bno055.h

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#ifndef __BNO055_H__
#define __BNO055_H__
/****************************************************************/
/************************************************************/
#ifdef  __KERNEL__
 
#include <linux/types.h>
/* singed integer type*/
typedef int8_t s8;
typedef int16_t s16;
typedef int32_t s32;
typedef int64_t s64;
typedef u_int8_t u8;
typedef u_int16_t u16;
typedef u_int32_t u32;
typedef u_int64_t u64;
#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 <stdint.h>
/************************************************/
 
/*unsigned integer types*/
typedef uint8_t u8;
typedef uint16_t u16;
typedef uint32_t u32;
typedef uint64_t u64;
/*signed integer types*/
typedef int8_t s8;
typedef int16_t s16;
typedef int32_t s32;
typedef int64_t s64;
/************************************************
 * 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 <stdint.h>
/************************************************/
 
/*unsigned integer types*/
typedef uint8_t u8;
typedef uint16_t u16;
typedef uint32_t u32;
typedef uint64_t u64;
/*signed integer types*/
typedef int8_t s8;
typedef int16_t s16;
typedef int32_t s32;
typedef int64_t s64;
/************************************************
 * compiler is C89 or other C standard
************************************************/
 
#else /*  !defined(__STDC_VERSION__) */
#define  MACHINE_32_BIT
 
#ifdef MACHINE_16_BIT
#include <limits.h>
/*signed integer types*/
typedef signed char  s8;
typedef signed short int s16;
typedef signed long int s32;
#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL
typedef long int s64;
typedef unsigned long int u64;
#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)
typedef long long int s64;
typedef unsigned long long int u64;
#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;
typedef unsigned short int u16;
typedef unsigned long int u32;
/* If your machine support 32 bit
define the MACHINE_32_BIT*/
#elif defined MACHINE_32_BIT
/*signed integer types*/
typedef signed char  s8;
typedef signed short int s16;
typedef signed int s32;
typedef signed long long int s64;
/*unsigned integer types*/
typedef unsigned char u8;
typedef unsigned short int u16;
typedef unsigned long u32; // Changed, before: int
typedef unsigned long long int u64;
/* If your machine support 64 bit
define the MACHINE_64_BIT*/
#elif defined MACHINE_64_BIT
/*signed integer types*/
typedef signed char  s8;
typedef signed short int s16;
typedef signed int s32;
typedef signed long int s64;
/*unsigned integer types*/
typedef unsigned char u8;
typedef unsigned short int u16;
typedef unsigned int u32;
typedef unsigned long int u64;
#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
#define  MACHINE_32_BIT
 
/* If your machine support 16 bit
define the MACHINE_16_BIT*/
#ifdef MACHINE_16_BIT
#include <limits.h>
/*signed integer types*/
typedef signed char  s8;
typedef signed short int s16;
typedef signed long int s32;
#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL
typedef long int s64;
typedef unsigned long int u64;
#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)
typedef long long int s64;
typedef unsigned long long int u64;
#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;
typedef unsigned short int u16;
typedef unsigned long int u32;
#elif defined MACHINE_32_BIT
/*signed integer types*/
typedef signed char  s8;
typedef signed short int s16;
typedef signed int s32;
typedef signed long long int s64;
/*unsigned integer types*/
typedef unsigned char u8;
typedef unsigned short int u16;
typedef unsigned int u32;
typedef unsigned long long int u64;
/* If your machine support 64 bit
define the MACHINE_64_BIT*/
#elif defined MACHINE_64_BIT
/*signed integer types*/
typedef signed char  s8;
typedef signed short int s16;
typedef signed int s32;
typedef signed long int s64;
/*unsigned integer types*/
typedef unsigned char u8;
typedef unsigned short int u16;
typedef unsigned int u32;
typedef unsigned long int u64;
#else
#warning The data types defined above which not supported \
define the data types manually
#endif
#endif
#endif
/***************************************************************/
/***************************************************************/
#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)
 
/********************************************************/
/********************************************************/
/* bno055 I2C Address */
#define BNO055_I2C_ADDR1                (0x28)
#define BNO055_I2C_ADDR2                (0x29)
 
/***************************************************/
/***************************************************/
/* 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
/**************************************************************/
/**************************************************************/
struct bno055_t {
u8 chip_id;
u16 sw_rev_id;
u8 page_id;
u8 accel_rev_id;
u8 mag_rev_id;
u8 gyro_rev_id;
u8 bl_rev_id;
u8 dev_addr;
BNO055_WR_FUNC_PTR;
BNO055_RD_FUNC_PTR;
void (*delay_msec)(BNO055_MDELAY_DATA_TYPE);
};
struct bno055_accel_t {
s16 x;
s16 y;
s16 z;
};
struct bno055_mag_t {
s16 x;
s16 y;
s16 z;
};
struct bno055_gyro_t {
s16 x;
s16 y;
s16 z;
};
struct bno055_euler_t {
s16 h;
s16 r;
s16 p;
};
struct bno055_quaternion_t {
s16 w;
s16 x;
s16 y;
s16 z;
};
struct bno055_linear_accel_t {
s16 x; 
s16 y; 
s16 z; 
};
struct bno055_gravity_t {
s16 x;
s16 y;
s16 z;
};
#ifdef  BNO055_DOUBLE_ENABLE
struct bno055_accel_double_t {
double x;
double y;
double z;
};
struct bno055_mag_double_t {
double x;
double y;
double z;
};
struct bno055_gyro_double_t {
double x;
double y;
double z;
};
struct bno055_euler_double_t {
double h;
double r;
double p;
};
struct bno055_linear_accel_double_t {
double x;
double y;
double z;
};
struct bno055_gravity_double_t {
double x;
double y;
double z;
};
#endif
#ifdef  BNO055_FLOAT_ENABLE
struct bno055_accel_float_t {
float x;
float y;
float z;
};
struct bno055_mag_float_t {
float x;
float y;
float z;
};
struct bno055_gyro_float_t {
float x;
float y;
float z;
};
struct bno055_euler_float_t {
float h;
float r;
float p;
};
struct bno055_linear_accel_float_t {
float x;
float y;
float z;
};
struct bno055_gravity_float_t {
float x;
float y;
float z;
};
#endif
struct bno055_accel_offset_t {
s16 x;
s16 y;
s16 z;
s16 r;
};
struct bno055_gyro_offset_t {
s16 x;
s16 y;
s16 z;
};
struct bno055_mag_offset_t {
s16 x;
s16 y;
s16 z;
s16 r;
};
struct bno055_sic_matrix_t {
s16 sic_0;
s16 sic_1;
s16 sic_2;
s16 sic_3;
s16 sic_4;
s16 sic_5;
s16 sic_6;
s16 sic_7;
s16 sic_8;
};
/***************************************************/
/***************************************************/
#define  BNO055_INIT_VALUE                      ((u8)0)
#define  BNO055_GEN_READ_WRITE_LENGTH           ((u8)1)
#define  BNO055_LSB_MSB_READ_LENGTH             ((u8)2)
#define  BNO055_MAG_POWER_MODE_RANGE            ((u8)4)
#define  BNO055_MAG_OPR_MODE_RANGE              ((u8)5)
#define  BNO055_ACCEL_POWER_MODE_RANGE          ((u8)6)
#define  BNO055_ACCEL_SLEEP_DURATION_RANGE      ((u8)16)
#define  BNO055_GYRO_AUTO_SLEEP_DURATION_RANGE  ((u8)8)
#define  BNO055_ACCEL_GYRO_BW_RANGE     ((u8)8)
#define  BNO055_MAG_OUTPUT_RANGE        ((u8)8)
#define  BNO055_ACCEL_RANGE             ((u8)5)
#define  BNO055_SHIFT_EIGHT_BITS        ((u8)8)
#define  BNO055_GYRO_RANGE              ((u8)5)
#define  BNO055_ACCEL_SLEEP_MODE_RANGE  ((u8)2)
/*  BNO055 API BNO055_ERROR codes */
#define BNO055_E_NULL_PTR   ((s8)-127)
#define BNO055_OUT_OF_RANGE ((s8)-2)
#define BNO055_SUCCESS      ((u8)0)
#define BNO055_ERROR        ((s8)-1)
 
/* Selection for bit enable and disable */
#define BNO055_BIT_ENABLE       (0x01)
#define BNO055_BIT_DISABLE      (0x00)
 
/* Page ID */
#define BNO055_PAGE_ZERO        (0X00)
#define BNO055_PAGE_ONE         (0X01)
 
/* Enable the temperature source */
#define BNO055_ACCEL_TEMP_EN    (0x00)
#define BNO055_GYRO_TEMP_EN     (0x01)
#define BNO055_MCU_TEMP_EN      (0x03)
 
/*Accel unit*/
#define BNO055_ACCEL_UNIT_MSQ   (0x00)
#define BNO055_ACCEL_UNIT_MG    (0x01)
 
/*Gyro unit*/
#define BNO055_GYRO_UNIT_DPS    (0x00)
#define BNO055_GYRO_UNIT_RPS    (0x01)
 
/* Euler unit*/
#define BNO055_EULER_UNIT_DEG   (0x00)
#define BNO055_EULER_UNIT_RAD   (0x01)
 
/*Temperature unit*/
#define BNO055_TEMP_UNIT_CELSIUS        (0x00)
#define BNO055_TEMP_UNIT_FAHRENHEIT     (0x01)
 
/*Accel division factor*/
#define BNO055_ACCEL_DIV_MSQ    (100.0)
#define BNO055_ACCEL_DIV_MG     (1)
 
/*Mag division factor*/
#define BNO055_MAG_DIV_UT   (16.0)
 
/*Gyro division factor*/
#define BNO055_GYRO_DIV_DPS     (16.0)
#define BNO055_GYRO_DIV_RPS     (900.0)
 
/*Euler division factor*/
#define BNO055_EULER_DIV_DEG        (16.0)
#define BNO055_EULER_DIV_RAD        (900.0)
 
/*Linear accel division factor*/
#define BNO055_LINEAR_ACCEL_DIV_MSQ (100.0)
 
/*Gravity accel division factor*/
#define BNO055_GRAVITY_DIV_MSQ  (100.0)
 
/* Temperature division factor*/
#define BNO055_TEMP_DIV_FAHRENHEIT  (0.5)
#define BNO055_TEMP_DIV_CELSIUS     (1)
 
#define BNO055_MODE_SWITCHING_DELAY        (600)
#define BNO055_CONFIG_MODE_SWITCHING_DELAY ((u8)20)
 
 
 
/* Operation mode settings*/
#define BNO055_OPERATION_MODE_CONFIG            (0X00)
#define BNO055_OPERATION_MODE_ACCONLY           (0X01)
#define BNO055_OPERATION_MODE_MAGONLY           (0X02)
#define BNO055_OPERATION_MODE_GYRONLY           (0X03)
#define BNO055_OPERATION_MODE_ACCMAG            (0X04)
#define BNO055_OPERATION_MODE_ACCGYRO           (0X05)
#define BNO055_OPERATION_MODE_MAGGYRO           (0X06)
#define BNO055_OPERATION_MODE_AMG               (0X07)
#define BNO055_OPERATION_MODE_IMUPLUS           (0X08)
#define BNO055_OPERATION_MODE_COMPASS           (0X09)
#define BNO055_OPERATION_MODE_M4G               (0X0A)
#define BNO055_OPERATION_MODE_NDOF_FMC_OFF      (0X0B)
#define BNO055_OPERATION_MODE_NDOF              (0X0C)
 
/* Power mode*/
#define BNO055_POWER_MODE_NORMAL    (0X00)
#define BNO055_POWER_MODE_LOWPOWER  (0X01)
#define BNO055_POWER_MODE_SUSPEND   (0X02)
 
/* PAGE-1 definitions*/
/* Accel Range */
 
#define BNO055_ACCEL_RANGE_2G       (0X00)
#define BNO055_ACCEL_RANGE_4G       (0X01)
#define BNO055_ACCEL_RANGE_8G       (0X02)
#define BNO055_ACCEL_RANGE_16G      (0X03)
 
/* Accel Bandwidth*/
#define BNO055_ACCEL_BW_7_81HZ      (0x00)
#define BNO055_ACCEL_BW_15_63HZ     (0x01)
#define BNO055_ACCEL_BW_31_25HZ     (0x02)
#define BNO055_ACCEL_BW_62_5HZ      (0X03)
#define BNO055_ACCEL_BW_125HZ       (0X04)
#define BNO055_ACCEL_BW_250HZ       (0X05)
#define BNO055_ACCEL_BW_500HZ       (0X06)
#define BNO055_ACCEL_BW_1000HZ      (0X07)
 
/* Accel Power mode*/
#define BNO055_ACCEL_NORMAL         (0X00)
#define BNO055_ACCEL_SUSPEND        (0X01)
#define BNO055_ACCEL_LOWPOWER_1     (0X02)
#define BNO055_ACCEL_STANDBY        (0X03)
#define BNO055_ACCEL_LOWPOWER_2     (0X04)
#define BNO055_ACCEL_DEEPSUSPEND    (0X05)
 
