commit 5d67f4db62e8dfd1d46951df2bdf74ae1a32f1f8
Author: Timm Hörmann <thoerman@techfak.de>
Date:   Mon Apr 1 10:26:39 2019 +0200

    Added simplistic statefull wrapper of BOSH BNO055 library (https://github.com/BoschSensortec/BNO055_driver)

diff --git a/include/BNO055/alld_BNO055.h b/include/BNO055/alld_BNO055.h
new file mode 100644
index 0000000..71ec578
--- /dev/null
+++ b/include/BNO055/alld_BNO055.h
@@ -0,0 +1,43 @@
+/*
+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 */
+
+/** @} */
diff --git a/include/BNO055/bno055_reg.h b/include/BNO055/bno055_reg.h
new file mode 100644
index 0000000..bd17feb
--- /dev/null
+++ b/include/BNO055/bno055_reg.h
@@ -0,0 +1,7843 @@
+/** \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
+
+/*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*/
+/*************************************************/
+/**\name PAGE1 DATA REGISTERS DEFINITION   */
+/*************************************************/
+/* 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*/
+/*************************************************/
+/**\name GET AND SET BITSLICE FUNCTIONS    */
+/*************************************************/
+#define BNO055_GET_BITSLICE(regvar, bitname)\
+((regvar & bitname##_MSK) >> bitname##_POS)
+
+#define BNO055_SET_BITSLICE(regvar, bitname, val)\
+((regvar & ~bitname##_MSK) | ((val<<bitname##_POS)&bitname##_MSK))
+/*************************************************/
+/**\name FUNCTION DECLARATION    */
+/*************************************************/
+/**************************************************/
+/**\name INITIALIZATION AND REVISION ID FUNCTIONS */
+/**************************************************/
+/*!
+ *  @brief
+ *  This API is used for initialize
+ *  bus read, bus write function pointers,device
+ *  address,accel revision id, gyro revision id
+ *  mag revision id, software revision id, boot loader
+ *  revision id and page id
+ *
+ *  @param  bno055 - structure pointer
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While changing the parameter of the bno055_t
+ *  consider the following point:
+ *  Changing the reference value of the parameter
+ *  will changes the local copy or local reference
+ *  make sure your changes will not
+ *  affect the reference value of the parameter
+ *  (Better case don't change the reference value of the parameter)
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_init(struct bno055_t *bno055);
+/*!
+ *  @brief
+ *  This API gives data to the given register and
+ *  the data is written in the corresponding register address
+ *
+ *  @param addr_u8 : Address of the register
+ *  @param data_u8 : Data to be written to the register
+ *  @param len_u8  : Length of the Data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_write_register(u8 addr_u8, u8 *data_u8,
+        u8 len_u8);
+/*!
+ *  @brief This API reads the data from
+ *  the given register address
+ *
+ *  @param addr_u8 : Address of the register
+ *  @param data_u8 : address of the variable,
+ *  read value will be kept
+ *  @param len_u8  : Length of the data
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_register(u8 addr_u8, u8 *data_u8,
+        u8 len_u8);
+/*!
+ *  @brief This API reads chip id
+ *  from register 0x00 it is a byte of data
+ *
+ *
+ *  @param chip_id_u8 : The chip id value 0xA0
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_chip_id(u8 *chip_id_u8);
+/*!
+ *  @brief This API reads software revision id
+ *  from register 0x04 and 0x05 it is a two byte of data
+ *
+ *  @param sw_id_u8 : The SW revision id
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_sw_rev_id(u16 *sw_id_u8);
+/*!
+ *  @brief This API reads page id
+ *  from register 0x07 it is a byte of data
+ *
+ *
+ *  @param page_id_u8 : The value of page id
+ *
+ *  BNO055_PAGE_ZERO -> 0x00
+ *  BNO055_PAGE_ONE  -> 0x01
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_page_id(u8 *page_id_u8);
+/*!
+ *  @brief This API used to write
+ *  the page id register 0x07
+ *
+ *  @param page_id_u8 : The value of page id
+ *
+ *  BNO055_PAGE_ZERO -> 0x00
+ *  BNO055_PAGE_ONE  -> 0x01
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_write_page_id(u8 page_id_u8);
+/*!
+ *  @brief This API reads accel revision id
+ *  from register 0x01 it is a byte of value
+ *
+ *  @param accel_rev_id_u8 : The accel revision id 0xFB
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_rev_id(u8 *accel_rev_id_u8);
+/*!
+ *  @brief This API reads mag revision id
+ *  from register 0x02 it is a byte of value
+ *
+ *  @param mag_rev_id_u8 : The mag revision id 0x32
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_rev_id(u8 *mag_rev_id_u8);
+/*!
+ *  @brief This API reads gyro revision id
+ *  from register 0x03 it is a byte of value
+ *
+ *  @param gyro_rev_id_u8 : The gyro revision id 0xF0
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_rev_id(u8 *gyro_rev_id_u8);
+/*!
+ *  @brief This API used to read boot loader revision id
+ *  from register 0x06 it is a byte of value
+ *
+ *  @param bl_rev_id_u8 : The boot loader revision id
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_bl_rev_id(u8 *bl_rev_id_u8);
+/**************************************************/
+/**\name ACCEL DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ *  @brief This API reads acceleration data X values
+ *  from register 0x08 and 0x09 it is a two byte data
+ *
+ *
+ *
+ *
+ *  @param accel_x_s16 : The X raw data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_x(s16 *accel_x_s16);
+/*!
+ *  @brief This API reads acceleration data Y values
+ *  from register 0x0A and 0x0B it is a two byte data
+ *
+ *
+ *
+ *
+ *  @param accel_y_s16 : The Y raw data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_y(s16 *accel_y_s16);
+/*!
+ *  @brief This API reads acceleration data z values
+ *  from register 0x0C and 0x0D it is a two byte data
+ *
+ *
+ *
+ *
+ *  @param accel_z_s16 : The z raw data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_z(s16 *accel_z_s16);
+/*!
