AMiRo-OS

/*

AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU Lesser General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

/**

 * @file    alld_BNO055.h

 *

 * @addtogroup lld_accel

 * @{

 */

#ifndef AMIROLLD_BNO055_H

#define AMIROLLD_BNO055_H

#include <amiro-lld.h>

#if defined(AMIROLLD_CFG_BNO055)

#if (AMIROLLD_CFG_BNO055 == 1)

  #include "v1/alld_BNO055_v1.h"

#else

  #error "invalid value assigned to AMIROLLD_CFG_BNO055 in alldconf.h"

#endif

#endif /* defined(AMIROLLD_CFG_BNO055) */

#endif /* AMIROLLD_BNO055_H */

/** @} */

/** \mainpage

 *

 ****************************************************************************

 * Copyright (C) 2015 - 2016 Bosch Sensortec GmbH

 *

 * File : bno055.h

 *

 * Date : 2016/03/14

 *

 * Revision : 2.0.3 $

 *

 * Usage: Sensor Driver file for BNO055 sensor

 *

 ****************************************************************************

 * \section License

 *

 * Redistribution and use in source and binary forms, with or without

 * modification, are permitted provided that the following conditions are met:

 *

 *   Redistributions of source code must retain the above copyright

 *   notice, this list of conditions and the following disclaimer.

 *

 *   Redistributions in binary form must reproduce the above copyright

 *   notice, this list of conditions and the following disclaimer in the

 *   documentation and/or other materials provided with the distribution.

 *

 *   Neither the name of the copyright holder nor the names of the

 *   contributors may be used to endorse or promote products derived from

 *   this software without specific prior written permission.

 *

 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND

 * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR

 * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED

 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

 * DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER

 * OR CONTRIBUTORS BE LIABLE FOR ANY

 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,

 * OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO,

 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;

 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)

 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,

 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT

 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN

 * ANY WAY OUT OF THE USE OF THIS

 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE

 *

 * The information provided is believed to be accurate and reliable.

 * The copyright holder assumes no responsibility

 * for the consequences of use

 * of such information nor for any infringement of patents or

 * other rights of third parties which may result from its use.

 * No license is granted by implication or otherwise under any patent or

 * patent rights of the copyright holder.

 **************************************************************************/

/*! \file bno055.h

 \brief BNO055 Sensor Driver Support Header File */

#ifndef __BNO055_H__

#define __BNO055_H__

#define MACHINE_16_BIT

/****************************************************************/

/**\name    DATA TYPES INCLUDES     */

/************************************************************/

/*!

 * @brief The following definition uses for define the data types

 *

 * @note While porting the API please consider the following

 * @note Please check the version of C standard

 * @note Are you using Linux platform

 */

/*!

 * @brief For the Linux platform support

 * Please use the types.h for your data types definitions

 */

#ifdef  __KERNEL__

#include <linux/types.h>

/* singed integer type*/

typedef int8_t s8;/**< used for signed 8bit */

typedef int16_t s16;/**< used for signed 16bit */

typedef int32_t s32;/**< used for signed 32bit */

typedef int64_t s64;/**< used for signed 64bit */

typedef u_int8_t u8;/**< used for unsigned 8bit */

typedef u_int16_t u16;/**< used for unsigned 16bit */

typedef u_int32_t u32;/**< used for unsigned 32bit */

typedef u_int64_t u64;/**< used for unsigned 64bit */

#else /* ! __KERNEL__ */

/**********************************************************

 * These definition uses for define the C

 * standard version data types

 ***********************************************************/

# if !defined(__STDC_VERSION__)

/************************************************

 * compiler is C11 C standard

 ************************************************/

#if (__STDC_VERSION__ == 201112L)

/************************************************/

#include <stdint.h>

/************************************************/

/*unsigned integer types*/

typedef uint8_t u8;/**< used for unsigned 8bit */

typedef uint16_t u16;/**< used for unsigned 16bit */

typedef uint32_t u32;/**< used for unsigned 32bit */

typedef uint64_t u64;/**< used for unsigned 64bit */

/*signed integer types*/

typedef int8_t s8;/**< used for signed 8bit */

typedef int16_t s16;/**< used for signed 16bit */

typedef int32_t s32;/**< used for signed 32bit */

typedef int64_t s64;/**< used for signed 64bit */

/************************************************

 * compiler is C99 C standard

 ************************************************/

#elif (__STDC_VERSION__ == 199901L)

