_MSB , BNO055_SENSOR_DATA_QUATERNION_LSB , BNO055_SENSOR_DATA_QUATERNION_MSB, 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_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_SENSOR_DATA_EULER_HRP_H_LSB , BNO055_SENSOR_DATA_EULER_HRP_H_MSB , BNO055_SENSOR_DATA_EULER_HRP_R_LSB , BNO055_SENSOR_DATA_EULER_HRP_R_MSB , BNO055_SENSOR_DATA_EULER_HRP_P_LSB , BNO055_SENSOR_DATA_EULER_HRP_P_MSB , 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_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_OFFSET_RADIUS_LSB , BNO055_OFFSET_RADIUS_MSB}