/* Mag data output rate*/
#define BNO055_MAG_DATA_OUTRATE_2HZ         (0X00)
#define BNO055_MAG_DATA_OUTRATE_6HZ         (0X01)
#define BNO055_MAG_DATA_OUTRATE_8HZ         (0X02)
#define BNO055_MAG_DATA_OUTRATE_10HZ        (0X03)
#define BNO055_MAG_DATA_OUTRATE_15HZ        (0X04)
#define BNO055_MAG_DATA_OUTRATE_20HZ        (0X05)
#define BNO055_MAG_DATA_OUTRATE_25HZ        (0X06)
#define BNO055_MAG_DATA_OUTRATE_30HZ        (0X07)
 
/* Mag Operation mode*/
#define BNO055_MAG_OPERATION_MODE_LOWPOWER              (0X00)
#define BNO055_MAG_OPERATION_MODE_REGULAR               (0X01)
#define BNO055_MAG_OPERATION_MODE_ENHANCED_REGULAR      (0X02)
#define BNO055_MAG_OPERATION_MODE_HIGH_ACCURACY         (0X03)
 
/* Mag power mode*/
#define BNO055_MAG_POWER_MODE_NORMAL            (0X00)
#define BNO055_MAG_POWER_MODE_SLEEP             (0X01)
#define BNO055_MAG_POWER_MODE_SUSPEND           (0X02)
#define BNO055_MAG_POWER_MODE_FORCE_MODE        (0X03)
 
/* Gyro range*/
#define BNO055_GYRO_RANGE_2000DPS       (0x00)
#define BNO055_GYRO_RANGE_1000DPS       (0x01)
#define BNO055_GYRO_RANGE_500DPS        (0x02)
#define BNO055_GYRO_RANGE_250DPS        (0x03)
#define BNO055_GYRO_RANGE_125DPS        (0x04)
 
/* Gyro Bandwidth*/
#define BNO055_GYRO_BW_523HZ    (0x00)
#define BNO055_GYRO_BW_230HZ    (0x01)
#define BNO055_GYRO_BW_116HZ    (0x02)
#define BNO055_GYRO_BW_47HZ     (0x03)
#define BNO055_GYRO_BW_23HZ     (0x04)
#define BNO055_GYRO_BW_12HZ     (0x05)
#define BNO055_GYRO_BW_64HZ     (0x06)
#define BNO055_GYRO_BW_32HZ     (0x07)
 
/* Gyro power mode*/
#define BNO055_GYRO_POWER_MODE_NORMAL               (0X00)
#define BNO055_GYRO_POWER_MODE_FASTPOWERUP          (0X01)
#define BNO055_GYRO_POWER_MODE_DEEPSUSPEND          (0X02)
#define BNO055_GYRO_POWER_MODE_SUSPEND              (0X03)
#define BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE    (0X04)
 
/* Accel Sleep Duration */
#define BNO055_ACCEL_SLEEP_DURN_0_5MS        (0x05)
/* sets sleep duration to 0.5 ms  */
#define BNO055_ACCEL_SLEEP_DURN_1MS          (0x06)
/* sets sleep duration to 1 ms */
#define BNO055_ACCEL_SLEEP_DURN_2MS          (0x07)
/* sets sleep duration to 2 ms */
#define BNO055_ACCEL_SLEEP_DURN_4MS          (0x08)
/* sets sleep duration to 4 ms */
#define BNO055_ACCEL_SLEEP_DURN_6MS          (0x09)
/* sets sleep duration to 6 ms*/
#define BNO055_ACCEL_SLEEP_DURN_10MS         (0x0A)
/* sets sleep duration to 10 ms */
#define BNO055_ACCEL_SLEEP_DURN_25MS         (0x0B)
 /* sets sleep duration to 25 ms */
#define BNO055_ACCEL_SLEEP_DURN_50MS         (0x0C)
 /* sets sleep duration to 50 ms */
#define BNO055_ACCEL_SLEEP_DURN_100MS        (0x0D)
 /* sets sleep duration to 100 ms */
#define BNO055_ACCEL_SLEEP_DURN_500MS        (0x0E)
 /* sets sleep duration to 500 ms */
#define BNO055_ACCEL_SLEEP_DURN_1S           (0x0F)
/* sets sleep duration to 1 s */
 
/* Gyro Auto sleep duration*/
#define BNO055_GYRO_No_AUTOSLPDUR       (0x00)
#define BNO055_GYRO_4MS_AUTOSLPDUR      (0x01)
#define BNO055_GYRO_5MS_AUTOSLPDUR      (0x02)
#define BNO055_GYRO_8MS_AUTOSLPDUR      (0x03)
#define BNO055_GYRO_10MS_AUTOSLPDUR     (0x04)
#define BNO055_GYRO_15MS_AUTOSLPDUR     (0x05)
#define BNO055_GYRO_20MS_AUTOSLPDUR     (0x06)
#define BNO055_GYRO_40MS_AUTOSLPDUR     (0x07)
 
/* Accel Any/No motion axis selection*/
#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS        (0)
#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS        (1)
#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS        (2)
 
/* Accel High g axis selection*/
#define BNO055_ACCEL_HIGH_G_X_AXIS      (0)
#define BNO055_ACCEL_HIGH_G_Y_AXIS      (1)
#define BNO055_ACCEL_HIGH_G_Z_AXIS      (2)
 
/* Gyro Any motion axis selection*/
#define BNO055_GYRO_ANY_MOTION_X_AXIS       (0)
#define BNO055_GYRO_ANY_MOTION_Y_AXIS       (1)
#define BNO055_GYRO_ANY_MOTION_Z_AXIS       (2)
 
 
/* Gyro High rate axis selection*/
#define BNO055_GYRO_HIGHRATE_X_AXIS     (0)
#define BNO055_GYRO_HIGHRATE_Y_AXIS     (1)
#define BNO055_GYRO_HIGHRATE_Z_AXIS     (2)
 
/* Axis remap values*/
#define BNO055_REMAP_X_Y            (0X21)
#define BNO055_REMAP_Y_Z            (0X18)
#define BNO055_REMAP_Z_X            (0X06)
#define BNO055_REMAP_X_Y_Z_TYPE0    (0X12)
#define BNO055_REMAP_X_Y_Z_TYPE1    (0X09)
#define BNO055_DEFAULT_AXIS         (0X24)
 
/* Axis remap sign */
#define BNO055_REMAP_AXIS_POSITIVE  (0X00)
#define BNO055_REMAP_AXIS_NEGATIVE  (0X01)
 
/* Gyro anymotion and high rate filter configuration */
#define BNO055_GYRO_FILTERED_CONFIG     (0x00)
#define BNO055_GYRO_UNFILTERED_CONFIG   (0x01)
 
/* mask definitions*/
#define BNO055_SIC_HEX_0_0_F_F_DATA     (0x00FF)
/****************************************************/
/***************************************************/
#define BNO055_REV_ID_SIZE                      (2)
#define BNO055_ACCEL_DATA_SIZE                  (2)
#define BNO055_ACCEL_XYZ_DATA_SIZE              (6)
#define BNO055_MAG_DATA_SIZE                    (2)
#define BNO055_MAG_XYZ_DATA_SIZE                (6)
#define BNO055_GYRO_DATA_SIZE                   (2)
#define BNO055_GYRO_XYZ_DATA_SIZE               (6)
#define BNO055_EULER_DATA_SIZE                  (2)
#define BNO055_EULER_HRP_DATA_SIZE              (6)
#define BNO055_QUATERNION_DATA_SIZE             (2)
#define BNO055_QUATERNION_WXYZ_DATA_SIZE        (8)
#define BNO055_GRAVITY_DATA_SIZE                (2)
#define BNO055_GRAVITY_XYZ_DATA_SIZE            (6)
#define BNO055_ACCEL_OFFSET_ARRAY               (6)
#define BNO055_MAG_OFFSET_ARRAY                 (6)
#define BNO055_GYRO_OFFSET_ARRAY                (6)
#define BNO055_SOFT_IRON_CALIBRATION_MATRIX_SIZE        (18)
 
 
/*ARRAY INDEX DEFINITIONS*/
#define BNO055_SW_ID_LSB                        (0)
#define BNO055_SW_ID_MSB                        (1)
#define BNO055_SENSOR_DATA_LSB                  (0)
#define BNO055_SENSOR_DATA_MSB                  (1)
#define BNO055_SENSOR_DATA_EULER_LSB            (0)
#define BNO055_SENSOR_DATA_EULER_MSB            (1)
#define BNO055_SENSOR_DATA_QUATERNION_LSB       (0)
#define BNO055_SENSOR_DATA_QUATERNION_MSB       (1)
 
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB            (0)
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB            (1)
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB            (2)
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB            (3)
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB            (4)
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB            (5)
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB            (6)
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB            (7)
 
#define BNO055_SENSOR_DATA_XYZ_X_LSB                (0)
#define BNO055_SENSOR_DATA_XYZ_X_MSB                (1)
#define BNO055_SENSOR_DATA_XYZ_Y_LSB                (2)
#define BNO055_SENSOR_DATA_XYZ_Y_MSB                (3)
#define BNO055_SENSOR_DATA_XYZ_Z_LSB                (4)
#define BNO055_SENSOR_DATA_XYZ_Z_MSB                (5)
 
 
#define BNO055_SENSOR_DATA_EULER_HRP_H_LSB          (0)
#define BNO055_SENSOR_DATA_EULER_HRP_H_MSB          (1)
#define BNO055_SENSOR_DATA_EULER_HRP_R_LSB          (2)
#define BNO055_SENSOR_DATA_EULER_HRP_R_MSB          (3)
#define BNO055_SENSOR_DATA_EULER_HRP_P_LSB          (4)
#define BNO055_SENSOR_DATA_EULER_HRP_P_MSB          (5)
 
#define BNO055_SOFT_IRON_CALIB_0_LSB    (0)
#define BNO055_SOFT_IRON_CALIB_0_MSB    (1)
#define BNO055_SOFT_IRON_CALIB_1_LSB    (2)
#define BNO055_SOFT_IRON_CALIB_1_MSB    (3)
#define BNO055_SOFT_IRON_CALIB_2_LSB    (4)
#define BNO055_SOFT_IRON_CALIB_2_MSB    (5)
#define BNO055_SOFT_IRON_CALIB_3_LSB    (6)
#define BNO055_SOFT_IRON_CALIB_3_MSB    (7)
#define BNO055_SOFT_IRON_CALIB_4_LSB    (8)
#define BNO055_SOFT_IRON_CALIB_4_MSB    (9)
#define BNO055_SOFT_IRON_CALIB_5_LSB    (10)
#define BNO055_SOFT_IRON_CALIB_5_MSB    (11)
#define BNO055_SOFT_IRON_CALIB_6_LSB    (12)
#define BNO055_SOFT_IRON_CALIB_6_MSB    (13)
#define BNO055_SOFT_IRON_CALIB_7_LSB    (14)
#define BNO055_SOFT_IRON_CALIB_7_MSB    (15)
#define BNO055_SOFT_IRON_CALIB_8_LSB    (16)
#define BNO055_SOFT_IRON_CALIB_8_MSB    (17)
 
#define BNO055_SENSOR_OFFSET_DATA_X_LSB (0)
#define BNO055_SENSOR_OFFSET_DATA_X_MSB (1)
#define BNO055_SENSOR_OFFSET_DATA_Y_LSB (2)
#define BNO055_SENSOR_OFFSET_DATA_Y_MSB (3)
#define BNO055_SENSOR_OFFSET_DATA_Z_LSB (4)
#define BNO055_SENSOR_OFFSET_DATA_Z_MSB (5)
 
#define BNO055_OFFSET_RADIUS_LSB (0)
#define BNO055_OFFSET_RADIUS_MSB (1)
/*********************************************************/
/*********************************************************/
/* Chip ID */
#define BNO055_CHIP_ID_POS             (0)
#define BNO055_CHIP_ID_MSK             (0xFF)
#define BNO055_CHIP_ID_LEN             (8)
#define BNO055_CHIP_ID_REG             BNO055_CHIP_ID_ADDR
 
/* Accel revision id*/
#define BNO055_ACCEL_REV_ID_POS             (0)
#define BNO055_ACCEL_REV_ID_MSK             (0xFF)
#define BNO055_ACCEL_REV_ID_LEN             (8)
#define BNO055_ACCEL_REV_ID_REG             BNO055_ACCEL_REV_ID_ADDR
 
/* Mag revision id*/
#define BNO055_MAG_REV_ID_POS             (0)
#define BNO055_MAG_REV_ID_MSK             (0xFF)
#define BNO055_MAG_REV_ID_LEN             (8)
#define BNO055_MAG_REV_ID_REG             BNO055_MAG_REV_ID_ADDR
 
/* Gyro revision id*/
#define BNO055_GYRO_REV_ID_POS             (0)
#define BNO055_GYRO_REV_ID_MSK             (0xFF)
#define BNO055_GYRO_REV_ID_LEN             (8)
#define BNO055_GYRO_REV_ID_REG             BNO055_GYRO_REV_ID_ADDR
 
/*Software revision id LSB*/
#define BNO055_SW_REV_ID_LSB_POS             (0)
#define BNO055_SW_REV_ID_LSB_MSK             (0xFF)
#define BNO055_SW_REV_ID_LSB_LEN             (8)
#define BNO055_SW_REV_ID_LSB_REG             BNO055_SW_REV_ID_LSB_ADDR
 
/*Software revision id MSB*/
#define BNO055_SW_REV_ID_MSB_POS             (0)
#define BNO055_SW_REV_ID_MSB_MSK             (0xFF)
#define BNO055_SW_REV_ID_MSB_LEN             (8)
#define BNO055_SW_REV_ID_MSB_REG             BNO055_SW_REV_ID_MSB_ADDR
 