/* stdint.h is a C99 supported c library.

 which is used to fixed the integer size*/

/************************************************/

#include <stdint.h>

/************************************************/

/*unsigned integer types*/

typedef uint8_t u8;/**< used for unsigned 8bit */

typedef uint16_t u16;/**< used for unsigned 16bit */

typedef uint32_t u32;/**< used for unsigned 32bit */

typedef uint64_t u64;/**< used for unsigned 64bit */

/*signed integer types*/

typedef int8_t s8;/**< used for signed 8bit */

typedef int16_t s16;/**< used for signed 16bit */

typedef int32_t s32;/**< used for signed 32bit */

typedef int64_t s64;/**< used for signed 64bit */

/************************************************

 * compiler is C89 or other C standard

 ************************************************/

#else /*  !defined(__STDC_VERSION__) */

/*!

 * @brief By default it is defined as 32 bit machine configuration

 *   define your data types based on your

 *   machine/compiler/controller configuration

 */

#define  MACHINE_32_BIT

/*! @brief

 *  If your machine support 16 bit

 *  define the MACHINE_16_BIT

 */

#ifdef MACHINE_16_BIT

#include <limits.h>

/*signed integer types*/

typedef signed char s8;/**< used for signed 8bit */

typedef signed short int s16;/**< used for signed 16bit */

typedef signed long int s32;/**< used for signed 32bit */

#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL

typedef long int s64;/**< used for signed 64bit */

typedef unsigned long int u64;/**< used for unsigned 64bit */

#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)

typedef long long int s64;/**< used for signed 64bit */

typedef unsigned long long int u64;/**< used for unsigned 64bit */

#else

#warning Either the correct data type for signed 64 bit integer \

could not be found, or 64 bit integers are not supported in your environment.

#warning If 64 bit integers are supported on your platform, \

please set s64 manually.

#endif

/*unsigned integer types*/

typedef unsigned char u8;/**< used for unsigned 8bit */

typedef unsigned short int u16;/**< used for unsigned 16bit */

typedef unsigned long int u32;/**< used for unsigned 32bit */

/* If your machine support 32 bit

 define the MACHINE_32_BIT*/

#elif defined MACHINE_32_BIT

/*signed integer types*/

typedef signed char s8;/**< used for signed 8bit */

typedef signed short int s16;/**< used for signed 16bit */

typedef signed int s32;/**< used for signed 32bit */

typedef signed long long int s64;/**< used for signed 64bit */

/*unsigned integer types*/

typedef unsigned char u8;/**< used for unsigned 8bit */

typedef unsigned short int u16;/**< used for unsigned 16bit */

typedef unsigned int u32;/**< used for unsigned 32bit */

typedef unsigned long long int u64;/**< used for unsigned 64bit */

/* If your machine support 64 bit

 define the MACHINE_64_BIT*/

#elif defined MACHINE_64_BIT

/*signed integer types*/

typedef signed char s8;/**< used for signed 8bit */

typedef signed short int s16;/**< used for signed 16bit */

typedef signed int s32;/**< used for signed 32bit */

typedef signed long int s64;/**< used for signed 64bit */

/*unsigned integer types*/

typedef unsigned char u8;/**< used for unsigned 8bit */

typedef unsigned short int u16;/**< used for unsigned 16bit */

typedef unsigned int u32;/**< used for unsigned 32bit */

typedef unsigned long int u64;/**< used for unsigned 64bit */

#else

#warning The data types defined above which not supported \

define the data types manually

#endif

#endif

/*** This else will execute for the compilers

 *  which are not supported the C standards

 *  Like C89/C99/C11***/

#else

/*!

 * @brief By default it is defined as 32 bit machine configuration

 *   define your data types based on your

 *   machine/compiler/controller configuration

 */

#define  MACHINE_32_BIT

/* If your machine support 16 bit

 define the MACHINE_16_BIT*/

#ifdef MACHINE_16_BIT

#include <limits.h>

/*signed integer types*/

typedef signed char s8;/**< used for signed 8bit */

typedef signed short int s16;/**< used for signed 16bit */

typedef signed long int s32;/**< used for signed 32bit */

#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL

typedef long int s64;/**< used for signed 64bit */

typedef unsigned long int u64;/**< used for unsigned 64bit */

#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)

typedef long long int s64;/**< used for signed 64bit */

typedef unsigned long long int u64;/**< used for unsigned 64bit */

#else

#warning Either the correct data type for signed 64 bit integer \

could not be found, or 64 bit integers are not supported in your environment.