+ *  @brief This API reads acceleration data xyz values
+ *  from register 0x08 to 0x0D it is a six byte data
+ *
+ *
+ *  @param accel : The value of accel xyz data
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | The accel x data
+ *   y        | The accel y data
+ *   z        | The accel z data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_xyz(struct bno055_accel_t *accel);
+/**************************************************/
+/**\name MAG DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ *  @brief This API reads mag data x values
+ *  from register 0x0E and 0x0F it is a two byte data
+ *
+ *
+ *
+ *
+ *  @param mag_x_s16 : The x raw data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_x(s16 *mag_x_s16);
+/*!
+ *  @brief This API reads mag data y values
+ *  from register 0x10 and 0x11 it is a two byte data
+ *
+ *
+ *
+ *
+ *  @param mag_y_s16 : The y raw data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_y(s16 *mag_y_s16);
+/*!
+ *  @brief This API reads mag data z values
+ *  from register 0x12 and 0x13 it is a two byte data
+ *
+ *
+ *
+ *
+ *  @param mag_z_s16 : The z raw data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_z(s16 *mag_z_s16);
+/*!
+ *  @brief This API reads mag data xyz values
+ *  from register 0x0E to 0x13 it is a six byte data
+ *
+ *
+ *  @param mag : The mag xyz values
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | The mag x data
+ *   y        | The mag y data
+ *   z        | The mag z data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_xyz(struct bno055_mag_t *mag);
+/**************************************************/
+/**\name GYRO DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ *  @brief This API reads gyro data x values
+ *  from register 0x14 and 0x15 it is a two byte data
+ *
+ *
+ *
+ *
+ *  @param gyro_x_s16 : The x raw data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_x(s16 *gyro_x_s16);
+/*!
+ *  @brief This API reads gyro data y values
+ *  from register 0x16 and 0x17 it is a two byte data
+ *
+ *
+ *
+ *
+ *  @param gyro_y_s16 : The y raw data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_y(s16 *gyro_y_s16);
+/*!
+ *  @brief This API reads gyro data z values
+ *  from register 0x18 and 0x19 it is a two byte data
+ *
+ *  @param gyro_z_s16 : The z raw data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_z(s16 *gyro_z_s16);
+/*!
+ *  @brief This API reads gyro data xyz values
+ *  from register 0x14 to 0x19 it is a six byte data
+ *
+ *
+ *  @param gyro : The value of gyro xyz data's
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | The gyro x data
+ *   y        | The gyro y data
+ *   z        | The gyro z data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_xyz(struct bno055_gyro_t *gyro);
+/**************************************************/
+/**\name EULER DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ *  @brief This API reads gyro data z values
+ *  from register 0x1A and 0x1B it is a two byte data
+ *
+ *  @param euler_h_s16 : The raw h data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_h(s16 *euler_h_s16);
+/*!
+ *  @brief This API reads Euler data r values
+ *  from register 0x1C and 0x1D it is a two byte data
+ *
+ *  @param euler_r_s16 : The raw r data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_r(s16 *euler_r_s16);
+/*!
+ *  @brief This API reads Euler data p values
+ *  from register 0x1E and 0x1F it is a two byte data
+ *
+ *  @param euler_p_s16 : The raw p data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_p(s16 *euler_p_s16);
+/*!
+ *  @brief This API reads Euler data hrp values
+ *  from register 0x1A to 0x1F it is a six byte data
+ *
+ *
+ *  @param euler : The Euler hrp data's
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   h        | The Euler h data
+ *   r        | The Euler r data
+ *   p        | The Euler p data
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_hrp(struct bno055_euler_t *euler);
+/**************************************************/
+/**\name QUATERNION DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ *  @brief This API reads quaternion data w values
+ *  from register 0x20 and 0x21 it is a two byte data
+ *
+ *  @param quaternion_w_s16 : The raw w data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_w(s16 *quaternion_w_s16);
+/*!
+ *  @brief This API reads quaternion data x values
+ *  from register 0x22 and 0x23 it is a two byte data
+ *
+ *  @param quaternion_x_s16 : The raw x data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_x(s16 *quaternion_x_s16);
+/*!
+ *  @brief This API reads quaternion data y values
+ *  from register 0x24 and 0x25 it is a two byte data
+ *
+ *  @param quaternion_y_s16 : The raw y data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_y(s16 *quaternion_y_s16);
+/*!
+ *  @brief This API reads quaternion data z values
+ *  from register 0x26 and 0x27 it is a two byte data
+ *
+ *  @param quaternion_z_s16 : The raw z data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_z(s16 *quaternion_z_s16);
+/*!
+ *  @brief This API reads Quaternion data wxyz values
+ *  from register 0x20 to 0x27 it is a six byte data
+ *
+ *
+ *  @param quaternion : The value of quaternion wxyz data's
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   w        | The quaternion w data
+ *   x        | The quaternion x data
+ *   y        | The quaternion y data
+ *   z        | The quaternion z data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_wxyz(
+        struct bno055_quaternion_t *quaternion);
+/**************************************************/
+/**\name LINEAR ACCEL DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ *  @brief This API reads Linear accel data x values
+ *  from register 0x29 and 0x2A it is a two byte data
+ *
+ *  @param linear_accel_x_s16 : The raw x data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_x(s16 *linear_accel_x_s16);
+/*!
+ *  @brief This API reads Linear accel data x values
+ *  from register 0x2B and 0x2C it is a two byte data
+ *
+ *  @param linear_accel_y_s16 : The raw y data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_y(s16 *linear_accel_y_s16);
+/*!
+ *  @brief This API reads Linear accel data x values
+ *  from register 0x2C and 0x2D it is a two byte data
+ *
+ *  @param linear_accel_z_s16 : The raw z data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_z(s16 *linear_accel_z_s16);
+/*!
+ *  @brief This API reads Linear accel data xyz values
+ *  from register 0x28 to 0x2D it is a six byte data
+ *
+ *
+ *  @param linear_accel : The value of linear accel xyz data's
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | The linear accel x data
+ *   y        | The linear accel y data
+ *   z        | The linear accel z data
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_xyz(
+        struct bno055_linear_accel_t *linear_accel);
+/**************************************************/
+/**\name GRAVITY DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ *  @brief This API reads gravity data x values
+ *  from register 0x2E and 0x2F it is a two byte data
+ *
+ *  @param gravity_x_s16 : The raw x data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_x(s16 *gravity_x_s16);
+/*!