/* BOOTLODER revision id*/
#define BNO055_BL_REV_ID_POS             (0)
#define BNO055_BL_REV_ID_MSK             (0xFF)
#define BNO055_BL_REV_ID_LEN             (8)
#define BNO055_BL_REV_ID_REG             BNO055_BL_REV_ID_ADDR
 
/*Page id*/
#define BNO055_PAGE_ID_POS             (0)
#define BNO055_PAGE_ID_MSK             (0xFF)
#define BNO055_PAGE_ID_LEN             (8)
#define BNO055_PAGE_ID_REG             BNO055_PAGE_ID_ADDR
 
/* Accel data X-LSB register*/
#define BNO055_ACCEL_DATA_X_LSB_VALUEX_POS             (0)
#define BNO055_ACCEL_DATA_X_LSB_VALUEX_MSK             (0xFF)
#define BNO055_ACCEL_DATA_X_LSB_VALUEX_LEN             (8)
#define BNO055_ACCEL_DATA_X_LSB_VALUEX_REG             \
BNO055_ACCEL_DATA_X_LSB_ADDR
 
/* Accel data X-MSB register*/
#define BNO055_ACCEL_DATA_X_MSB_VALUEX_POS             (0)
#define BNO055_ACCEL_DATA_X_MSB_VALUEX_MSK             (0xFF)
#define BNO055_ACCEL_DATA_X_MSB_VALUEX_LEN             (8)
#define BNO055_ACCEL_DATA_X_MSB_VALUEX_REG             \
BNO055_ACCEL_DATA_X_MSB_ADDR
 
/* Accel data Y-LSB register*/
#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_POS             (0)
#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_MSK             (0xFF)
#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_LEN             (8)
#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_REG             \
BNO055_ACCEL_DATA_Y_LSB_ADDR
 
/* Accel data Y-MSB register*/
#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_POS             (0)
#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_MSK             (0xFF)
#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_LEN             (8)
#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_REG             \
BNO055_ACCEL_DATA_Y_MSB_ADDR
 
/* Accel data Z-LSB register*/
#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_POS      (0)
#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_MSK      (0xFF)
#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_LEN      (8)
#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_REG     \
BNO055_ACCEL_DATA_Z_LSB_ADDR
 
/* Accel data Z-MSB register*/
#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_POS      (0)
#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_MSK      (0xFF)
#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_LEN      (8)
#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_REG     \
BNO055_ACCEL_DATA_Z_MSB_ADDR
 
/* Mag data X-LSB register*/
#define BNO055_MAG_DATA_X_LSB_VALUEX_POS             (0)
#define BNO055_MAG_DATA_X_LSB_VALUEX_MSK             (0xFF)
#define BNO055_MAG_DATA_X_LSB_VALUEX_LEN             (8)
#define BNO055_MAG_DATA_X_LSB_VALUEX_REG             \
BNO055_MAG_DATA_X_LSB_ADDR
 
/* Mag data X-MSB register*/
#define BNO055_MAG_DATA_X_MSB_VALUEX_POS             (0)
#define BNO055_MAG_DATA_X_MSB_VALUEX_MSK             (0xFF)
#define BNO055_MAG_DATA_X_MSB_VALUEX_LEN             (8)
#define BNO055_MAG_DATA_X_MSB_VALUEX_REG             BNO055_MAG_DATA_X_MSB_ADDR
 
/* Mag data Y-LSB register*/
#define BNO055_MAG_DATA_Y_LSB_VALUEY_POS             (0)
#define BNO055_MAG_DATA_Y_LSB_VALUEY_MSK             (0xFF)
#define BNO055_MAG_DATA_Y_LSB_VALUEY_LEN             (8)
#define BNO055_MAG_DATA_Y_LSB_VALUEY_REG             BNO055_MAG_DATA_Y_LSB_ADDR
 
/* Mag data Y-MSB register*/
#define BNO055_MAG_DATA_Y_MSB_VALUEY_POS             (0)
#define BNO055_MAG_DATA_Y_MSB_VALUEY_MSK             (0xFF)
#define BNO055_MAG_DATA_Y_MSB_VALUEY_LEN             (8)
#define BNO055_MAG_DATA_Y_MSB_VALUEY_REG             BNO055_MAG_DATA_Y_MSB_ADDR
 
/* Mag data Z-LSB register*/
#define BNO055_MAG_DATA_Z_LSB_VALUEZ_POS             (0)
#define BNO055_MAG_DATA_Z_LSB_VALUEZ_MSK             (0xFF)
#define BNO055_MAG_DATA_Z_LSB_VALUEZ_LEN             (8)
#define BNO055_MAG_DATA_Z_LSB_VALUEZ_REG             BNO055_MAG_DATA_Z_LSB_ADDR
 
/* Mag data Z-MSB register*/
#define BNO055_MAG_DATA_Z_MSB_VALUEZ_POS             (0)
#define BNO055_MAG_DATA_Z_MSB_VALUEZ_MSK             (0xFF)
#define BNO055_MAG_DATA_Z_MSB_VALUEZ_LEN             (8)
#define BNO055_MAG_DATA_Z_MSB_VALUEZ_REG             BNO055_MAG_DATA_Z_MSB_ADDR
 
/* Gyro data X-LSB register*/
#define BNO055_GYRO_DATA_X_LSB_VALUEX_POS   (0)
#define BNO055_GYRO_DATA_X_LSB_VALUEX_MSK   (0xFF)
#define BNO055_GYRO_DATA_X_LSB_VALUEX_LEN   (8)
#define BNO055_GYRO_DATA_X_LSB_VALUEX_REG   BNO055_GYRO_DATA_X_LSB_ADDR
 
/* Gyro data X-MSB register*/
#define BNO055_GYRO_DATA_X_MSB_VALUEX_POS   (0)
#define BNO055_GYRO_DATA_X_MSB_VALUEX_MSK   (0xFF)
#define BNO055_GYRO_DATA_X_MSB_VALUEX_LEN   (8)
#define BNO055_GYRO_DATA_X_MSB_VALUEX_REG   BNO055_GYRO_DATA_X_MSB_ADDR
 
/* Gyro data Y-LSB register*/
#define BNO055_GYRO_DATA_Y_LSB_VALUEY_POS   (0)
#define BNO055_GYRO_DATA_Y_LSB_VALUEY_MSK   (0xFF)
#define BNO055_GYRO_DATA_Y_LSB_VALUEY_LEN   (8)
#define BNO055_GYRO_DATA_Y_LSB_VALUEY_REG   BNO055_GYRO_DATA_Y_LSB_ADDR
 
/* Gyro data Y-MSB register*/
#define BNO055_GYRO_DATA_Y_MSB_VALUEY_POS   (0)
#define BNO055_GYRO_DATA_Y_MSB_VALUEY_MSK   (0xFF)
#define BNO055_GYRO_DATA_Y_MSB_VALUEY_LEN   (8)
#define BNO055_GYRO_DATA_Y_MSB_VALUEY_REG   BNO055_GYRO_DATA_Y_MSB_ADDR
 
/* Gyro data Z-LSB register*/
#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_POS   (0)
#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_MSK   (0xFF)
#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_LEN   (8)
#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_REG   BNO055_GYRO_DATA_Z_LSB_ADDR
 
/* Gyro data Z-MSB register*/
#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_POS   (0)
#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_MSK   (0xFF)
#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_LEN   (8)
#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_REG   BNO055_GYRO_DATA_Z_MSB_ADDR
 
/* Euler data HEADING-LSB register*/
#define BNO055_EULER_H_LSB_VALUEH_POS   (0)
#define BNO055_EULER_H_LSB_VALUEH_MSK   (0xFF)
#define BNO055_EULER_H_LSB_VALUEH_LEN   (8)
#define BNO055_EULER_H_LSB_VALUEH_REG  BNO055_EULER_H_LSB_ADDR
 
/* Euler data HEADING-MSB register*/
#define BNO055_EULER_H_MSB_VALUEH_POS  (0)
#define BNO055_EULER_H_MSB_VALUEH_MSK  (0xFF)
#define BNO055_EULER_H_MSB_VALUEH_LEN  (8)
#define BNO055_EULER_H_MSB_VALUEH_REG  BNO055_EULER_H_MSB_ADDR
 
/* Euler data ROLL-LSB register*/
#define BNO055_EULER_R_LSB_VALUER_POS  (0)
#define BNO055_EULER_R_LSB_VALUER_MSK  (0xFF)
#define BNO055_EULER_R_LSB_VALUER_LEN  (8)
#define BNO055_EULER_R_LSB_VALUER_REG  BNO055_EULER_R_LSB_ADDR
 
/* Euler data ROLL-MSB register*/
#define BNO055_EULER_R_MSB_VALUER_POS  (0)
#define BNO055_EULER_R_MSB_VALUER_MSK  (0xFF)
#define BNO055_EULER_R_MSB_VALUER_LEN  (8)
#define BNO055_EULER_R_MSB_VALUER_REG  BNO055_EULER_R_MSB_ADDR
 
/* Euler data PITCH-LSB register*/
#define BNO055_EULER_P_LSB_VALUEP_POS  (0)
#define BNO055_EULER_P_LSB_VALUEP_MSK  (0xFF)
#define BNO055_EULER_P_LSB_VALUEP_LEN  (8)
#define BNO055_EULER_P_LSB_VALUEP_REG  BNO055_EULER_P_LSB_ADDR
 
/* Euler data HEADING-MSB register*/
#define BNO055_EULER_P_MSB_VALUEP_POS  (0)
#define BNO055_EULER_P_MSB_VALUEP_MSK  (0xFF)
#define BNO055_EULER_P_MSB_VALUEP_LEN  (8)
#define BNO055_EULER_P_MSB_VALUEP_REG  BNO055_EULER_P_MSB_ADDR
 
/* Quaternion data W-LSB register*/
#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_POS  (0)
#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_MSK  (0xFF)
#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_LEN  (8)
#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_REG  \
BNO055_QUATERNION_DATA_W_LSB_ADDR
 
/* Quaternion data W-MSB register*/
#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_POS  (0)
#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_MSK  (0xFF)
#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_LEN  (8)
#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_REG  \
BNO055_QUATERNION_DATA_W_MSB_ADDR
 
/* Quaternion data X-LSB register*/
#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_POS  (0)
#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_MSK  (0xFF)
#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_LEN  (8)
#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_REG  \
BNO055_QUATERNION_DATA_X_LSB_ADDR
 
/* Quaternion data X-MSB register*/
#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_POS  (0)
#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_MSK  (0xFF)
#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_LEN  (8)
#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_REG \
BNO055_QUATERNION_DATA_X_MSB_ADDR
 
/* Quaternion data Y-LSB register*/
#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_POS  (0)
#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_MSK  (0xFF)
#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_LEN  (8)
#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_REG \
BNO055_QUATERNION_DATA_Y_LSB_ADDR
 
/* Quaternion data Y-MSB register*/
#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_POS  (0)
#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_MSK  (0xFF)
#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_LEN  (8)
#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_REG  \
BNO055_QUATERNION_DATA_Y_MSB_ADDR
 
/* Quaternion data Z-LSB register*/
#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_POS  (0)
#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_MSK  (0xFF)
#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_LEN  (8)
#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_REG \
BNO055_QUATERNION_DATA_Z_LSB_ADDR
 
/* Quaternion data Z-MSB register*/
#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_POS  (0)
#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_MSK  (0xFF)
#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_LEN  (8)
#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_REG  \
BNO055_QUATERNION_DATA_Z_MSB_ADDR
 
/* Linear acceleration data X-LSB register*/
#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_POS  (0)
#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_MSK  (0xFF)
#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_LEN  (8)
#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_REG  \
BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR
 
/* Linear acceleration data X-MSB register*/
#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_POS  (0)
#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_MSK  (0xFF)
#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_LEN  (8)
#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_REG  \
BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR
 
/* Linear acceleration data Y-LSB register*/
#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_POS  (0)
#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_MSK  (0xFF)
#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_LEN  (8)
#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_REG  \
BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR
 
/* Linear acceleration data Y-MSB register*/
#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_POS  (0)
#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_MSK  (0xFF)
#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_LEN  (8)
#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_REG  \
BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR
 
/* Linear acceleration data Z-LSB register*/
#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_POS  (0)
#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_MSK  (0xFF)
#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_LEN  (8)
#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_REG \
BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR
 
/* Linear acceleration data Z-MSB register*/
#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_POS  (0)
#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_MSK  (0xFF)
#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_LEN  (8)
#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_REG  \
BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR
 
/* Gravity data X-LSB register*/
#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_POS  (0)
#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_MSK  (0xFF)
#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_LEN  (8)
#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_REG  \
BNO055_GRAVITY_DATA_X_LSB_ADDR
 
/* Gravity data X-MSB register*/
#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_POS  (0)
#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_MSK  (0xFF)
#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_LEN  (8)
#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_REG  \
BNO055_GRAVITY_DATA_X_MSB_ADDR
 
/* Gravity data Y-LSB register*/
#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_POS  (0)
#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_MSK  (0xFF)
#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_LEN  (8)
#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_REG  \
BNO055_GRAVITY_DATA_Y_LSB_ADDR
 
/* Gravity data Y-MSB register*/
#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_POS  (0)
#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_MSK  (0xFF)
#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_LEN  (8)
#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_REG  \
BNO055_GRAVITY_DATA_Y_MSB_ADDR
 