#warning If 64 bit integers are supported on your platform, \

please set s64 manually.

#endif

/*unsigned integer types*/

typedef unsigned char u8;/**< used for unsigned 8bit */

typedef unsigned short int u16;/**< used for unsigned 16bit */

typedef unsigned long int u32;/**< used for unsigned 32bit */

/*! @brief If your machine support 32 bit

 define the MACHINE_32_BIT*/

#elif defined MACHINE_32_BIT

/*signed integer types*/

typedef signed char s8;/**< used for signed 8bit */

typedef signed short int s16;/**< used for signed 16bit */

typedef signed int s32;/**< used for signed 32bit */

typedef signed long long int s64;/**< used for signed 64bit */

/*unsigned integer types*/

typedef unsigned char u8;/**< used for unsigned 8bit */

typedef unsigned short int u16;/**< used for unsigned 16bit */

typedef unsigned int u32;/**< used for unsigned 32bit */

typedef unsigned long long int u64;/**< used for unsigned 64bit */

/* If your machine support 64 bit

 define the MACHINE_64_BIT*/

#elif defined MACHINE_64_BIT

/*signed integer types*/

typedef signed char s8;/**< used for signed 8bit */

typedef signed short int s16;/**< used for signed 16bit */

typedef signed int s32;/**< used for signed 32bit */

typedef signed long int s64;/**< used for signed 64bit */

/*unsigned integer types*/

typedef unsigned char u8;/**< used for unsigned 8bit */

typedef unsigned short int u16;/**< used for unsigned 16bit */

typedef unsigned int u32;/**< used for unsigned 32bit */

typedef unsigned long int u64;/**< used for unsigned 64bit */

#else

#warning The data types defined above which not supported \

define the data types manually

#endif

#endif

#endif

/***************************************************************/

/**\name    BUS READ AND WRITE FUNCTIONS           */

/***************************************************************/

#define BNO055_WR_FUNC_PTR s8 (*bus_write)\

(u8, u8, u8 *, u8)

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

    bus_write(dev_addr, reg_addr, reg_data, wr_len)

#define BNO055_RD_FUNC_PTR s8 \

(*bus_read)(u8, u8, u8 *, u8)

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

bus_read(dev_addr, reg_addr, reg_data, r_len)

#define BNO055_DELAY_RETURN_TYPE void

#define BNO055_DELAY_PARAM_TYPES u32

#define BNO055_DELAY_FUNC(delay_in_msec)\

    delay_func(delay_in_msec)

/********************************************************/

/**\name    I2C ADDRESS DEFINITION FOR BNO055           */

/********************************************************/

/* bno055 I2C Address */

#define BNO055_I2C_ADDR1                (0x28)

#define BNO055_I2C_ADDR2                (0x29)

/***************************************************/

/**\name    REGISTER ADDRESS DEFINITION  */

/***************************************************/

/* Page id register definition*/

#define BNO055_PAGE_ID_ADDR                 (0X07)

/* PAGE0 REGISTER DEFINITION START*/

#define BNO055_CHIP_ID_ADDR                 (0x00)

#define BNO055_ACCEL_REV_ID_ADDR            (0x01)

#define BNO055_MAG_REV_ID_ADDR              (0x02)

#define BNO055_GYRO_REV_ID_ADDR             (0x03)

#define BNO055_SW_REV_ID_LSB_ADDR           (0x04)

#define BNO055_SW_REV_ID_MSB_ADDR           (0x05)

#define BNO055_BL_REV_ID_ADDR               (0X06)

/* Accel data register*/

#define BNO055_ACCEL_DATA_X_LSB_ADDR            (0X08)

#define BNO055_ACCEL_DATA_X_MSB_ADDR            (0X09)

#define BNO055_ACCEL_DATA_Y_LSB_ADDR            (0X0A)

#define BNO055_ACCEL_DATA_Y_MSB_ADDR            (0X0B)

#define BNO055_ACCEL_DATA_Z_LSB_ADDR            (0X0C)

#define BNO055_ACCEL_DATA_Z_MSB_ADDR            (0X0D)

/*Mag data register*/

#define BNO055_MAG_DATA_X_LSB_ADDR          (0X0E)

#define BNO055_MAG_DATA_X_MSB_ADDR          (0X0F)