+ *  @brief This API reads gravity data y values
+ *  from register 0x30 and 0x31 it is a two byte data
+ *
+ *  @param gravity_y_s16 : The raw y data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_y(s16 *gravity_y_s16);
+/*!
+ *  @brief This API reads gravity data z values
+ *  from register 0x32 and 0x33 it is a two byte data
+ *
+ *  @param gravity_z_s16 : The raw z data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_z(s16 *gravity_z_s16);
+/*!
+ * @brief This API reads gravity data xyz values
+ *  from register 0x2E to 0x33 it is a six byte data
+ *
+ *
+ *  @param gravity : The value of gravity xyz data's
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | The gravity x data
+ *   y        | The gravity y data
+ *   z        | The gravity z data
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_xyz(
+        struct bno055_gravity_t *gravity);
+/**************************************************/
+/**\name TEMPERATURE DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ *  @brief This API reads temperature values
+ *  from register 0x33 it is a byte data
+ *
+ *  @param temp_s8 : The raw temperature data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_temp_data(s8 *temp_s8);
+#ifdef  BNO055_FLOAT_ENABLE
+/********************************************************************/
+/**\name FUNCTIONS FOR READING ACCEL DATA OUTPUT AS FLOAT PRECISION */
+/********************************************************************/
+/*!
+ *  @brief This API is used to convert the accel x raw data
+ *  to meterpersecseq output as float
+ *
+ *  @param accel_x_f : The accel x meterpersecseq data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_msq(float *accel_x_f);
+/*!
+ *  @brief This API is used to convert the accel x raw data
+ *  to meterpersecseq output as float
+ *
+ *  @param accel_y_f : The accel y meterpersecseq data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_msq(float *accel_y_f);
+/*!
+ *  @brief This API is used to convert the accel z raw data
+ *  to meterpersecseq output as float
+ *
+ *  @param accel_z_f : The accel z meterpersecseq data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_msq(float *accel_z_f);
+/*!
+ *  @brief This API is used to convert the accel y raw data
+ *  to millig output as float
+ *
+ *  @param accel_x_f : The accel y millig data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_mg(float *accel_x_f);
+/*!
+ *  @brief This API is used to convert the accel y raw data
+ *  to millig output as float
+ *
+ *  @param accel_y_f : The accel y millig data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_mg(float *accel_y_f);
+/*!
+ *  @brief This API is used to convert the accel z raw data
+ *  to millig output as float
+ *
+ *  @param accel_z_f : The accel z millig data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_mg(float *accel_z_f);
+/*!
+ *  @brief This API is used to convert the accel xyz raw data
+ *  to meterpersecseq output as float
+ *
+ *  @param accel_xyz : The meterpersecseq data of accel xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | meterpersecseq data of accel
+ *   y        | meterpersecseq data of accel
+ *   z        | meterpersecseq data of accel
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_msq(
+        struct bno055_accel_float_t *accel_xyz);
+/*!
+ *  @brief This API is used to convert the accel xyz raw data
+ *  to millig output as float
+ *
+ *  @param accel_xyz : The millig data of accel xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | millig data of accel
+ *   y        | millig data of accel
+ *   z        | millig data of accel
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_mg(
+        struct bno055_accel_float_t *accel_xyz);
+/********************************************************************/
+/**\name FUNCTIONS FOR READING MAG DATA OUTPUT AS FLOAT PRECISION */
+/********************************************************************/
+/*!
+ *  @brief This API is used to convert the mag x raw data
+ *  to microTesla output as float
+ *
+ *  @param mag_x_f : The mag x microTesla data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_x_uT(float *mag_x_f);
+/*!
+ *  @brief This API is used to convert the mag y raw data
+ *  to microTesla output as float
+ *
+ *  @param mag_y_f : The mag y microTesla data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_y_uT(float *mag_y_f);
+/*!
+ *  @brief This API is used to convert the mag z raw data
+ *  to microTesla output as float
+ *
+ *  @param mag_z_f : The mag z microTesla data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_z_uT(float *mag_z_f);
+/*!
+ *  @brief This API is used to convert the mag yz raw data
+ *  to microTesla output as float
+ *
+ *  @param mag_xyz_data : The microTesla data of mag xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *    x       | microTesla data of mag
+ *    y       | microTesla data of mag
+ *    z       | microTesla data of mag
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_xyz_uT(
+        struct bno055_mag_float_t *mag_xyz_data);
+/********************************************************************/
+/**\name FUNCTIONS FOR READING GYRO DATA OUTPUT AS FLOAT PRECISION */
+/********************************************************************/
+/*!
+ *  @brief This API is used to convert the gyro x raw data
+ *  to dps output as float
+ *
+ *  @param gyro_x_f : The gyro x dps float data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_dps(float *gyro_x_f);
+/*!
+ *  @brief This API is used to convert the gyro x raw data
+ *  to rps output as float
+ *
+ *  @param gyro_x_f : The gyro x dps float data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_rps(float *gyro_x_f);
+/*!
+ *  @brief This API is used to convert the gyro y raw data
+ *  to dps output as float
+ *
+ *  @param gyro_y_f : The gyro y dps float data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_dps(float *gyro_y_f);
+/*!
+ *  @brief This API is used to convert the gyro y raw data
+ *  to rps output as float
+ *
+ *  @param gyro_y_f : The gyro y dps float data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_rps(float *gyro_y_f);
+/*!
+ *  @brief This API is used to convert the gyro z raw data
+ *  to dps output as float
+ *
+ *  @param gyro_z_f : The gyro z dps float data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_dps(float *gyro_z_f);
+/*!
+ *  @brief This API is used to convert the gyro z raw data
+ *  to rps output as float
+ *
+ *  @param gyro_z_f : The gyro z rps float data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_rps(float *gyro_z_f);
+/*!