/* Gravity data Z-LSB register*/
#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_POS  (0)
#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_MSK  (0xFF)
#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_LEN  (8)
#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_REG  \
BNO055_GRAVITY_DATA_Z_LSB_ADDR
 
/* Gravity data Z-MSB register*/
#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_POS  (0)
#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_MSK  (0xFF)
#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_LEN  (8)
#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_REG  \
BNO055_GRAVITY_DATA_Z_MSB_ADDR
 
/* Temperature register*/
#define BNO055_TEMP_POS             (0)
#define BNO055_TEMP_MSK             (0xFF)
#define BNO055_TEMP_LEN             (8)
#define BNO055_TEMP_REG             BNO055_TEMP_ADDR
 
/*Mag_Calib status register*/
#define BNO055_MAG_CALIB_STAT_POS             (0)
#define BNO055_MAG_CALIB_STAT_MSK             (0X03)
#define BNO055_MAG_CALIB_STAT_LEN             (2)
#define BNO055_MAG_CALIB_STAT_REG             BNO055_CALIB_STAT_ADDR
 
/*Acc_Calib status register*/
#define BNO055_ACCEL_CALIB_STAT_POS             (2)
#define BNO055_ACCEL_CALIB_STAT_MSK             (0X0C)
#define BNO055_ACCEL_CALIB_STAT_LEN             (2)
#define BNO055_ACCEL_CALIB_STAT_REG             BNO055_CALIB_STAT_ADDR
 
/*Gyro_Calib status register*/
#define BNO055_GYRO_CALIB_STAT_POS             (4)
#define BNO055_GYRO_CALIB_STAT_MSK             (0X30)
#define BNO055_GYRO_CALIB_STAT_LEN             (2)
#define BNO055_GYRO_CALIB_STAT_REG             BNO055_CALIB_STAT_ADDR
 
/*Sys_Calib status register*/
#define BNO055_SYS_CALIB_STAT_POS             (6)
#define BNO055_SYS_CALIB_STAT_MSK             (0XC0)
#define BNO055_SYS_CALIB_STAT_LEN             (2)
#define BNO055_SYS_CALIB_STAT_REG             BNO055_CALIB_STAT_ADDR
 
/*ST_ACCEL register*/
#define BNO055_SELFTEST_ACCEL_POS             (0)
#define BNO055_SELFTEST_ACCEL_MSK             (0X01)
#define BNO055_SELFTEST_ACCEL_LEN             (1)
#define BNO055_SELFTEST_ACCEL_REG             BNO055_SELFTEST_RESULT_ADDR
 
/*ST_MAG register*/
#define BNO055_SELFTEST_MAG_POS             (1)
#define BNO055_SELFTEST_MAG_MSK             (0X02)
#define BNO055_SELFTEST_MAG_LEN             (1)
#define BNO055_SELFTEST_MAG_REG             BNO055_SELFTEST_RESULT_ADDR
 
/*ST_GYRO register*/
#define BNO055_SELFTEST_GYRO_POS             (2)
#define BNO055_SELFTEST_GYRO_MSK             (0X04)
#define BNO055_SELFTEST_GYRO_LEN             (1)
#define BNO055_SELFTEST_GYRO_REG             BNO055_SELFTEST_RESULT_ADDR
 
/*ST_MCU register*/
#define BNO055_SELFTEST_MCU_POS             (3)
#define BNO055_SELFTEST_MCU_MSK             (0X08)
#define BNO055_SELFTEST_MCU_LEN             (1)
#define BNO055_SELFTEST_MCU_REG             BNO055_SELFTEST_RESULT_ADDR
 
/*Interrupt status registers*/
#define BNO055_INTR_STAT_GYRO_ANY_MOTION_POS        (2)
#define BNO055_INTR_STAT_GYRO_ANY_MOTION_MSK        (0X04)
#define BNO055_INTR_STAT_GYRO_ANY_MOTION_LEN        (1)
#define BNO055_INTR_STAT_GYRO_ANY_MOTION_REG        BNO055_INTR_STAT_ADDR
 
#define BNO055_INTR_STAT_GYRO_HIGHRATE_POS      (3)
#define BNO055_INTR_STAT_GYRO_HIGHRATE_MSK      (0X08)
#define BNO055_INTR_STAT_GYRO_HIGHRATE_LEN      (1)
#define BNO055_INTR_STAT_GYRO_HIGHRATE_REG      BNO055_INTR_STAT_ADDR
 
#define BNO055_INTR_STAT_ACCEL_HIGH_G_POS       (5)
#define BNO055_INTR_STAT_ACCEL_HIGH_G_MSK       (0X20)
#define BNO055_INTR_STAT_ACCEL_HIGH_G_LEN       (1)
#define BNO055_INTR_STAT_ACCEL_HIGH_G_REG       BNO055_INTR_STAT_ADDR
 
#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_POS       (6)
#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_MSK       (0X40)
#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_LEN       (1)
#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_REG       BNO055_INTR_STAT_ADDR
 
#define BNO055_INTR_STAT_ACCEL_NO_MOTION_POS        (7)
#define BNO055_INTR_STAT_ACCEL_NO_MOTION_MSK        (0X80)
#define BNO055_INTR_STAT_ACCEL_NO_MOTION_LEN        (1)
#define BNO055_INTR_STAT_ACCEL_NO_MOTION_REG        BNO055_INTR_STAT_ADDR
 
/* system clock status register*/
#define BNO055_SYS_MAIN_CLK_POS     (0)
#define BNO055_SYS_MAIN_CLK_MSK     (0X10)
#define BNO055_SYS_MAIN_CLK_LEN     (1)
#define BNO055_SYS_MAIN_CLK_REG     BNO055_SYS_CLK_STAT_ADDR
 
/* System registers*/
#define BNO055_SYS_STAT_CODE_POS        (0)
#define BNO055_SYS_STAT_CODE_MSK        (0XFF)
#define BNO055_SYS_STAT_CODE_LEN        (8)
#define BNO055_SYS_STAT_CODE_REG        BNO055_SYS_STAT_ADDR
 
#define BNO055_SYS_ERROR_CODE_POS           (0)
#define BNO055_SYS_ERROR_CODE_MSK           (0XFF)
#define BNO055_SYS_ERROR_CODE_LEN           (8)
#define BNO055_SYS_ERROR_CODE_REG           BNO055_SYS_ERR_ADDR
 
/* Accel_Unit register*/
#define BNO055_ACCEL_UNIT_POS             (0)
#define BNO055_ACCEL_UNIT_MSK             (0X01)
#define BNO055_ACCEL_UNIT_LEN             (1)
#define BNO055_ACCEL_UNIT_REG             BNO055_UNIT_SEL_ADDR
 
/* Gyro_Unit register*/
#define BNO055_GYRO_UNIT_POS             (1)
#define BNO055_GYRO_UNIT_MSK             (0X02)
#define BNO055_GYRO_UNIT_LEN             (1)
#define BNO055_GYRO_UNIT_REG             BNO055_UNIT_SEL_ADDR
 
/* Euler_Unit register*/
#define BNO055_EULER_UNIT_POS             (2)
#define BNO055_EULER_UNIT_MSK             (0X04)
#define BNO055_EULER_UNIT_LEN             (1)
#define BNO055_EULER_UNIT_REG             BNO055_UNIT_SEL_ADDR
 
/* Tilt_Unit register*/
#define BNO055_TILT_UNIT_POS             (3)
#define BNO055_TILT_UNIT_MSK             (0X08)
#define BNO055_TILT_UNIT_LEN             (1)
#define BNO055_TILT_UNIT_REG             BNO055_UNIT_SEL_ADDR
 
/* Temperature_Unit register*/
#define BNO055_TEMP_UNIT_POS             (4)
#define BNO055_TEMP_UNIT_MSK             (0X10)
#define BNO055_TEMP_UNIT_LEN             (1)
#define BNO055_TEMP_UNIT_REG             BNO055_UNIT_SEL_ADDR
 
/* ORI android-windows register*/
#define BNO055_DATA_OUTPUT_FORMAT_POS             (7)
#define BNO055_DATA_OUTPUT_FORMAT_MSK             (0X80)
#define BNO055_DATA_OUTPUT_FORMAT_LEN             (1)
#define BNO055_DATA_OUTPUT_FORMAT_REG             BNO055_UNIT_SEL_ADDR
/*Operation Mode data register*/
#define BNO055_OPERATION_MODE_POS           (0)
#define BNO055_OPERATION_MODE_MSK           (0X0F)
#define BNO055_OPERATION_MODE_LEN           (4)
#define BNO055_OPERATION_MODE_REG           BNO055_OPR_MODE_ADDR
/* Power Mode register*/
#define BNO055_POWER_MODE_POS             (0)
#define BNO055_POWER_MODE_MSK             (0X03)
#define BNO055_POWER_MODE_LEN             (2)
#define BNO055_POWER_MODE_REG             BNO055_PWR_MODE_ADDR
 
/*Self Test register*/
#define BNO055_SELFTEST_POS         (0)
#define BNO055_SELFTEST_MSK         (0X01)
#define BNO055_SELFTEST_LEN         (1)
#define BNO055_SELFTEST_REG         BNO055_SYS_TRIGGER_ADDR
 
/* RST_SYS register*/
#define BNO055_SYS_RST_POS             (5)
#define BNO055_SYS_RST_MSK             (0X20)
#define BNO055_SYS_RST_LEN             (1)
#define BNO055_SYS_RST_REG             BNO055_SYS_TRIGGER_ADDR
 
/* RST_INT register*/
#define BNO055_INTR_RST_POS             (6)
#define BNO055_INTR_RST_MSK             (0X40)
#define BNO055_INTR_RST_LEN             (1)
#define BNO055_INTR_RST_REG             BNO055_SYS_TRIGGER_ADDR
 
/* CLK_SRC register*/
#define BNO055_CLK_SRC_POS             (7)
#define BNO055_CLK_SRC_MSK             (0X80)
#define BNO055_CLK_SRC_LEN             (1)
#define BNO055_CLK_SRC_REG             BNO055_SYS_TRIGGER_ADDR
 
/* Temp source register*/
#define BNO055_TEMP_SOURCE_POS      (0)
#define BNO055_TEMP_SOURCE_MSK      (0X03)
#define BNO055_TEMP_SOURCE_LEN      (2)
#define BNO055_TEMP_SOURCE_REG      BNO055_TEMP_SOURCE_ADDR
 
/* Axis remap value register*/
#define BNO055_REMAP_AXIS_VALUE_POS     (0)
#define BNO055_REMAP_AXIS_VALUE_MSK     (0X3F)
#define BNO055_REMAP_AXIS_VALUE_LEN     (6)
#define BNO055_REMAP_AXIS_VALUE_REG     BNO055_AXIS_MAP_CONFIG_ADDR
 
/* Axis sign value register*/
#define BNO055_REMAP_Z_SIGN_POS     (0)
#define BNO055_REMAP_Z_SIGN_MSK     (0X01)
#define BNO055_REMAP_Z_SIGN_LEN     (1)
#define BNO055_REMAP_Z_SIGN_REG     BNO055_AXIS_MAP_SIGN_ADDR
 
#define BNO055_REMAP_Y_SIGN_POS     (1)
#define BNO055_REMAP_Y_SIGN_MSK     (0X02)
#define BNO055_REMAP_Y_SIGN_LEN     (1)
#define BNO055_REMAP_Y_SIGN_REG     BNO055_AXIS_MAP_SIGN_ADDR
 
#define BNO055_REMAP_X_SIGN_POS     (2)
#define BNO055_REMAP_X_SIGN_MSK     (0X04)
#define BNO055_REMAP_X_SIGN_LEN     (1)
#define BNO055_REMAP_X_SIGN_REG     BNO055_AXIS_MAP_SIGN_ADDR
 
/* Soft Iron Calibration matrix register*/
#define BNO055_SIC_MATRIX_0_LSB_POS     (0)
#define BNO055_SIC_MATRIX_0_LSB_MSK     (0XFF)
#define BNO055_SIC_MATRIX_0_LSB_LEN     (8)
#define BNO055_SIC_MATRIX_0_LSB_REG     BNO055_SIC_MATRIX_0_LSB_ADDR
 
#define BNO055_SIC_MATRIX_0_MSB_POS     (0)
#define BNO055_SIC_MATRIX_0_MSB_MSK     (0XFF)
#define BNO055_SIC_MATRIX_0_MSB_LEN     (8)
#define BNO055_SIC_MATRIX_0_MSB_REG     BNO055_SIC_MATRIX_0_MSB_ADDR
 
#define BNO055_SIC_MATRIX_1_LSB_POS     (0)
#define BNO055_SIC_MATRIX_1_LSB_MSK     (0XFF)
#define BNO055_SIC_MATRIX_1_LSB_LEN     (8)
#define BNO055_SIC_MATRIX_1_LSB_REG     BNO055_SIC_MATRIX_1_LSB_ADDR
 
#define BNO055_SIC_MATRIX_1_MSB_POS     (0)
#define BNO055_SIC_MATRIX_1_MSB_MSK     (0XFF)
#define BNO055_SIC_MATRIX_1_MSB_LEN     (8)
#define BNO055_SIC_MATRIX_1_MSB_REG     BNO055_SIC_MATRIX_1_MSB_ADDR
 