#define BNO055_MAG_DATA_Y_LSB_ADDR          (0X10)

#define BNO055_MAG_DATA_Y_MSB_ADDR          (0X11)

#define BNO055_MAG_DATA_Z_LSB_ADDR          (0X12)

#define BNO055_MAG_DATA_Z_MSB_ADDR          (0X13)

/*Gyro data registers*/

#define BNO055_GYRO_DATA_X_LSB_ADDR         (0X14)

#define BNO055_GYRO_DATA_X_MSB_ADDR         (0X15)

#define BNO055_GYRO_DATA_Y_LSB_ADDR         (0X16)

#define BNO055_GYRO_DATA_Y_MSB_ADDR         (0X17)

#define BNO055_GYRO_DATA_Z_LSB_ADDR         (0X18)

#define BNO055_GYRO_DATA_Z_MSB_ADDR         (0X19)

/*Euler data registers*/

#define BNO055_EULER_H_LSB_ADDR         (0X1A)

#define BNO055_EULER_H_MSB_ADDR         (0X1B)

#define BNO055_EULER_R_LSB_ADDR         (0X1C)

#define BNO055_EULER_R_MSB_ADDR         (0X1D)

#define BNO055_EULER_P_LSB_ADDR         (0X1E)

#define BNO055_EULER_P_MSB_ADDR         (0X1F)

/*Quaternion data registers*/

#define BNO055_QUATERNION_DATA_W_LSB_ADDR   (0X20)

#define BNO055_QUATERNION_DATA_W_MSB_ADDR   (0X21)

#define BNO055_QUATERNION_DATA_X_LSB_ADDR   (0X22)

#define BNO055_QUATERNION_DATA_X_MSB_ADDR   (0X23)

#define BNO055_QUATERNION_DATA_Y_LSB_ADDR   (0X24)

#define BNO055_QUATERNION_DATA_Y_MSB_ADDR   (0X25)

#define BNO055_QUATERNION_DATA_Z_LSB_ADDR   (0X26)

#define BNO055_QUATERNION_DATA_Z_MSB_ADDR   (0X27)

/* Linear acceleration data registers*/

#define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR         (0X28)

#define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR         (0X29)

#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR         (0X2A)

#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR         (0X2B)

#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR         (0X2C)

#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR         (0X2D)

/*Gravity data registers*/

#define BNO055_GRAVITY_DATA_X_LSB_ADDR          (0X2E)

#define BNO055_GRAVITY_DATA_X_MSB_ADDR          (0X2F)

#define BNO055_GRAVITY_DATA_Y_LSB_ADDR          (0X30)

#define BNO055_GRAVITY_DATA_Y_MSB_ADDR          (0X31)

#define BNO055_GRAVITY_DATA_Z_LSB_ADDR          (0X32)

#define BNO055_GRAVITY_DATA_Z_MSB_ADDR          (0X33)

/* Temperature data register*/

#define BNO055_TEMP_ADDR                    (0X34)

/* Status registers*/

#define BNO055_CALIB_STAT_ADDR              (0X35)

#define BNO055_SELFTEST_RESULT_ADDR         (0X36)

#define BNO055_INTR_STAT_ADDR               (0X37)

#define BNO055_SYS_CLK_STAT_ADDR            (0X38)

#define BNO055_SYS_STAT_ADDR                (0X39)

#define BNO055_SYS_ERR_ADDR                 (0X3A)

/* Unit selection register*/

#define BNO055_UNIT_SEL_ADDR                (0X3B)

#define BNO055_DATA_SELECT_ADDR             (0X3C)

/* Mode registers*/

#define BNO055_OPR_MODE_ADDR                (0X3D)

#define BNO055_PWR_MODE_ADDR                (0X3E)

#define BNO055_SYS_TRIGGER_ADDR             (0X3F)

#define BNO055_TEMP_SOURCE_ADDR             (0X40)

/* Axis remap registers*/

#define BNO055_AXIS_MAP_CONFIG_ADDR         (0X41)

#define BNO055_AXIS_MAP_SIGN_ADDR           (0X42)

/* SIC registers*/

#define BNO055_SIC_MATRIX_0_LSB_ADDR        (0X43)

#define BNO055_SIC_MATRIX_0_MSB_ADDR        (0X44)

#define BNO055_SIC_MATRIX_1_LSB_ADDR        (0X45)

#define BNO055_SIC_MATRIX_1_MSB_ADDR        (0X46)