+ *  @brief This API is used to convert the gyro xyz raw data
+ *  to dps output as float
+ *
+ *  @param gyro_xyz_data : The dps data of gyro xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *    x       | dps data of gyro
+ *    y       | dps data of gyro
+ *    z       | dps data of gyro
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_dps(
+        struct bno055_gyro_float_t *gyro_xyz_data);
+/*!
+ *  @brief This API is used to convert the gyro xyz raw data
+ *  to rps output as float
+ *
+ *  @param gyro_xyz_data : The rps data of gyro xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *    x       | rps data of gyro
+ *    y       | rps data of gyro
+ *    z       | rps data of gyro
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_rps(
+        struct bno055_gyro_float_t *gyro_xyz_data);
+/********************************************************************/
+/**\name FUNCTIONS FOR READING EULER DATA OUTPUT AS FLOAT PRECISION */
+/********************************************************************/
+/*!
+ *  @brief This API is used to convert the Euler h raw data
+ *  to degree output as float
+ *
+ *  @param euler_h_f : The float value of Euler h degree
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_deg(float *euler_h_f);
+/*!
+ *  @brief This API is used to convert the Euler h raw data
+ *  to radians output as float
+ *
+ *  @param euler_h_f : The float value of Euler h radians
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_rad(float *euler_h_f);
+/*!
+ *  @brief This API is used to convert the Euler r raw data
+ *  to degree output as float
+ *
+ *  @param euler_r_f : The float value of Euler r degree
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_deg(float *euler_r_f);
+/*!
+ *  @brief This API is used to convert the Euler r raw data
+ *  to radians output as float
+ *
+ *  @param euler_r_f : The float value of Euler r radians
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_rad(float *euler_r_f);
+/*!
+ *  @brief This API is used to convert the Euler p raw data
+ *  to degree output as float
+ *
+ *  @param euler_p_f : The float value of Euler p degree
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_deg(float *euler_p_f);
+/*!
+ *  @brief This API is used to convert the Euler p raw data
+ *  to radians output as float
+ *
+ *  @param euler_p_f : The float value of Euler p radians
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_rad(float *euler_p_f);
+/*!
+ *  @brief This API is used to convert the Euler hrp raw data
+ *  to degree output as float
+ *
+ *  @param euler_hpr : The degree data of Euler hrp
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *    h       | degree data of Euler
+ *    r       | degree data of Euler
+ *    p       | degree data of Euler
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_deg(
+        struct bno055_euler_float_t *euler_hpr);
+/*!
+ *  @brief This API is used to convert the Euler xyz raw data
+ *  to radians output as float
+ *
+ *  @param euler_hpr : The radians data of Euler hrp
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *    h       | radians data of Euler
+ *    r       | radians data of Euler
+ *    p       | radians data of Euler
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_rad(
+        struct bno055_euler_float_t *euler_hpr);
+/***************************************************************************/
+/**\name FUNCTIONS FOR READING LINEAR ACCEL DATA OUTPUT AS FLOAT PRECISION */
+/**************************************************************************/
+/*!
+ *  @brief This API is used to convert the linear
+ *  accel x raw data to meterpersecseq output as float
+ *
+ *  @param linear_accel_x_f : The float value of linear accel x meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_x_msq(
+        float *linear_accel_x_f);
+/*!
+ *  @brief This API is used to convert the linear
+ *  accel y raw data to meterpersecseq output as float
+ *
+ *  @param linear_accel_y_f : The float value of linear accel y meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_y_msq(
+        float *linear_accel_y_f);
+/*!
+ *  @brief This API is used to convert the linear
+ *  accel z raw data to meterpersecseq output as float
+ *
+ *  @param linear_accel_z_f : The float value of linear accel z meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_z_msq(
+        float *linear_accel_z_f);
+/*!
+ *  @brief This API is used to convert the linear accel xyz raw data
+ *  to meterpersecseq output as float
+ *
+ *  @param linear_accel_xyz : The meterpersecseq data of linear accel xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *    x       | meterpersecseq data of linear accel
+ *    y       | meterpersecseq data of linear accel
+ *    z       | meterpersecseq data of linear accel
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_xyz_msq(
+        struct bno055_linear_accel_float_t *linear_accel_xyz);
+/********************************************************************/
+/**\name FUNCTIONS FOR READING GRAVITY DATA OUTPUT AS FLOAT PRECISION */
+/********************************************************************/
+/*!
+ *  @brief This API is used to convert the gravity
+ *  x raw data to meterpersecseq output as float
+ *
+ *  @param gravity_x_f : The float value of gravity x meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_x_msq(
+        float *gravity_x_f);
+/*!
+ *  @brief This API is used to convert the gravity
+ *  y raw data to meterpersecseq output as float
+ *
+ *  @param gravity_y_f : The float value of gravity y meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_y_msq(
+        float *gravity_y_f);
+/*!
+ *  @brief This API is used to convert the gravity
+ *  z raw data to meterpersecseq output as float
+ *
+ *  @param gravity_z_f : The float value of gravity z meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_z_msq(
+        float *gravity_z_f);
+/*!
+ *  @brief This API is used to convert the gravity xyz raw data
+ *  to meterpersecseq output as float
+ *
+ *  @param gravity_xyz : The meterpersecseq data of gravity xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *    x       | meterpersecseq data of gravity
+ *    y       | meterpersecseq data of gravity
+ *    z       | meterpersecseq data of gravity
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gravity_xyz_msq(
+        struct bno055_gravity_float_t *gravity_xyz);
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING TEMPERATURE DATA OUTPUT AS FLOAT PRECISION */
+/*************************************************************************/
+/*!
+ *  @brief This API is used to convert the temperature
+ *  data to Fahrenheit output as float
+ *
+ *  @param temp_f : The float value of temperature Fahrenheit
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_fahrenheit(float *temp_f);
+/*!
+ *  @brief This API is used to convert the temperature
+ *  data to Celsius output as float
+ *
+ *  @param temp_f : The float value of temperature Celsius
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_celsius(float *temp_f);
+#endif
+#ifdef  BNO055_DOUBLE_ENABLE
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING ACCEL DATA OUTPUT AS DOUBLE PRECISION */
+/*************************************************************************/
+/*!