#define BNO055_SIC_MATRIX_2_LSB_POS     (0)
#define BNO055_SIC_MATRIX_2_LSB_MSK     (0XFF)
#define BNO055_SIC_MATRIX_2_LSB_LEN     (8)
#define BNO055_SIC_MATRIX_2_LSB_REG     BNO055_SIC_MATRIX_2_LSB_ADDR
 
#define BNO055_SIC_MATRIX_2_MSB_POS     (0)
#define BNO055_SIC_MATRIX_2_MSB_MSK     (0XFF)
#define BNO055_SIC_MATRIX_2_MSB_LEN     (8)
#define BNO055_SIC_MATRIX_2_MSB_REG     BNO055_SIC_MATRIX_2_MSB_ADDR
 
#define BNO055_SIC_MATRIX_3_LSB_POS     (0)
#define BNO055_SIC_MATRIX_3_LSB_MSK     (0XFF)
#define BNO055_SIC_MATRIX_3_LSB_LEN     (8)
#define BNO055_SIC_MATRIX_3_LSB_REG     BNO055_SIC_MATRIX_3_LSB_ADDR
 
#define BNO055_SIC_MATRIX_3_MSB_POS     (0)
#define BNO055_SIC_MATRIX_3_MSB_MSK     (0XFF)
#define BNO055_SIC_MATRIX_3_MSB_LEN     (8)
#define BNO055_SIC_MATRIX_3_MSB_REG     BNO055_SIC_MATRIX_3_MSB_ADDR
 
#define BNO055_SIC_MATRIX_4_LSB_POS     (0)
#define BNO055_SIC_MATRIX_4_LSB_MSK     (0XFF)
#define BNO055_SIC_MATRIX_4_LSB_LEN     (8)
#define BNO055_SIC_MATRIX_4_LSB_REG     BNO055_SIC_MATRIX_4_LSB_ADDR
 
#define BNO055_SIC_MATRIX_4_MSB_POS     (0)
#define BNO055_SIC_MATRIX_4_MSB_MSK     (0XFF)
#define BNO055_SIC_MATRIX_4_MSB_LEN     (8)
#define BNO055_SIC_MATRIX_4_MSB_REG     BNO055_SIC_MATRIX_4_MSB_ADDR
 
#define BNO055_SIC_MATRIX_5_LSB_POS     (0)
#define BNO055_SIC_MATRIX_5_LSB_MSK     (0XFF)
#define BNO055_SIC_MATRIX_5_LSB_LEN     (8)
#define BNO055_SIC_MATRIX_5_LSB_REG     BNO055_SIC_MATRIX_5_LSB_ADDR
 
#define BNO055_SIC_MATRIX_5_MSB_POS     (0)
#define BNO055_SIC_MATRIX_5_MSB_MSK     (0XFF)
#define BNO055_SIC_MATRIX_5_MSB_LEN     (8)
#define BNO055_SIC_MATRIX_5_MSB_REG     BNO055_SIC_MATRIX_5_MSB_ADDR
 
#define BNO055_SIC_MATRIX_6_LSB_POS     (0)
#define BNO055_SIC_MATRIX_6_LSB_MSK     (0XFF)
#define BNO055_SIC_MATRIX_6_LSB_LEN     (8)
#define BNO055_SIC_MATRIX_6_LSB_REG     BNO055_SIC_MATRIX_6_LSB_ADDR
 
#define BNO055_SIC_MATRIX_6_MSB_POS     (0)
#define BNO055_SIC_MATRIX_6_MSB_MSK     (0XFF)
#define BNO055_SIC_MATRIX_6_MSB_LEN     (8)
#define BNO055_SIC_MATRIX_6_MSB_REG     BNO055_SIC_MATRIX_6_MSB_ADDR
 
#define BNO055_SIC_MATRIX_7_LSB_POS     (0)
#define BNO055_SIC_MATRIX_7_LSB_MSK     (0XFF)
#define BNO055_SIC_MATRIX_7_LSB_LEN     (8)
#define BNO055_SIC_MATRIX_7_LSB_REG     BNO055_SIC_MATRIX_7_LSB_ADDR
 
#define BNO055_SIC_MATRIX_7_MSB_POS     (0)
#define BNO055_SIC_MATRIX_7_MSB_MSK     (0XFF)
#define BNO055_SIC_MATRIX_7_MSB_LEN     (8)
#define BNO055_SIC_MATRIX_7_MSB_REG     BNO055_SIC_MATRIX_7_MSB_ADDR
 
#define BNO055_SIC_MATRIX_8_LSB_POS     (0)
#define BNO055_SIC_MATRIX_8_LSB_MSK     (0XFF)
#define BNO055_SIC_MATRIX_8_LSB_LEN     (8)
#define BNO055_SIC_MATRIX_8_LSB_REG     BNO055_SIC_MATRIX_8_LSB_ADDR
 
#define BNO055_SIC_MATRIX_8_MSB_POS     (0)
#define BNO055_SIC_MATRIX_8_MSB_MSK     (0XFF)
#define BNO055_SIC_MATRIX_8_MSB_LEN     (8)
#define BNO055_SIC_MATRIX_8_MSB_REG     BNO055_SIC_MATRIX_8_MSB_ADDR
 
/*Accel Offset registers*/
#define BNO055_ACCEL_OFFSET_X_LSB_POS       (0)
#define BNO055_ACCEL_OFFSET_X_LSB_MSK       (0XFF)
#define BNO055_ACCEL_OFFSET_X_LSB_LEN       (8)
#define BNO055_ACCEL_OFFSET_X_LSB_REG       BNO055_ACCEL_OFFSET_X_LSB_ADDR
 
#define BNO055_ACCEL_OFFSET_X_MSB_POS       (0)
#define BNO055_ACCEL_OFFSET_X_MSB_MSK       (0XFF)
#define BNO055_ACCEL_OFFSET_X_MSB_LEN       (8)
#define BNO055_ACCEL_OFFSET_X_MSB_REG       BNO055_ACCEL_OFFSET_X_MSB_ADDR
 
#define BNO055_ACCEL_OFFSET_Y_LSB_POS       (0)
#define BNO055_ACCEL_OFFSET_Y_LSB_MSK       (0XFF)
#define BNO055_ACCEL_OFFSET_Y_LSB_LEN       (8)
#define BNO055_ACCEL_OFFSET_Y_LSB_REG       BNO055_ACCEL_OFFSET_Y_LSB_ADDR
 
#define BNO055_ACCEL_OFFSET_Y_MSB_POS       (0)
#define BNO055_ACCEL_OFFSET_Y_MSB_MSK       (0XFF)
#define BNO055_ACCEL_OFFSET_Y_MSB_LEN       (8)
#define BNO055_ACCEL_OFFSET_Y_MSB_REG       BNO055_ACCEL_OFFSET_Y_MSB_ADDR
 
#define BNO055_ACCEL_OFFSET_Z_LSB_POS       (0)
#define BNO055_ACCEL_OFFSET_Z_LSB_MSK       (0XFF)
#define BNO055_ACCEL_OFFSET_Z_LSB_LEN       (8)
#define BNO055_ACCEL_OFFSET_Z_LSB_REG       BNO055_ACCEL_OFFSET_Z_LSB_ADDR
 
#define BNO055_ACCEL_OFFSET_Z_MSB_POS       (0)
#define BNO055_ACCEL_OFFSET_Z_MSB_MSK       (0XFF)
#define BNO055_ACCEL_OFFSET_Z_MSB_LEN       (8)
#define BNO055_ACCEL_OFFSET_Z_MSB_REG       BNO055_ACCEL_OFFSET_Z_MSB_ADDR
 
/*Mag Offset registers*/
#define BNO055_MAG_OFFSET_X_LSB_POS     (0)
#define BNO055_MAG_OFFSET_X_LSB_MSK     (0XFF)
#define BNO055_MAG_OFFSET_X_LSB_LEN     (8)
#define BNO055_MAG_OFFSET_X_LSB_REG     BNO055_MAG_OFFSET_X_LSB_ADDR
 
#define BNO055_MAG_OFFSET_X_MSB_POS     (0)
#define BNO055_MAG_OFFSET_X_MSB_MSK     (0XFF)
#define BNO055_MAG_OFFSET_X_MSB_LEN     (8)
#define BNO055_MAG_OFFSET_X_MSB_REG     BNO055_MAG_OFFSET_X_MSB_ADDR
 
#define BNO055_MAG_OFFSET_Y_LSB_POS     (0)
#define BNO055_MAG_OFFSET_Y_LSB_MSK     (0XFF)
#define BNO055_MAG_OFFSET_Y_LSB_LEN     (8)
#define BNO055_MAG_OFFSET_Y_LSB_REG     BNO055_MAG_OFFSET_Y_LSB_ADDR
 
#define BNO055_MAG_OFFSET_Y_MSB_POS     (0)
#define BNO055_MAG_OFFSET_Y_MSB_MSK     (0XFF)
#define BNO055_MAG_OFFSET_Y_MSB_LEN     (8)
#define BNO055_MAG_OFFSET_Y_MSB_REG     BNO055_MAG_OFFSET_Y_MSB_ADDR
 
#define BNO055_MAG_OFFSET_Z_LSB_POS     (0)
#define BNO055_MAG_OFFSET_Z_LSB_MSK     (0XFF)
#define BNO055_MAG_OFFSET_Z_LSB_LEN     (8)
#define BNO055_MAG_OFFSET_Z_LSB_REG     BNO055_MAG_OFFSET_Z_LSB_ADDR
 
#define BNO055_MAG_OFFSET_Z_MSB_POS     (0)
#define BNO055_MAG_OFFSET_Z_MSB_MSK     (0XFF)
#define BNO055_MAG_OFFSET_Z_MSB_LEN     (8)
#define BNO055_MAG_OFFSET_Z_MSB_REG     BNO055_MAG_OFFSET_Z_MSB_ADDR
 
/* Gyro Offset registers*/
#define BNO055_GYRO_OFFSET_X_LSB_POS        (0)
#define BNO055_GYRO_OFFSET_X_LSB_MSK        (0XFF)
#define BNO055_GYRO_OFFSET_X_LSB_LEN        (8)
#define BNO055_GYRO_OFFSET_X_LSB_REG        BNO055_GYRO_OFFSET_X_LSB_ADDR
 
#define BNO055_GYRO_OFFSET_X_MSB_POS        (0)
#define BNO055_GYRO_OFFSET_X_MSB_MSK        (0XFF)
#define BNO055_GYRO_OFFSET_X_MSB_LEN        (8)
#define BNO055_GYRO_OFFSET_X_MSB_REG        BNO055_GYRO_OFFSET_X_MSB_ADDR
 
#define BNO055_GYRO_OFFSET_Y_LSB_POS        (0)
#define BNO055_GYRO_OFFSET_Y_LSB_MSK        (0XFF)
#define BNO055_GYRO_OFFSET_Y_LSB_LEN        (8)
#define BNO055_GYRO_OFFSET_Y_LSB_REG        BNO055_GYRO_OFFSET_Y_LSB_ADDR
 
#define BNO055_GYRO_OFFSET_Y_MSB_POS        (0)
#define BNO055_GYRO_OFFSET_Y_MSB_MSK        (0XFF)
#define BNO055_GYRO_OFFSET_Y_MSB_LEN        (8)
#define BNO055_GYRO_OFFSET_Y_MSB_REG        BNO055_GYRO_OFFSET_Y_MSB_ADDR
 
#define BNO055_GYRO_OFFSET_Z_LSB_POS        (0)
#define BNO055_GYRO_OFFSET_Z_LSB_MSK        (0XFF)
#define BNO055_GYRO_OFFSET_Z_LSB_LEN        (8)
#define BNO055_GYRO_OFFSET_Z_LSB_REG        BNO055_GYRO_OFFSET_Z_LSB_ADDR
 
#define BNO055_GYRO_OFFSET_Z_MSB_POS        (0)
#define BNO055_GYRO_OFFSET_Z_MSB_MSK        (0XFF)
#define BNO055_GYRO_OFFSET_Z_MSB_LEN        (8)
#define BNO055_GYRO_OFFSET_Z_MSB_REG        BNO055_GYRO_OFFSET_Z_MSB_ADDR
 
/* Radius register definition*/
#define BNO055_ACCEL_RADIUS_LSB_POS     (0)
#define BNO055_ACCEL_RADIUS_LSB_MSK     (0XFF)
#define BNO055_ACCEL_RADIUS_LSB_LEN     (8)
#define BNO055_ACCEL_RADIUS_LSB_REG     BNO055_ACCEL_RADIUS_LSB_ADDR
 
#define BNO055_ACCEL_RADIUS_MSB_POS     (0)
#define BNO055_ACCEL_RADIUS_MSB_MSK     (0XFF)
#define BNO055_ACCEL_RADIUS_MSB_LEN     (8)
#define BNO055_ACCEL_RADIUS_MSB_REG     BNO055_ACCEL_RADIUS_MSB_ADDR
 
#define BNO055_MAG_RADIUS_LSB_POS       (0)
#define BNO055_MAG_RADIUS_LSB_MSK       (0XFF)
#define BNO055_MAG_RADIUS_LSB_LEN       (8)
#define BNO055_MAG_RADIUS_LSB_REG       BNO055_MAG_RADIUS_LSB_ADDR
 