#define BNO055_SIC_MATRIX_2_LSB_ADDR        (0X47)

#define BNO055_SIC_MATRIX_2_MSB_ADDR        (0X48)

#define BNO055_SIC_MATRIX_3_LSB_ADDR        (0X49)

#define BNO055_SIC_MATRIX_3_MSB_ADDR        (0X4A)

#define BNO055_SIC_MATRIX_4_LSB_ADDR        (0X4B)

#define BNO055_SIC_MATRIX_4_MSB_ADDR        (0X4C)

#define BNO055_SIC_MATRIX_5_LSB_ADDR        (0X4D)

#define BNO055_SIC_MATRIX_5_MSB_ADDR        (0X4E)

#define BNO055_SIC_MATRIX_6_LSB_ADDR        (0X4F)

#define BNO055_SIC_MATRIX_6_MSB_ADDR        (0X50)

#define BNO055_SIC_MATRIX_7_LSB_ADDR        (0X51)

#define BNO055_SIC_MATRIX_7_MSB_ADDR        (0X52)

#define BNO055_SIC_MATRIX_8_LSB_ADDR        (0X53)

#define BNO055_SIC_MATRIX_8_MSB_ADDR        (0X54)

/* Accelerometer Offset registers*/

#define BNO055_ACCEL_OFFSET_X_LSB_ADDR              (0X55)

#define BNO055_ACCEL_OFFSET_X_MSB_ADDR              (0X56)

#define BNO055_ACCEL_OFFSET_Y_LSB_ADDR              (0X57)

#define BNO055_ACCEL_OFFSET_Y_MSB_ADDR              (0X58)

#define BNO055_ACCEL_OFFSET_Z_LSB_ADDR              (0X59)

#define BNO055_ACCEL_OFFSET_Z_MSB_ADDR              (0X5A)

/* Magnetometer Offset registers*/

#define BNO055_MAG_OFFSET_X_LSB_ADDR                (0X5B)

#define BNO055_MAG_OFFSET_X_MSB_ADDR                (0X5C)

#define BNO055_MAG_OFFSET_Y_LSB_ADDR                (0X5D)

#define BNO055_MAG_OFFSET_Y_MSB_ADDR                (0X5E)

#define BNO055_MAG_OFFSET_Z_LSB_ADDR                (0X5F)

#define BNO055_MAG_OFFSET_Z_MSB_ADDR                (0X60)

/* Gyroscope Offset registers*/

#define BNO055_GYRO_OFFSET_X_LSB_ADDR               (0X61)

#define BNO055_GYRO_OFFSET_X_MSB_ADDR               (0X62)

#define BNO055_GYRO_OFFSET_Y_LSB_ADDR               (0X63)

#define BNO055_GYRO_OFFSET_Y_MSB_ADDR               (0X64)

#define BNO055_GYRO_OFFSET_Z_LSB_ADDR               (0X65)

#define BNO055_GYRO_OFFSET_Z_MSB_ADDR               (0X66)

/* Radius registers*/

#define BNO055_ACCEL_RADIUS_LSB_ADDR                (0X67)

#define BNO055_ACCEL_RADIUS_MSB_ADDR                (0X68)

#define BNO055_MAG_RADIUS_LSB_ADDR                  (0X69)

#define BNO055_MAG_RADIUS_MSB_ADDR                  (0X6A)

/* PAGE0 REGISTERS DEFINITION END*/

/* PAGE1 REGISTERS DEFINITION START*/

/* Configuration registers*/

#define BNO055_ACCEL_CONFIG_ADDR                (0X08)

#define BNO055_MAG_CONFIG_ADDR                  (0X09)

#define BNO055_GYRO_CONFIG_ADDR                 (0X0A)

#define BNO055_GYRO_MODE_CONFIG_ADDR            (0X0B)

#define BNO055_ACCEL_SLEEP_CONFIG_ADDR          (0X0C)

#define BNO055_GYRO_SLEEP_CONFIG_ADDR           (0X0D)

#define BNO055_MAG_SLEEP_CONFIG_ADDR            (0x0E)

/* Interrupt registers*/

#define BNO055_INT_MASK_ADDR                    (0X0F)

#define BNO055_INT_ADDR                         (0X10)

#define BNO055_ACCEL_ANY_MOTION_THRES_ADDR      (0X11)

#define BNO055_ACCEL_INTR_SETTINGS_ADDR         (0X12)