+ *  @brief This API is used to convert the accel x raw data
+ *  to meterpersecseq output as double
+ *
+ *  @param accel_x_d : The accel x meterpersecseq data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_msq(double *accel_x_d);
+/*!
+ *  @brief This API is used to convert the accel y raw data
+ *  to meterpersecseq output as double
+ *
+ *  @param accel_y_d : The accel y meterpersecseq data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_msq(double *accel_y_d);
+/*!
+ *  @brief This API is used to convert the accel z raw data
+ *  to meterpersecseq output as double
+ *
+ *  @param accel_z_d : The accel z meterpersecseq data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_msq(double *accel_z_d);
+/*!
+ *  @brief This API is used to convert the accel x raw data
+ *  to millig output as double
+ *
+ *  @param accel_x_d : The accel x millig data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_mg(double *accel_x_d);
+/*!
+ *  @brief This API is used to convert the accel y raw data
+ *  to millig output as double
+ *
+ *  @param accel_y_d : The accel y millig data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_mg(double *accel_y_d);
+/*!
+ *  @brief This API is used to convert the accel z raw data
+ *  to millig output as double
+ *
+ *  @param accel_z_d : The accel z millig data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_mg(double *accel_z_d);
+/*!
+ *  @brief This API is used to convert the accel xyz raw data
+ *  to meterpersecseq output as double
+ *
+ *  @param accel_xyz : The meterpersecseq data of accel xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | meterpersecseq data of accel
+ *   y        | meterpersecseq data of accel
+ *   z        | meterpersecseq data of accel
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_msq(
+        struct bno055_accel_double_t *accel_xyz);
+/*!
+ *  @brief This API is used to convert the accel xyz raw data
+ *  to millig output as double
+ *
+ *  @param accel_xyz : The millig data of accel xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | millig data of accel
+ *   y        | millig data of accel
+ *   z        | millig data of accel
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_mg(
+        struct bno055_accel_double_t *accel_xyz);
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING MAG DATA OUTPUT AS DOUBLE PRECISION */
+/*************************************************************************/
+/*!
+ *  @brief This API is used to convert the mag x raw data
+ *  to microTesla output as double
+ *
+ *  @param mag_x_d : The mag x microTesla data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_x_uT(double *mag_x_d);
+/*!
+ *  @brief This API is used to convert the mag x raw data
+ *  to microTesla output as double
+ *
+ *  @param mag_y_d : The mag x microTesla data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_y_uT(double *mag_y_d);
+/*!
+ *  @brief This API is used to convert the mag z raw data
+ *  to microTesla output as double
+ *
+ *  @param mag_z_d : The mag z microTesla data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_z_uT(double *mag_z_d);
+/*!
+ *  @brief This API is used to convert the mag yz raw data
+ *  to microTesla output as double
+ *
+ *  @param mag_xyz : The microTesla data of mag xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | microTesla data of mag
+ *   y        | microTesla data of mag
+ *   z        | microTesla data of mag
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_xyz_uT(
+        struct bno055_mag_double_t *mag_xyz);
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING GYRO DATA OUTPUT AS DOUBLE PRECISION */
+/*************************************************************************/
+/*!
+ *  @brief This API is used to convert the gyro x raw data
+ *  to dps output as double
+ *
+ *  @param gyro_x_d : The gyro x dps double data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_dps(double *gyro_x_d);
+/*!
+ *  @brief This API is used to convert the gyro y raw data
+ *  to dps output as double
+ *
+ *  @param gyro_y_d : The gyro y dps double data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_dps(double *gyro_y_d);
+/*!
+ *  @brief This API is used to convert the gyro z raw data
+ *  to dps output as double
+ *
+ *  @param gyro_z_d : The gyro z dps double data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_dps(double *gyro_z_d);
+/*!
+ *  @brief This API is used to convert the gyro x raw data
+ *  to rps output as double
+ *
+ *  @param gyro_x_d : The gyro x dps double data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_rps(double *gyro_x_d);
+/*!
+ *  @brief This API is used to convert the gyro y raw data
+ *  to rps output as double
+ *
+ *  @param gyro_y_d : The gyro y dps double data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_rps(double *gyro_y_d);
+/*!
+ *  @brief This API is used to convert the gyro z raw data
+ *  to rps output as double
+ *
+ *  @param gyro_z_d : The gyro z rps double data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_rps(double *gyro_z_d);
+/*!
+ *  @brief This API is used to convert the gyro xyz raw data
+ *  to dps output as double
+ *
+ *  @param gyro_xyz : The dps data of gyro xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | dps data of gyro
+ *   y        | dps data of gyro
+ *   z        | dps data of gyro
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_dps(
+        struct bno055_gyro_double_t *gyro_xyz);
+/*!
+ *  @brief This API is used to convert the gyro xyz raw data
+ *  to rps output as double
+ *
+ *  @param gyro_xyz : The rps data of gyro xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | rps data of gyro
+ *   y        | rps data of gyro
+ *   z        | rps data of gyro
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_rps(
+        struct bno055_gyro_double_t *gyro_xyz);
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING EULER DATA OUTPUT AS DOUBLE PRECISION */
+/*************************************************************************/
+/*!
+ *  @brief This API is used to convert the Euler h raw data
+ *  to degree output as double
+ *
+ *  @param euler_h_d : The double value of Euler h degree
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_deg(double *euler_h_d);
+/*!
+ *  @brief This API is used to convert the Euler p raw data
+ *  to degree output as double
+ *
+ *  @param euler_p_d : The double value of Euler p degree
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_deg(double *euler_p_d);
+/*!
+ *  @brief This API is used to convert the Euler r raw data
+ *  to degree output as double
+ *
+ *  @param euler_r_d : The double value of Euler r degree
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_deg(double *euler_r_d);
+/*!
+ *  @brief This API is used to convert the Euler h raw data
+ *  to radians output as double
+ *
+ *  @param euler_h_d : The double value of Euler h radians
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_rad(double *euler_h_d);
+/*!