#define BNO055_MAG_RADIUS_MSB_POS       (0)
#define BNO055_MAG_RADIUS_MSB_MSK       (0XFF)
#define BNO055_MAG_RADIUS_MSB_LEN       (8)
#define BNO055_MAG_RADIUS_MSB_REG       BNO055_MAG_RADIUS_MSB_ADDR
 
/* PAGE0 DATA REGISTERS DEFINITION END*/
/*************************************************/
/*************************************************/
/* Configuration registers*/
/* Accel range configuration register*/
#define BNO055_ACCEL_RANGE_POS      (0)
#define BNO055_ACCEL_RANGE_MSK      (0X03)
#define BNO055_ACCEL_RANGE_LEN      (2)
#define BNO055_ACCEL_RANGE_REG      BNO055_ACCEL_CONFIG_ADDR
 
/* Accel bandwidth configuration register*/
#define BNO055_ACCEL_BW_POS         (2)
#define BNO055_ACCEL_BW_MSK         (0X1C)
#define BNO055_ACCEL_BW_LEN         (3)
#define BNO055_ACCEL_BW_REG         BNO055_ACCEL_CONFIG_ADDR
 
/* Accel power mode configuration register*/
#define BNO055_ACCEL_POWER_MODE_POS     (5)
#define BNO055_ACCEL_POWER_MODE_MSK     (0XE0)
#define BNO055_ACCEL_POWER_MODE_LEN     (3)
#define BNO055_ACCEL_POWER_MODE_REG     BNO055_ACCEL_CONFIG_ADDR
 
/* Mag data output rate configuration register*/
#define BNO055_MAG_DATA_OUTPUT_RATE_POS     (0)
#define BNO055_MAG_DATA_OUTPUT_RATE_MSK     (0X07)
#define BNO055_MAG_DATA_OUTPUT_RATE_LEN     (3)
#define BNO055_MAG_DATA_OUTPUT_RATE_REG     BNO055_MAG_CONFIG_ADDR
 
/* Mag operation mode configuration register*/
#define BNO055_MAG_OPERATION_MODE_POS       (3)
#define BNO055_MAG_OPERATION_MODE_MSK       (0X18)
#define BNO055_MAG_OPERATION_MODE_LEN       (2)
#define BNO055_MAG_OPERATION_MODE_REG       BNO055_MAG_CONFIG_ADDR
 
/* Mag power mode configuration register*/
#define BNO055_MAG_POWER_MODE_POS       (5)
#define BNO055_MAG_POWER_MODE_MSK       (0X60)
#define BNO055_MAG_POWER_MODE_LEN       (2)
#define BNO055_MAG_POWER_MODE_REG       BNO055_MAG_CONFIG_ADDR
 
/* Gyro range configuration register*/
#define BNO055_GYRO_RANGE_POS       (0)
#define BNO055_GYRO_RANGE_MSK       (0X07)
#define BNO055_GYRO_RANGE_LEN       (3)
#define BNO055_GYRO_RANGE_REG       BNO055_GYRO_CONFIG_ADDR
 
/* Gyro bandwidth configuration register*/
#define BNO055_GYRO_BW_POS      (3)
#define BNO055_GYRO_BW_MSK      (0X38)
#define BNO055_GYRO_BW_LEN      (3)
#define BNO055_GYRO_BW_REG      BNO055_GYRO_CONFIG_ADDR
 
/* Gyro power mode configuration register*/
#define BNO055_GYRO_POWER_MODE_POS      (0)
#define BNO055_GYRO_POWER_MODE_MSK      (0X07)
#define BNO055_GYRO_POWER_MODE_LEN      (3)
#define BNO055_GYRO_POWER_MODE_REG      BNO055_GYRO_MODE_CONFIG_ADDR
 
/* Sleep configuration registers*/
/* Accel sleep mode configuration register*/
#define BNO055_ACCEL_SLEEP_MODE_POS     (0)
#define BNO055_ACCEL_SLEEP_MODE_MSK     (0X01)
#define BNO055_ACCEL_SLEEP_MODE_LEN     (1)
#define BNO055_ACCEL_SLEEP_MODE_REG     BNO055_ACCEL_SLEEP_CONFIG_ADDR
 
/* Accel sleep duration configuration register*/
#define BNO055_ACCEL_SLEEP_DURN_POS     (1)
#define BNO055_ACCEL_SLEEP_DURN_MSK     (0X1E)
#define BNO055_ACCEL_SLEEP_DURN_LEN     (4)
#define BNO055_ACCEL_SLEEP_DURN_REG     BNO055_ACCEL_SLEEP_CONFIG_ADDR
 
/* Gyro sleep duration configuration register*/
#define BNO055_GYRO_SLEEP_DURN_POS      (0)
#define BNO055_GYRO_SLEEP_DURN_MSK      (0X07)
#define BNO055_GYRO_SLEEP_DURN_LEN      (3)
#define BNO055_GYRO_SLEEP_DURN_REG      BNO055_GYRO_SLEEP_CONFIG_ADDR
 
/* Gyro auto sleep duration configuration register*/
#define BNO055_GYRO_AUTO_SLEEP_DURN_POS     (3)
#define BNO055_GYRO_AUTO_SLEEP_DURN_MSK     (0X38)
#define BNO055_GYRO_AUTO_SLEEP_DURN_LEN     (3)
#define BNO055_GYRO_AUTO_SLEEP_DURN_REG     BNO055_GYRO_SLEEP_CONFIG_ADDR
 
/* Mag sleep mode configuration register*/
#define BNO055_MAG_SLEEP_MODE_POS       (0)
#define BNO055_MAG_SLEEP_MODE_MSK       (0X01)
#define BNO055_MAG_SLEEP_MODE_LEN       (1)
#define BNO055_MAG_SLEEP_MODE_REG       BNO055_MAG_SLEEP_CONFIG_ADDR
 
/* Mag sleep duration configuration register*/
#define BNO055_MAG_SLEEP_DURN_POS       (1)
#define BNO055_MAG_SLEEP_DURN_MSK       (0X1E)
#define BNO055_MAG_SLEEP_DURN_LEN       (4)
#define BNO055_MAG_SLEEP_DURN_REG       BNO055_MAG_SLEEP_CONFIG_ADDR
 
/* Interrupt registers*/
/* Gyro any motion interrupt msk register*/
#define BNO055_GYRO_ANY_MOTION_INTR_MASK_POS        (2)
#define BNO055_GYRO_ANY_MOTION_INTR_MASK_MSK        (0X04)
#define BNO055_GYRO_ANY_MOTION_INTR_MASK_LEN        (1)
#define BNO055_GYRO_ANY_MOTION_INTR_MASK_REG        BNO055_INT_MASK_ADDR
 
/* Gyro high rate interrupt msk register*/
#define BNO055_GYRO_HIGHRATE_INTR_MASK_POS      (3)
#define BNO055_GYRO_HIGHRATE_INTR_MASK_MSK      (0X08)
#define BNO055_GYRO_HIGHRATE_INTR_MASK_LEN      (1)
#define BNO055_GYRO_HIGHRATE_INTR_MASK_REG      BNO055_INT_MASK_ADDR
 
/* Accel high g interrupt msk register*/
#define BNO055_ACCEL_HIGH_G_INTR_MASK_POS       (5)
#define BNO055_ACCEL_HIGH_G_INTR_MASK_MSK       (0X20)
#define BNO055_ACCEL_HIGH_G_INTR_MASK_LEN       (1)
#define BNO055_ACCEL_HIGH_G_INTR_MASK_REG       BNO055_INT_MASK_ADDR
 
/* Accel any motion interrupt msk register*/
#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_POS       (6)
#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_MSK       (0X40)
#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_LEN       (1)
#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG       BNO055_INT_MASK_ADDR
 
/* Accel any motion interrupt msk register*/
#define BNO055_ACCEL_NO_MOTION_INTR_MASK_POS        (7)
#define BNO055_ACCEL_NO_MOTION_INTR_MASK_MSK        (0X80)
#define BNO055_ACCEL_NO_MOTION_INTR_MASK_LEN        (1)
#define BNO055_ACCEL_NO_MOTION_INTR_MASK_REG        BNO055_INT_MASK_ADDR
 
/* Gyro any motion interrupt register*/
#define BNO055_GYRO_ANY_MOTION_INTR_POS     (2)
#define BNO055_GYRO_ANY_MOTION_INTR_MSK     (0X04)
#define BNO055_GYRO_ANY_MOTION_INTR_LEN     (1)
#define BNO055_GYRO_ANY_MOTION_INTR_REG     BNO055_INT_ADDR
 
/* Gyro high rate interrupt register*/
#define BNO055_GYRO_HIGHRATE_INTR_POS       (3)
#define BNO055_GYRO_HIGHRATE_INTR_MSK       (0X08)
#define BNO055_GYRO_HIGHRATE_INTR_LEN       (1)
#define BNO055_GYRO_HIGHRATE_INTR_REG       BNO055_INT_ADDR
 
/* Accel high g interrupt register*/
#define BNO055_ACCEL_HIGH_G_INTR_POS        (5)
#define BNO055_ACCEL_HIGH_G_INTR_MSK        (0X20)
#define BNO055_ACCEL_HIGH_G_INTR_LEN        (1)
#define BNO055_ACCEL_HIGH_G_INTR_REG        BNO055_INT_ADDR
 
/* Accel any motion interrupt register*/
#define BNO055_ACCEL_ANY_MOTION_INTR_POS        (6)
#define BNO055_ACCEL_ANY_MOTION_INTR_MSK        (0X40)
#define BNO055_ACCEL_ANY_MOTION_INTR_LEN        (1)
#define BNO055_ACCEL_ANY_MOTION_INTR_REG        BNO055_INT_ADDR
 
/*Accel any motion interrupt register*/
#define BNO055_ACCEL_NO_MOTION_INTR_POS     (7)
#define BNO055_ACCEL_NO_MOTION_INTR_MSK     (0X80)
#define BNO055_ACCEL_NO_MOTION_INTR_LEN     (1)
#define BNO055_ACCEL_NO_MOTION_INTR_REG     BNO055_INT_ADDR
 
/*Accel any motion threshold setting*/
#define BNO055_ACCEL_ANY_MOTION_THRES_POS   (0)
#define BNO055_ACCEL_ANY_MOTION_THRES_MSK   (0XFF)
#define BNO055_ACCEL_ANY_MOTION_THRES_LEN   (8)
#define BNO055_ACCEL_ANY_MOTION_THRES_REG  BNO055_ACCEL_ANY_MOTION_THRES_ADDR
 
/*Accel interrupt setting register*/
#define BNO055_ACCEL_ANY_MOTION_DURN_SET_POS        (0)
#define BNO055_ACCEL_ANY_MOTION_DURN_SET_MSK        (0X03)
#define BNO055_ACCEL_ANY_MOTION_DURN_SET_LEN        (2)
#define BNO055_ACCEL_ANY_MOTION_DURN_SET_REG  BNO055_ACCEL_INTR_SETTINGS_ADDR
 
/* Accel AM/NM axis selection register*/
#define BNO055_ACCEL_ANY_MOTION_X_AXIS_POS      (2)
#define BNO055_ACCEL_ANY_MOTION_X_AXIS_MSK      (0X04)
#define BNO055_ACCEL_ANY_MOTION_X_AXIS_LEN      (1)
#define BNO055_ACCEL_ANY_MOTION_X_AXIS_REG  BNO055_ACCEL_INTR_SETTINGS_ADDR
 
#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_POS      (3)
#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_MSK      (0X08)
#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_LEN      (1)
#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG  BNO055_ACCEL_INTR_SETTINGS_ADDR
 
#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_POS      (4)
#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_MSK      (0X10)
#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_LEN      (1)
#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG  BNO055_ACCEL_INTR_SETTINGS_ADDR
 
/* Accel high g axis selection register*/
#define BNO055_ACCEL_HIGH_G_X_AXIS_POS      (5)
#define BNO055_ACCEL_HIGH_G_X_AXIS_MSK      (0X20)
#define BNO055_ACCEL_HIGH_G_X_AXIS_LEN      (1)
#define BNO055_ACCEL_HIGH_G_X_AXIS_REG      BNO055_ACCEL_INTR_SETTINGS_ADDR
 
#define BNO055_ACCEL_HIGH_G_Y_AXIS_POS      (6)
#define BNO055_ACCEL_HIGH_G_Y_AXIS_MSK      (0X40)
#define BNO055_ACCEL_HIGH_G_Y_AXIS_LEN      (1)
#define BNO055_ACCEL_HIGH_G_Y_AXIS_REG      BNO055_ACCEL_INTR_SETTINGS_ADDR
 
#define BNO055_ACCEL_HIGH_G_Z_AXIS_POS      (7)
#define BNO055_ACCEL_HIGH_G_Z_AXIS_MSK      (0X80)
#define BNO055_ACCEL_HIGH_G_Z_AXIS_LEN      (1)
#define BNO055_ACCEL_HIGH_G_Z_AXIS_REG      BNO055_ACCEL_INTR_SETTINGS_ADDR
 
/* Accel High g duration setting register*/
#define BNO055_ACCEL_HIGH_G_DURN_POS        (0)
#define BNO055_ACCEL_HIGH_G_DURN_MSK        (0XFF)
#define BNO055_ACCEL_HIGH_G_DURN_LEN        (8)
#define BNO055_ACCEL_HIGH_G_DURN_REG        BNO055_ACCEL_HIGH_G_DURN_ADDR
 