#define BNO055_ACCEL_HIGH_G_DURN_ADDR           (0X13)

#define BNO055_ACCEL_HIGH_G_THRES_ADDR          (0X14)

#define BNO055_ACCEL_NO_MOTION_THRES_ADDR       (0X15)

#define BNO055_ACCEL_NO_MOTION_SET_ADDR         (0X16)

#define BNO055_GYRO_INTR_SETING_ADDR            (0X17)

#define BNO055_GYRO_HIGHRATE_X_SET_ADDR         (0X18)

#define BNO055_GYRO_DURN_X_ADDR                 (0X19)

#define BNO055_GYRO_HIGHRATE_Y_SET_ADDR         (0X1A)

#define BNO055_GYRO_DURN_Y_ADDR                 (0X1B)

#define BNO055_GYRO_HIGHRATE_Z_SET_ADDR         (0X1C)

#define BNO055_GYRO_DURN_Z_ADDR                 (0X1D)

#define BNO055_GYRO_ANY_MOTION_THRES_ADDR       (0X1E)

#define BNO055_GYRO_ANY_MOTION_SET_ADDR         (0X1F)

/* PAGE1 REGISTERS DEFINITION END*/

#define BNO055_MDELAY_DATA_TYPE     u32

/*< This refers BNO055 return type as s8 */

#define BNO055_RETURN_FUNCTION_TYPE s8

/* Compile switch definition for Float and double*/

#define BNO055_FLOAT_ENABLE

#define BNO055_DOUBLE_ENABLE

/**************************************************************/

/**\name    STRUCTURE DEFINITIONS                         */

/**************************************************************/

/*!

 *   @brief bno055 struct

 */

struct bno055_t {

    u8 chip_id;/**< chip_id of bno055 */

    u16 sw_rev_id;/**< software revision id of bno055 */

    u8 page_id;/**< page_id of bno055 */

    u8 accel_rev_id;/**< accel revision id of bno055 */

    u8 mag_rev_id;/**< mag revision id of bno055 */

    u8 gyro_rev_id;/**< gyro revision id of bno055 */

    u8 bl_rev_id;/**< boot loader revision id of bno055 */

    u8 dev_addr;/**< i2c device address of bno055 */

    BNO055_WR_FUNC_PTR;/**< bus write function pointer */

    BNO055_RD_FUNC_PTR;/**<bus read function pointer */

    void (*delay_msec)(BNO055_MDELAY_DATA_TYPE);/**< delay function pointer */

};

/*!

 * @brief struct for accel data read from registers

 */

struct bno055_accel_t {

    s16 x;/**< accel x data */

    s16 y;/**< accel y data */

    s16 z;/**< accel z data */

};

/*!

 * @brief struct for Mag data read from registers

 */

struct bno055_mag_t {

    s16 x;/**< mag x data */

    s16 y;/**< mag y data */

    s16 z;/**< mag z data */

};

/*!

 * @brief struct for Gyro data read from registers

 */

struct bno055_gyro_t {

    s16 x;/**< gyro x data */

    s16 y;/**< gyro y data */

    s16 z;/**< gyro z data */

};

/*!

 * @brief struct for Euler data read from registers

 */

struct bno055_euler_t {

    s16 h;/**< Euler h data */

    s16 r;/**< Euler r data */

    s16 p;/**< Euler p data */

};

/*!

 * @brief struct for Quaternion data read from registers

 */

struct bno055_quaternion_t {

    s16 w;/**< Quaternion w data */

    s16 x;/**< Quaternion x data */

    s16 y;/**< Quaternion y data */

    s16 z;/**< Quaternion z data */

};

/*!

 * @brief struct for Linear Accel data read from registers

 */

struct bno055_linear_accel_t {

    s16 x; /**< Linear Accel x data */

    s16 y; /**< Linear Accel y data */

    s16 z; /**< Linear Accel z data */

};

/*!

 * @brief struct for Gravity data read from registers

 */

struct bno055_gravity_t {

    s16 x;/**< Gravity x data */

    s16 y;/**< Gravity y data */

    s16 z;/**< Gravity z data */

};

#ifdef  BNO055_DOUBLE_ENABLE

/*!

 * @brief struct for Accel-output data of precision double

 */

struct bno055_accel_double_t {

    double x;/**< Accel x double data */

    double y;/**< Accel y double data */

    double z;/**< Accel z double data */

};

/*!