+ *  @brief This API is used to convert the Euler p raw data
+ *  to radians output as double
+ *
+ *  @param euler_p_d : The double value of Euler p radians
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_rad(double *euler_p_d);
+/*!
+ *  @brief This API is used to convert the Euler r raw data
+ *  to radians output as double
+ *
+ *  @param euler_r_d : The double value of Euler r radians
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_rad(double *euler_r_d);
+/*!
+ *  @brief This API is used to convert the Euler hpr raw data
+ *  to degree output as double
+ *
+ *  @param euler_hpr : The degree data of Euler hpr
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   h        | degree data of Euler
+ *   r        | degree data of Euler
+ *   p        | degree data of Euler
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_deg(
+        struct bno055_euler_double_t *euler_hpr);
+/*!
+ *  @brief This API is used to convert the Euler hpr raw data
+ *  to radians output as double
+ *
+ *  @param euler_hpr : The radians data of Euler hpr
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   h        | radians data of Euler
+ *   r        | radians data of Euler
+ *   p        | radians data of Euler
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_rad(
+        struct bno055_euler_double_t *euler_hpr);
+/****************************************************************************/
+/**\name FUNCTIONS FOR READING LINEAR ACCEL DATA OUTPUT AS DOUBLE PRECISION */
+/****************************************************************************/
+/*!
+ *  @brief This API is used to convert the linear
+ *  accel x raw data to meterpersecseq output as double
+ *
+ *  @param linear_accel_x_d : The double value of
+ *  linear accel x meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_x_msq(
+        double *linear_accel_x_d);
+/*!
+ *  @brief This API is used to convert the linear
+ *  accel y raw data to meterpersecseq output as double
+ *
+ *  @param linear_accel_y_d : The double value of
+ *  linear accel y meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_y_msq(
+        double *linear_accel_y_d);
+/*!
+ *  @brief This API is used to convert the linear
+ *  accel z raw data to meterpersecseq output as double
+ *
+ *  @param linear_accel_z_d : The double value of
+ *  linear accel z meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_z_msq(
+        double *linear_accel_z_d);
+/*!
+ *  @brief This API is used to convert the linear accel xyz raw data
+ *  to meterpersecseq output as double
+ *
+ *  @param linear_accel_xyz : The meterpersecseq data of linear accel xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | meterpersecseq data of linear accel
+ *   y        | meterpersecseq data of linear accel
+ *   z        | meterpersecseq data of linear accel
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_xyz_msq(
+        struct bno055_linear_accel_double_t *linear_accel_xyz);
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING GRAVITY DATA OUTPUT AS DOUBLE PRECISION */
+/*************************************************************************/
+/*!
+ *  @brief This API is used to convert the gravity
+ *  x raw data to meterpersecseq output as double
+ *
+ *  @param gravity_x_d : The double value of gravity x meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_x_msq(
+        double *gravity_x_d);
+/*!
+ *  @brief This API is used to convert the gravity
+ *  y raw data to meterpersecseq output as double
+ *
+ *  @param gravity_y_d : The double value of gravity y meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_y_msq(
+        double *gravity_y_d);
+/*!
+ *  @brief This API is used to convert the gravity
+ *  z raw data to meterpersecseq output as double
+ *
+ *  @param gravity_z_d : The double value of gravity z meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_z_msq(
+        double *gravity_z_d);
+/*!
+ *  @brief This API is used to convert the gravity xyz raw data
+ *  to meterpersecseq output as double
+ *
+ *  @param gravity_xyz : The meterpersecseq data of gravity xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | meterpersecseq data of gravity
+ *   y        | meterpersecseq data of gravity
+ *   z        | meterpersecseq data of gravity
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gravity_xyz_msq(
+        struct bno055_gravity_double_t *gravity_xyz);
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING TEMPERATURE DATA OUTPUT AS DOUBLE PRECISION*/
+/*************************************************************************/
+/*!
+ *  @brief This API is used to convert the temperature
+ *  data to Fahrenheit output as double
+ *
+ *  @param temp_d : The double value of temperature Fahrenheit
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_fahrenheit(
+        double *temp_d);
+/*!
+ *  @brief This API is used to convert the temperature
+ *  data to Celsius output as double
+ *
+ *  @param temp_d : The double value of temperature Celsius
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_celsius(double *temp_d);
+#endif
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING ACCEL,MAG,GYRO AND SYSTEM CALIBRATION STATUS*/
+/*************************************************************************/
+/*!
+ *  @brief This API used to read
+ *  mag calibration status from register from 0x35 bit 0 and 1
+ *
+ *  @param mag_calib_u8 : The value of mag calib status
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_calib_stat(u8 *mag_calib_u8);
+/*!
+ *  @brief This API used to read
+ *  accel calibration status from register from 0x35 bit 2 and 3
+ *
+ *  @param accel_calib_u8 : The value of accel calib status
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_calib_stat(u8 *accel_calib_u8);
+/*!
+ *  @brief This API used to read
+ *  gyro calibration status from register from 0x35 bit 4 and 5
+ *
+ *  @param gyro_calib_u8 : The value of gyro calib status
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_calib_stat(u8 *gyro_calib_u8);
+/*!
+ *  @brief This API used to read
+ *  system calibration status from register from 0x35 bit 6 and 7
+ *
+ *  @param sys_calib_u8 : The value of system calib status
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_calib_stat(u8 *sys_calib_u8);
+/******************************************************************/
+/**\name FUNCTIONS FOR READING ACCEL,MAG,GYRO AND SYSTEM SELF TEST */
+/******************************************************************/
+/*!
+ *  @brief This API used to read
+ *  self test of accel from register from 0x36 bit 0
+ *
+ *  @param selftest_accel_u8 : The value of self test of accel
+ *
+ *    selftest_accel_u8 |  result
+ *   -------------------- | ---------------------
+ *     0x00               | indicates test failed
+ *     0x01               | indicated test passed
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_accel(u8 *selftest_accel_u8);
+/*!
+ *  @brief This API used to read
+ *  self test of mag from register from 0x36 bit 1
+ *
+ *  @param selftest_mag_u8 : The value of self test of mag
+ *
+ *     selftest_mag_u8  |  result
+ *   -------------------- | ---------------------
+ *     0x00               | indicates test failed
+ *     0x01               | indicated test passed
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mag(u8 *selftest_mag_u8);
+/*!