/* Accel High g threshold setting register*/
#define BNO055_ACCEL_HIGH_G_THRES_POS       (0)
#define BNO055_ACCEL_HIGH_G_THRES_MSK       (0XFF)
#define BNO055_ACCEL_HIGH_G_THRES_LEN       (8)
#define BNO055_ACCEL_HIGH_G_THRES_REG       BNO055_ACCEL_HIGH_G_THRES_ADDR
 
/* Accel no/slow motion threshold setting*/
#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_POS       (0)
#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_MSK       (0XFF)
#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_LEN       (8)
#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG       \
BNO055_ACCEL_NO_MOTION_THRES_ADDR
 
/* Accel no/slow motion enable setting*/
#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_POS      (0)
#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_MSK      (0X01)
#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_LEN      (1)
#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG BNO055_ACCEL_NO_MOTION_SET_ADDR
 
/* Accel no/slow motion duration setting*/
#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_POS        (1)
#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_MSK        (0X7E)
#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_LEN        (6)
#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG   BNO055_ACCEL_NO_MOTION_SET_ADDR
 
/*Gyro interrupt setting register*/
/*Gyro any motion axis setting*/
#define BNO055_GYRO_ANY_MOTION_X_AXIS_POS       (0)
#define BNO055_GYRO_ANY_MOTION_X_AXIS_MSK       (0X01)
#define BNO055_GYRO_ANY_MOTION_X_AXIS_LEN       (1)
#define BNO055_GYRO_ANY_MOTION_X_AXIS_REG    BNO055_GYRO_INTR_SETING_ADDR
 
#define BNO055_GYRO_ANY_MOTION_Y_AXIS_POS       (1)
#define BNO055_GYRO_ANY_MOTION_Y_AXIS_MSK       (0X02)
#define BNO055_GYRO_ANY_MOTION_Y_AXIS_LEN       (1)
#define BNO055_GYRO_ANY_MOTION_Y_AXIS_REG    BNO055_GYRO_INTR_SETING_ADDR
 
#define BNO055_GYRO_ANY_MOTION_Z_AXIS_POS       (2)
#define BNO055_GYRO_ANY_MOTION_Z_AXIS_MSK       (0X04)
#define BNO055_GYRO_ANY_MOTION_Z_AXIS_LEN       (1)
#define BNO055_GYRO_ANY_MOTION_Z_AXIS_REG     BNO055_GYRO_INTR_SETING_ADDR
 
/*Gyro high rate axis setting*/
#define BNO055_GYRO_HIGHRATE_X_AXIS_POS     (3)
#define BNO055_GYRO_HIGHRATE_X_AXIS_MSK     (0X08)
#define BNO055_GYRO_HIGHRATE_X_AXIS_LEN     (1)
#define BNO055_GYRO_HIGHRATE_X_AXIS_REG     BNO055_GYRO_INTR_SETING_ADDR
 
#define BNO055_GYRO_HIGHRATE_Y_AXIS_POS     (4)
#define BNO055_GYRO_HIGHRATE_Y_AXIS_MSK     (0X10)
#define BNO055_GYRO_HIGHRATE_Y_AXIS_LEN     (1)
#define BNO055_GYRO_HIGHRATE_Y_AXIS_REG     BNO055_GYRO_INTR_SETING_ADDR
 
#define BNO055_GYRO_HIGHRATE_Z_AXIS_POS     (5)
#define BNO055_GYRO_HIGHRATE_Z_AXIS_MSK     (0X20)
#define BNO055_GYRO_HIGHRATE_Z_AXIS_LEN     (1)
#define BNO055_GYRO_HIGHRATE_Z_AXIS_REG     BNO055_GYRO_INTR_SETING_ADDR
 
/* Gyro filter setting*/
#define BNO055_GYRO_ANY_MOTION_FILTER_POS       (6)
#define BNO055_GYRO_ANY_MOTION_FILTER_MSK       (0X40)
#define BNO055_GYRO_ANY_MOTION_FILTER_LEN       (1)
#define BNO055_GYRO_ANY_MOTION_FILTER_REG    BNO055_GYRO_INTR_SETING_ADDR
 
#define BNO055_GYRO_HIGHRATE_FILTER_POS     (7)
#define BNO055_GYRO_HIGHRATE_FILTER_MSK     (0X80)
#define BNO055_GYRO_HIGHRATE_FILTER_LEN     (1)
#define BNO055_GYRO_HIGHRATE_FILTER_REG     BNO055_GYRO_INTR_SETING_ADDR
 
/* Gyro high rate X axis settings*/
#define BNO055_GYRO_HIGHRATE_X_THRES_POS        (0)
#define BNO055_GYRO_HIGHRATE_X_THRES_MSK        (0X1F)
#define BNO055_GYRO_HIGHRATE_X_THRES_LEN        (5)
#define BNO055_GYRO_HIGHRATE_X_THRES_REG    BNO055_GYRO_HIGHRATE_X_SET_ADDR
 
#define BNO055_GYRO_HIGHRATE_X_HYST_POS     (5)
#define BNO055_GYRO_HIGHRATE_X_HYST_MSK     (0X60)
#define BNO055_GYRO_HIGHRATE_X_HYST_LEN     (2)
#define BNO055_GYRO_HIGHRATE_X_HYST_REG     BNO055_GYRO_HIGHRATE_X_SET_ADDR
 
#define BNO055_GYRO_HIGHRATE_X_DURN_POS     (0)
#define BNO055_GYRO_HIGHRATE_X_DURN_MSK     (0XFF)
#define BNO055_GYRO_HIGHRATE_X_DURN_LEN     (8)
#define BNO055_GYRO_HIGHRATE_X_DURN_REG     BNO055_GYRO_DURN_X_ADDR
 
/* Gyro high rate Y axis settings*/
#define BNO055_GYRO_HIGHRATE_Y_THRES_POS        (0)
#define BNO055_GYRO_HIGHRATE_Y_THRES_MSK        (0X1F)
#define BNO055_GYRO_HIGHRATE_Y_THRES_LEN        (5)
#define BNO055_GYRO_HIGHRATE_Y_THRES_REG    BNO055_GYRO_HIGHRATE_Y_SET_ADDR
 
#define BNO055_GYRO_HIGHRATE_Y_HYST_POS     (5)
#define BNO055_GYRO_HIGHRATE_Y_HYST_MSK     (0X60)
#define BNO055_GYRO_HIGHRATE_Y_HYST_LEN     (2)
#define BNO055_GYRO_HIGHRATE_Y_HYST_REG     BNO055_GYRO_HIGHRATE_Y_SET_ADDR
 
#define BNO055_GYRO_HIGHRATE_Y_DURN_POS     (0)
#define BNO055_GYRO_HIGHRATE_Y_DURN_MSK     (0XFF)
#define BNO055_GYRO_HIGHRATE_Y_DURN_LEN     (8)
#define BNO055_GYRO_HIGHRATE_Y_DURN_REG     BNO055_GYRO_DURN_Y_ADDR
 
/* Gyro high rate Z axis settings*/
#define BNO055_GYRO_HIGHRATE_Z_THRES_POS        (0)
#define BNO055_GYRO_HIGHRATE_Z_THRES_MSK        (0X1F)
#define BNO055_GYRO_HIGHRATE_Z_THRES_LEN        (5)
#define BNO055_GYRO_HIGHRATE_Z_THRES_REG    BNO055_GYRO_HIGHRATE_Z_SET_ADDR
 
#define BNO055_GYRO_HIGHRATE_Z_HYST_POS     (5)
#define BNO055_GYRO_HIGHRATE_Z_HYST_MSK     (0X60)
#define BNO055_GYRO_HIGHRATE_Z_HYST_LEN     (2)
#define BNO055_GYRO_HIGHRATE_Z_HYST_REG     BNO055_GYRO_HIGHRATE_Z_SET_ADDR
 
#define BNO055_GYRO_HIGHRATE_Z_DURN_POS     (0)
#define BNO055_GYRO_HIGHRATE_Z_DURN_MSK     (0XFF)
#define BNO055_GYRO_HIGHRATE_Z_DURN_LEN     (8)
#define BNO055_GYRO_HIGHRATE_Z_DURN_REG     (BNO055_GYRO_DURN_Z_ADDR)
 
/*Gyro any motion threshold setting*/
#define BNO055_GYRO_ANY_MOTION_THRES_POS        (0)
#define BNO055_GYRO_ANY_MOTION_THRES_MSK        (0X7F)
#define BNO055_GYRO_ANY_MOTION_THRES_LEN        (7)
#define BNO055_GYRO_ANY_MOTION_THRES_REG        \
BNO055_GYRO_ANY_MOTION_THRES_ADDR
 
/* Gyro any motion slope sample setting*/
#define BNO055_GYRO_SLOPE_SAMPLES_POS       (0)
#define BNO055_GYRO_SLOPE_SAMPLES_MSK       (0X03)
#define BNO055_GYRO_SLOPE_SAMPLES_LEN       (2)
#define BNO055_GYRO_SLOPE_SAMPLES_REG       BNO055_GYRO_ANY_MOTION_SET_ADDR
 
/* Gyro awake duration setting*/
#define BNO055_GYRO_AWAKE_DURN_POS      (2)
#define BNO055_GYRO_AWAKE_DURN_MSK      (0X0C)
#define BNO055_GYRO_AWAKE_DURN_LEN      (2)
#define BNO055_GYRO_AWAKE_DURN_REG      BNO055_GYRO_ANY_MOTION_SET_ADDR
 
/* PAGE1 DATA REGISTERS DEFINITION END*/
/*************************************************/
/*************************************************/
#define BNO055_GET_BITSLICE(regvar, bitname)\
((regvar & bitname##_MSK) >> bitname##_POS)
 