 * @brief struct for Mag-output data of precision double

 */

struct bno055_mag_double_t {

    double x;/**< Mag x double data */

    double y;/**< Mag y double data */

    double z;/**< Mag z double data */

};

/*!

 * @brief struct for Gyro-output data of precision double

 */

struct bno055_gyro_double_t {

    double x;/**< Gyro x double data */

    double y;/**< Gyro y double data */

    double z;/**< Gyro z double data */

};

/*!

 * @brief struct for Euler-output data of precision double

 */

struct bno055_euler_double_t {

    double h;/**< Euler h double data */

    double r;/**< Euler r double data */

    double p;/**< Euler p double data */

};

/*!

 * @brief struct for Linear Accel-output data of precision double

 */

struct bno055_linear_accel_double_t {

    double x;/**< linear accel x double data */

    double y;/**< linear accel y double data */

    double z;/**< linear accel z double data */

};

/*!

 * @brief struct for Gravity-output data of precision double

 */

struct bno055_gravity_double_t {

    double x;/**< Gravity x double data */

    double y;/**< Gravity y double data */

    double z;/**< Gravity z double data */

};

#endif

#ifdef  BNO055_FLOAT_ENABLE

/*!

 * @brief struct for Accel-output data of precision float

 */

struct bno055_accel_float_t {

    float x;/**< accel x float data */

    float y;/**< accel y float data */

    float z;/**< accel z float data */

};

/*!

 * @brief struct for Mag-output data of precision float

 */

struct bno055_mag_float_t {

    float x;/**< Mag x float data */

    float y;/**< Mag y float data */

    float z;/**< Mag z float data */

};

/*!

 * @brief struct for Gyro-output data of precision float

 */

struct bno055_gyro_float_t {

    float x;/**< Gyro x float data */

    float y;/**< Gyro y float data */

    float z;/**< Gyro z float data */

};

/*!

 * @brief struct for Euler-output data of precision float

 */

struct bno055_euler_float_t {

    float h;/**< Euler h float data */

    float r;/**< Euler r float data */

    float p;/**< Euler p float data */

};

/*!

 * @brief struct for Linear accel-output data of precision float

 */

struct bno055_linear_accel_float_t {

    float x;/**< Linear accel x float data */

    float y;/**< Linear accel y float data */

    float z;/**< Linear accel z float data */

};

/*!

 * @brief struct for Gravity-output data of precision float

 */

struct bno055_gravity_float_t {

    float x;/**< Gravity x float data */

    float y;/**< Gravity y float data */

    float z;/**< Gravity z float data */

};

#endif

/*!

 * @brief struct for Accel offset

 */

struct bno055_accel_offset_t {

    s16 x;/**< Accel offset x data */

    s16 y;/**< Accel offset y data */

    s16 z;/**< Accel offset z data */

    s16 r;/**< Accel radius r data */

};

/*!

 * @brief struct for Gyro offset

 */

struct bno055_gyro_offset_t {

    s16 x;/**< Gyro offset x data */

    s16 y;/**< Gyro offset y data */

    s16 z;/**< Gyro offset z data */

};

/*!

 * @brief struct for Mag offset

 */

struct bno055_mag_offset_t {

    s16 x;/**< Mag offset x data */

    s16 y;/**< Mag offset y data */

    s16 z;/**< Mag offset z data */

    s16 r;/**< Mag radius x data */

};

/*!

 * @brief struct for soft iron calibration matrix

 */

struct bno055_sic_matrix_t {

    s16 sic_0;/**< soft iron calibration matrix 0 data */

    s16 sic_1;/**< soft iron calibration matrix 1 data */

    s16 sic_2;/**< soft iron calibration matrix 2 data */

    s16 sic_3;/**< soft iron calibration matrix 3 data */

    s16 sic_4;/**< soft iron calibration matrix 4 data */

    s16 sic_5;/**< soft iron calibration matrix 5 data */

    s16 sic_6;/**< soft iron calibration matrix 6 data */

    s16 sic_7;/**< soft iron calibration matrix 7 data */

    s16 sic_8;/**< soft iron calibration matrix 8 data */

};

/***************************************************/

/**\name    CONSTANT DEFINITIONS                   */

/***************************************************/

#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)

/****************************************************/

/**\name    ARRAY SIZE DEFINITIONS      */

/***************************************************/

#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)

/*********************************************************/

/**\name PAGE0 DATA REGISTERS DEFINITION */

/*********************************************************/

/* 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