+ *  @brief This API used to read
+ *  self test of gyro from register from 0x36 bit 2
+ *
+ *  @param selftest_gyro_u8 : The value of self test of gyro
+ *
+ *     selftest_gyro_u8 |  result
+ *   -------------------- | ---------------------
+ *     0x00               | indicates test failed
+ *     0x01               | indicated test passed
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_gyro(u8 *selftest_gyro_u8);
+/*!
+ *  @brief This API used to read
+ *  self test of micro controller from register from 0x36 bit 3
+ *
+ *  @param selftest_mcu_u8 : The value of self test of micro controller
+ *
+ *     selftest_mcu_u8  |  result
+ *   -------------------- | ---------------------
+ *     0x00               | indicates test failed
+ *     0x01               | indicated test passed
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mcu(u8 *selftest_mcu_u8);
+/*****************************************************/
+/**\name FUNCTIONS FOR READING GYRO INTERRUPT STATUS */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the stat_s8 of
+ *  gyro anymotion interrupt from register from 0x37 bit 2
+ *
+ *  @param gyro_any_motion_u8 : The value of gyro anymotion interrupt
+ *
+ *     gyro_any_motion_u8  |  result
+ *    --------------------   | ---------------------
+ *     0x00                  | indicates no interrupt triggered
+ *     0x01                  | indicates interrupt triggered
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro anymotion interrupt can be BNO055_BIT_ENABLE
+ *  by the following APIs
+ *
+ *  bno055_set_intr_mask_gyro_any_motion()
+ *
+ *  bno055_set_intr_gyro_any_motion()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_any_motion(
+        u8 *gyro_any_motion_u8);
+/*!
+ *  @brief This API used to read the stat_s8 of
+ *  gyro highrate interrupt from register from 0x37 bit 3
+ *
+ *  @param gyro_highrate_u8 : The value of gyro highrate interrupt
+ *
+ *     gyro_highrate_u8   |  result
+ *    ------------------- | ---------------------
+ *     0x00               | indicates no interrupt triggered
+ *     0x01               | indicates interrupt triggered
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate interrupt can be configured
+ *          by the following APIs
+ *
+ *  bno055_set_intr_mask_gyro_highrate()
+ *
+ *  bno055_set_intr_gyro_highrate()
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_highrate(
+        u8 *gyro_highrate_u8);
+/*****************************************************/
+/**\name FUNCTIONS FOR READING ACCEL INTERRUPT STATUS */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the status of
+ *  accel highg interrupt from register from 0x37 bit 5
+ *
+ *  @param accel_high_g_u8 : The value of accel highg interrupt
+ *
+ *     accel_high_g_u8    |  result
+ *    -------------------   | ---------------------
+ *     0x00                 | indicates no interrupt triggered
+ *     0x01                 | indicates interrupt triggered
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Accel highg interrupt can be configured
+ *          by the following APIs
+ *
+ *  bno055_set_intr_mask_accel_high_g()
+ *
+ *  bno055_set_intr_accel_high_g()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_high_g(
+        u8 *accel_high_g_u8);
+/*!
+ *  @brief This API used to read the stat_s8 of
+ *  accel anymotion interrupt from register from 0x37 bit 6
+ *
+ *  @param accel_any_motion_u8 : The value of accel anymotion interrupt
+ *
+ *     accel_any_motion_u8 |  result
+ *    -------------------   | ---------------------
+ *     0x00                 | indicates no interrupt triggered
+ *     0x01                 | indicates interrupt triggered
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Accel anymotion interrupt can be configured
+ *          by the following APIs
+ *
+ *  bno055_set_intr_mask_accel_any_motion()
+ *
+ *  bno055_set_intr_accel_any_motion()
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_any_motion(
+        u8 *accel_any_motion_u8);
+/*!
+ *  @brief This API used to read the stat_s8 of
+ *  accel nomotion/slowmotion interrupt from register from 0x37 bit 6
+ *
+ *  @param accel_no_motion_u8 :
+ *  The value of accel nomotion/slowmotion interrupt
+ *
+ *     accel_no_motion_u8 |  result
+ *    -------------------   | ---------------------
+ *     0x00                 | indicates no interrupt triggered
+ *     0x01                 | indicates interrupt triggered
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Accel nomotion/slowmotion interrupt can be configured
+ *          by the following APIs
+ *
+ *  bno055_set_intr_mask_accel_nomotion()
+ *
+ *  bno055_set_intr_accel_nomotion()
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_no_motion(
+        u8 *accel_no_motion_u8);
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING SYSTEM CLOCK, STATUS AND BNO055_ERROR CODE */
+/*************************************************************************/
+/*!
+ *  @brief This API is used to read status of main clock
+ *  from the register 0x38 bit 0
+ *
+ *  @param stat_main_clk_u8 : the status of main clock
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_stat_main_clk(u8 *stat_main_clk_u8);
+/*!
+ *  @brief This API is used to read system status
+ *  code from the register 0x39 it is a byte of data
+ *
+ *  @param sys_stat_u8 : the status of system
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_stat_code(u8 *sys_stat_u8);
+/*!
+ *  @brief This API is used to read system BNO055_ERROR
+ *  code from the register 0x3A it is a byte of data
+ *
+ *  @param sys_error_u8 : The value of system BNO055_ERROR code
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_error_code(u8 *sys_error_u8);
+/********************************************/
+/**\name FUNCTIONS FOR ACCEL UNIT SELECTION */
+/********************************************/
+/*!
+ *  @brief This API used to read the accel unit
+ *  from register from 0x3B bit 0
+ *
+ *  @param accel_unit_u8 : The value of accel unit
+ *
+ *    accel_unit_u8 |   result
+ *   -------------    | ---------------
+ *        0x00        | BNO055_ACCEL_UNIT_MSQ
+ *        0x01        | BNO055_ACCEL_UNIT_MG
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_unit(u8 *accel_unit_u8);
+/*!