 
#define BNO055_SET_BITSLICE(regvar, bitname, val)\
((regvar & ~bitname##_MSK) | ((val<<bitname##_POS)&bitname##_MSK))
/*************************************************/
/*************************************************/
/**************************************************/
/**************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_init(struct bno055_t *bno055);
BNO055_RETURN_FUNCTION_TYPE bno055_write_register(u8 addr_u8,
u8 *data_u8, u8 len_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_read_register(u8 addr_u8,
u8 *data_u8, u8 len_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_read_chip_id(u8 *chip_id_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_read_sw_rev_id(u16 *sw_id_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_read_page_id(u8 *page_id_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_write_page_id(u8 page_id_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_rev_id(
u8 *accel_rev_id_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_rev_id(
u8 *mag_rev_id_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_rev_id(
u8 *gyro_rev_id_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_read_bl_rev_id(
u8 *bl_rev_id_u8);
/**************************************************/
/**************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_x(s16 *accel_x_s16);
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_y(s16 *accel_y_s16);
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_z(s16 *accel_z_s16);
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_xyz(
struct bno055_accel_t *accel);
/**************************************************/
/**************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_x(s16 *mag_x_s16);
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_y(s16 *mag_y_s16);
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_z(s16 *mag_z_s16);
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_xyz(struct bno055_mag_t *mag);
/**************************************************/
/**************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_x(s16 *gyro_x_s16);
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_y(s16 *gyro_y_s16);
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_z(s16 *gyro_z_s16);
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_xyz(struct bno055_gyro_t *gyro);
/**************************************************/
/**************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_h(s16 *euler_h_s16);
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_r(s16 *euler_r_s16);
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_p(s16 *euler_p_s16);
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_hrp(
struct bno055_euler_t *euler);
/**************************************************/
/**************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_w(
s16 *quaternion_w_s16);
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_x(
s16 *quaternion_x_s16);
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_y(
s16 *quaternion_y_s16);
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_z(
s16 *quaternion_z_s16);
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_wxyz(
struct bno055_quaternion_t *quaternion);
/**************************************************/
/**************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_x(
s16 *linear_accel_x_s16);
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_y(
s16 *linear_accel_y_s16);
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_z(
s16 *linear_accel_z_s16);
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_xyz(
struct bno055_linear_accel_t *linear_accel);
/**************************************************/
/**************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_x(
s16 *gravity_x_s16);
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_y(
s16 *gravity_y_s16);
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_z(
s16 *gravity_z_s16);
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_xyz(
struct bno055_gravity_t *gravity);
/**************************************************/
/**************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_read_temp_data(s8 *temp_s8);
#ifdef  BNO055_FLOAT_ENABLE
/********************************************************************/
/********************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_msq(
float *accel_x_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_msq(
float *accel_y_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_msq(
float *accel_z_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_mg(
float *accel_x_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_mg(
float *accel_y_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_mg(
float *accel_z_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_msq(
struct bno055_accel_float_t *accel_xyz);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_mg(
struct bno055_accel_float_t *accel_xyz);
/********************************************************************/
/********************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_x_uT(
float *mag_x_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_y_uT(
float *mag_y_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_z_uT(
float *mag_z_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_xyz_uT(
struct bno055_mag_float_t *mag_xyz_data);
/********************************************************************/
/********************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_dps(
float *gyro_x_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_rps(
float *gyro_x_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_dps(
float *gyro_y_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_rps(
float *gyro_y_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_dps(
float *gyro_z_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_rps(
float *gyro_z_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_dps(
struct bno055_gyro_float_t *gyro_xyz_data);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_rps(
struct bno055_gyro_float_t *gyro_xyz_data);
/********************************************************************/
/********************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_deg(
float *euler_h_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_rad(
float *euler_h_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_deg(
float *euler_r_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_rad(
float *euler_r_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_deg(
float *euler_p_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_rad(
float *euler_p_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_deg(
struct bno055_euler_float_t *euler_hpr);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_rad(
struct bno055_euler_float_t *euler_hpr);
/***************************************************************************/
/**************************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_x_msq(
float *linear_accel_x_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_y_msq(
float *linear_accel_y_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_z_msq(
float *linear_accel_z_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_xyz_msq(
struct bno055_linear_accel_float_t *linear_accel_xyz);
/********************************************************************/
/********************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_x_msq(
float *gravity_x_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_y_msq(
float *gravity_y_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_z_msq(
float *gravity_z_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gravity_xyz_msq(
struct bno055_gravity_float_t *gravity_xyz);
/**************************************************************************/
/*************************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_fahrenheit(
float *temp_f);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_celsius(
float *temp_f);
#endif
#ifdef  BNO055_DOUBLE_ENABLE
/**************************************************************************/
/*************************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_msq(
double *accel_x_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_msq(
double *accel_y_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_msq(
double *accel_z_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_mg(
double *accel_x_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_mg(
double *accel_y_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_mg(
double *accel_z_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_msq(
struct bno055_accel_double_t *accel_xyz);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_mg(
struct bno055_accel_double_t *accel_xyz);
/**************************************************************************/
/*************************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_x_uT(
double *mag_x_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_y_uT(
double *mag_y_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_z_uT(
double *mag_z_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_xyz_uT(
struct bno055_mag_double_t *mag_xyz);
/**************************************************************************/
/*************************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_dps(
double *gyro_x_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_dps(
double *gyro_y_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_dps(
double *gyro_z_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_rps(
double *gyro_x_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_rps(
double *gyro_y_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_rps(
double *gyro_z_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_dps(
struct bno055_gyro_double_t *gyro_xyz);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_rps(
struct bno055_gyro_double_t *gyro_xyz);
/**************************************************************************/
/*************************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_deg(
double *euler_h_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_deg(
double *euler_p_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_deg(
double *euler_r_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_rad(
double *euler_h_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_rad(
double *euler_p_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_rad(
double *euler_r_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_deg(
struct bno055_euler_double_t *euler_hpr);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_rad(
struct bno055_euler_double_t *euler_hpr);
/****************************************************************************/
/****************************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_x_msq(
double *linear_accel_x_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_y_msq(
double *linear_accel_y_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_z_msq(
double *linear_accel_z_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_xyz_msq(
struct bno055_linear_accel_double_t *linear_accel_xyz);
/**************************************************************************/
/*************************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_x_msq(
double *gravity_x_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_y_msq(
double *gravity_y_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_z_msq(
double *gravity_z_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gravity_xyz_msq(
struct bno055_gravity_double_t *gravity_xyz);
/**************************************************************************/
/*************************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_fahrenheit(
double *temp_d);
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_celsius(
double *temp_d);
#endif
/**************************************************************************/
/*************************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_calib_stat(
u8 *mag_calib_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_calib_stat(
u8 *accel_calib_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_calib_stat(
u8 *gyro_calib_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_calib_stat(
u8 *sys_calib_u8);
/******************************************************************/
/******************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_accel(
u8 *selftest_accel_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mag(
u8 *selftest_mag_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_gyro(
u8 *selftest_gyro_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mcu(
u8 *selftest_mcu_u8);
/*****************************************************/
/*****************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_any_motion(
u8 *gyro_any_motion_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_highrate(
u8 *gyro_highrate_u8);
/*****************************************************/
/*****************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_high_g(
u8 *accel_high_g_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_any_motion(
u8 *accel_any_motion_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_no_motion(
u8 *accel_no_motion_u8);
/**************************************************************************/
/*************************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_stat_main_clk(
u8 *stat_main_clk_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_stat_code(
u8 *sys_stat_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_error_code(
u8 *sys_error_u8);
/********************************************/
/********************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_unit(
u8 *accel_unit_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_unit(
u8 accel_unit_u8);
/********************************************/
/********************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_unit(
u8 *gyro_unit_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_unit(u8 gyro_unit_u8);
/********************************************/
/********************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_euler_unit(
u8 *euler_unit_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_euler_unit(u8 euler_unit_u8);
/********************************************/
/********************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_tilt_unit(
u8 *tilt_unit_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_tilt_unit(
u8 tilt_unit_u8);
/**************************************************/
/**************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_unit(
u8 *temp_unit_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_unit(
u8 temp_unit_u8);
/**************************************************/
/**************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_data_output_format(
u8 *data_output_format_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_data_output_format(
u8 data_output_format_u8);
/**************************************************/
/**************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_operation_mode(
u8 *operation_mode_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_operation_mode(u8 operation_mode_u8);
/**************************************************/
/**************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_power_mode(
u8 *power_mode_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_power_mode(u8 power_mode_u8);
/**************************************************/
/**************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_rst(
u8 *intr_rst_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_rst(u8 intr_rst_u8);
/**************************************************/
/**************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_clk_src(
u8 *clk_src_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_clk_src(u8 clk_src_u8);
/**************************************************/
/**************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_rst(
u8 *sys_rst_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_sys_rst(u8 sys_rst_u8);
/**************************************************/
/**************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest(
u8 *selftest_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_selftest(u8 selftest_u8);
/**************************************************/
/**************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_source(
u8 *temp_source_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_source(u8 temp_source_u8);
/**************************************************/
/**************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_axis_remap_value(
u8 *remap_axis_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_axis_remap_value(
u8 remap_axis_u8);
/**************************************************/
/**************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_x_sign(
u8 *remap_x_sign_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_x_sign(
u8 remap_x_sign_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_y_sign(
u8 *remap_y_sign_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_y_sign(
u8 remap_y_sign_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_z_sign(
u8 *remap_z_sign_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_z_sign(
u8 remap_z_sign_u8);
/*****************************************************/
/*****************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_read_sic_matrix(
struct bno055_sic_matrix_t  *sic_matrix);
BNO055_RETURN_FUNCTION_TYPE bno055_write_sic_matrix(
struct bno055_sic_matrix_t  *sic_matrix);
/*****************************************************/
/*****************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_offset(
struct bno055_accel_offset_t  *accel_offset);
BNO055_RETURN_FUNCTION_TYPE bno055_write_accel_offset(
struct bno055_accel_offset_t  *accel_offset);
/*****************************************************/
/*****************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_offset(
struct bno055_mag_offset_t  *mag_offset);
BNO055_RETURN_FUNCTION_TYPE bno055_write_mag_offset(
struct bno055_mag_offset_t  *mag_offset);
/*****************************************************/
/*****************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_offset(
struct bno055_gyro_offset_t  *gyro_offset);
BNO055_RETURN_FUNCTION_TYPE bno055_write_gyro_offset(
struct bno055_gyro_offset_t *gyro_offset);
/********************************************************/
/************** PAGE1 Functions *********************/
/********************************************************/
/*****************************************************/
/*****************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_range(
u8 *accel_range_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_range(
u8 accel_range_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_bw(
u8 *accel_bw_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_bw(
u8 accel_bw_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_power_mode(
u8 *accel_power_mode_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_power_mode(
u8 accel_power_mode_u8);
/*****************************************************/
/*****************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_data_output_rate(
u8 *mag_data_output_rate_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_data_output_rate(
u8 mag_data_output_rate_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_operation_mode(
u8 *mag_operation_mode_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_operation_mode(
u8 mag_operation_mode_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_power_mode(
u8 *mag_power_mode_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_power_mode(
u8 mag_power_mode_u8);
/*****************************************************/
/*****************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_range(
u8 *gyro_range_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_range(
u8 gyro_range_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_bw(
u8 *gyro_bw_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_bw(
u8 gyro_bw_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_power_mode(
u8 *gyro_power_mode_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_power_mode(
u8 gyro_power_mode_u8);
/*****************************************************/
/*****************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_tmr_mode(
u8 *sleep_tmr_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_tmr_mode(
u8 sleep_tmr_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_durn(
u8 *sleep_durn_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_durn(
u8 sleep_durn_u8);
/*****************************************************/
/*****************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_sleep_durn(
u8 *sleep_durn_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_sleep_durn(
u8 sleep_durn);
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_auto_sleep_durn(
u8 *auto_sleep_durn_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_gyro_set_auto_sleep_durn(
u8 auto_sleep_durn_u8, u8 bw);
/*****************************************************/
/*****************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_mode(
u8 *sleep_mode_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_mode(
u8 sleep_mode_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_durn(
u8 *sleep_durn_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_durn(
u8 sleep_durn_u8);
/*****************************************************/
/*****************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_any_motion(
u8 *gyro_any_motion_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_any_motion(
u8 gyro_any_motion_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_highrate(
u8 *gyro_highrate_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_highrate(
u8 gyro_highrate_u8);
/*****************************************************/
/*****************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_high_g(
u8 *accel_high_g_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_high_g(
u8 accel_high_g_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_any_motion(
u8 *accel_any_motion_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_any_motion(
u8 accel_any_motion_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_no_motion(
u8 *accel_nomotion_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_no_motion(
u8 accel_nomotion_u8);
/*****************************************************/
/*****************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_any_motion(
u8 *gyro_any_motion_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_any_motion(
u8 gyro_any_motion_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_highrate(
u8 *gyro_highrate_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_highrate(
u8 gyro_highrate_u8);
/*****************************************************/
/*****************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_high_g(
u8 *accel_high_g_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_high_g(
u8 accel_high_g_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_any_motion(
u8 *accel_any_motion_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_any_motion(
u8 accel_any_motion_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_no_motion(
u8 *accel_nomotion_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_no_motion(
u8 accel_nomotion_u8);
/*****************************************************/
/*****************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_thres(
u8 *accel_any_motion_thres_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_thres(
u8 accel_any_motion_thres_u8);
/*****************************************************/
/*****************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_durn(
u8 *accel_any_motion_durn_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_durn(
u8 accel_any_motion_durn_u8);
/*****************************************************/
/*****************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_no_motion_axis_enable(
u8 channel_u8, u8 *data_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_no_motion_axis_enable(
u8 channel_u8, u8 data_u8);
/*****************************************************/
/*****************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_axis_enable(
u8 channel_u8, u8 *data_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_axis_enable(
u8 channel_u8, u8 data_u8);
/*****************************************************/
/*****************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_durn(
u8 *accel_high_g_durn_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_durn(
u8 accel_high_g_durn_u8);
/*****************************************************/
/*****************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_thres(
u8 *accel_high_g_thres_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_thres(
u8 accel_high_g_thres_u8);
/**************************************************************/
/**************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_thres(
u8 *accel_slow_no_motion_thres_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_thres(
u8 accel_slow_no_motion_thres_u8);
/**************************************************************/
/**************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_enable(
u8 *accel_slow_no_motion_en_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_enable(
u8 accel_slow_no_motion_en_u8);
/**************************************************************/
/**************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_durn(
u8 *accel_slow_no_motion_durn_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_durn(
u8 accel_slow_no_motion_durn_u8);
/**************************************************************/
/**************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_axis_enable(
u8 channel_u8, u8 *data_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_axis_enable(
u8 channel_u8, u8  data_u8);
/**************************************************************/
/**************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_axis_enable(
u8 channel_u8, u8 *data_u8);
/**************************************************************/
/**************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_axis_enable(
u8 channel_u8, u8 data_u8);
/**************************************************************/
/**************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_filter(
u8 *gyro_any_motion_filter_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_filter(
u8 gyro_any_motion_filter_u8);
/**************************************************************/
/**************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_filter(
u8 *gyro_highrate_filter_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_filter(
u8 gyro_highrate_filter_u8);
/**************************************************************/
/**************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_thres(
u8 *gyro_highrate_x_thres_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_thres(
u8 gyro_highrate_x_thres_u8);
/**************************************************************/
/**************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_hyst(
u8 *gyro_highrate_x_hyst_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_hyst(
u8 gyro_highrate_x_hyst_u8);
/**************************************************************/
/**************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_durn(
u8 *gyro_highrate_x_durn_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_durn(
u8 gyro_highrate_x_durn_u8);
/**************************************************************/
/**************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_thres(
u8 *gyro_highrate_y_thres_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_thres(
u8 gyro_highrate_y_thres_u8);
/**************************************************************/
/**************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_hyst(
u8 *gyro_highrate_y_hyst_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_hyst(
u8 gyro_highrate_y_hyst_u8);
/**************************************************************/
/**************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_durn(
u8 *gyro_highrate_y_durn_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_durn(
u8 gyro_highrate_y_durn_u8);
/**************************************************************/
/**************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_thres(
u8 *gyro_highrate_z_thres_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_thres(
u8 gyro_highrate_z_thres_u8);
/**************************************************************/
/**************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_hyst(
u8 *gyro_highrate_z_hyst_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_hyst(
u8 gyro_highrate_z_hyst_u8);
/**************************************************************/
/**************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_durn(
u8 *gyro_highrate_z_durn_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_durn(
u8 gyro_highrate_z_durn_u8);
/**************************************************************/
/**************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_thres(
u8 *gyro_any_motion_thres_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_thres(
u8 gyro_any_motion_thres_u8);
/**************************************************************/
/**************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_slope_samples(
u8 *gyro_any_motion_slope_samples_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_slope_samples(
u8 gyro_any_motion_slope_samples_u8);
/**************************************************************/
/**************************************************************/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_awake_durn(
u8 *gyro_awake_durn_u8);
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_awake_durn(
u8 gyro_awake_durn_u8);
#endif