+ *  @brief This API used to write the accel unit
+ *  from register from 0x3B bit 0
+ *
+ *  @param accel_unit_u8 : The value of accel unit
+ *
+ *    accel_unit_u8 |   result
+ *   -------------    | ---------------
+ *        0x00        | BNO055_ACCEL_UNIT_MSQ
+ *        0x01        | BNO055_ACCEL_UNIT_MG
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_unit(u8 accel_unit_u8);
+/********************************************/
+/**\name FUNCTIONS FOR GYRO UNIT SELECTION */
+/********************************************/
+/*!
+ *  @brief This API used to read the gyro unit
+ *  from register from 0x3B bit 1
+ *
+ *  @param gyro_unit_u8 : The value of accel unit
+ *
+ *  gyro_unit_u8  |  result
+ *  -------------   | -----------
+ *    0x00          | BNO055_GYRO_UNIT_DPS
+ *    0x01          | BNO055_GYRO_UNIT_RPS
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_unit(u8 *gyro_unit_u8);
+/*!
+ *  @brief This API used to write the gyro unit
+ *  from register from 0x3B bit 1
+ *
+ *  @param gyro_unit_u8 : The value of accel unit
+ *
+ *  gyro_unit_u8  |  result
+ *  -------------   | -----------
+ *    0x00          | BNO055_GYRO_UNIT_DPS
+ *    0x01          | BNO055_GYRO_UNIT_RPS
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_unit(u8 gyro_unit_u8);
+/********************************************/
+/**\name FUNCTIONS FOR EULER UNIT SELECTION */
+/********************************************/
+/*!
+ *  @brief This API used to read the Euler unit
+ *  from register from 0x3B bit 2
+ *
+ *  @param euler_unit_u8 : The value of accel unit
+ *
+ *    euler_unit_u8 | result
+ *   --------------   | -----------
+ *      0x00          | BNO055_EULER_UNIT_DEG
+ *      0x01          | BNO055_EULER_UNIT_RAD
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_euler_unit(u8 *euler_unit_u8);
+/*!
+ *  @brief This API used to write the Euler unit
+ *  from register from 0x3B bit 2
+ *
+ *  @param euler_unit_u8 : The value of Euler unit
+ *
+ *    euler_unit_u8 | result
+ *   --------------   | -----------
+ *      0x00          | BNO055_EULER_UNIT_DEG
+ *      0x01          | BNO055_EULER_UNIT_RAD
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_euler_unit(u8 euler_unit_u8);
+/********************************************/
+/**\name FUNCTIONS FOR TILT UNIT SELECTION */
+/********************************************/
+/*!
+ *  @brief This API used to write the tilt unit
+ *  from register from 0x3B bit 3
+ *
+ *  @param tilt_unit_u8 : The value of tilt unit
+ *
+ *    tilt_unit_u8  | result
+ *   ---------------  | ---------
+ *     0x00           | degrees
+ *     0x01           | radians
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_tilt_unit(u8 *tilt_unit_u8);
+/*!
+ *  @brief This API used to write the tilt unit
+ *  from register from 0x3B bit 3
+ *
+ *  @param tilt_unit_u8 : The value of tilt unit
+ *
+ *    tilt_unit_u8  | result
+ *   ---------------  | ---------
+ *     0x00           | degrees
+ *     0x01           | radians
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ *
+ *  \return Communication results
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_tilt_unit(u8 tilt_unit_u8);
+/**************************************************/
+/**\name FUNCTIONS FOR TEMPERATURE UNIT SELECTION */
+/**************************************************/
+/*!
+ *  @brief This API used to read the temperature unit
+ *  from register from 0x3B bit 4
+ *
+ *  @param temp_unit_u8 : The value of temperature unit
+ *
+ *    temp_unit_u8  |  result
+ *   -----------      | --------------
+ *      0x00          | BNO055_TEMP_UNIT_CELSIUS
+ *      0x01          | BNO055_TEMP_UNIT_FAHRENHEIT
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_unit(u8 *temp_unit_u8);
+/*!
+ *  @brief This API used to write the temperature unit
+ *  from register from 0x3B bit 4
+ *
+ *  @param temp_unit_u8 : The value of temperature unit
+ *
+ *    temp_unit_u8  |  result
+ *   -----------      | --------------
+ *      0x00          | BNO055_TEMP_UNIT_CELSIUS
+ *      0x01          | BNO055_TEMP_UNIT_FAHRENHEIT
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_unit(u8 temp_unit_u8);
+/**************************************************/
+/**\name FUNCTIONS FOR DATA OUTPUT FORMAT SELECT */
+/**************************************************/
+/*!
+ *  @brief This API used to read the current selected orientation mode
+ *  from register from 0x3B bit 7
+ *
+ *  @param data_output_format_u8 : The value of data output format
+ *
+ *    data_output_format_u8  | result
+ *   --------------------      | --------
+ *    0x00                     | Windows
+ *    0x01                     | Android
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_data_output_format(
+        u8 *data_output_format_u8);
+/*!
+ *  @brief This API used to read the current selected orientation mode
+ *  from register from 0x3B bit 7
+ *
+ *  @param data_output_format_u8 : The value of data output format
+ *
+ *    data_output_format_u8  | result
+ *   --------------------      | --------
+ *    0x00                     | Windows
+ *    0x01                     | Android
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_data_output_format(
+        u8 data_output_format_u8);
+/**************************************************/
+/**\name FUNCTIONS FOR DATA OPERATION MODE  */
+/**************************************************/
+/*! @brief This API used to read the operation mode
+ *  from register from 0x3D bit 0 to 3
+ *
+ *  @param operation_mode_u8 : The value of operation mode
+ *
+ * operation_mode_u8 |      result      | comments
+ * ----------|----------------------------|----------------------------
+ *  0x00     | BNO055_OPERATION_MODE_CONFIG      | Configuration mode
+ *  0x01     | BNO055_OPERATION_MODE_ACCONLY     | Reads accel data alone
+ *  0x02     | BNO055_OPERATION_MODE_MAGONLY     | Reads mag data alone
+ *  0x03     | BNO055_OPERATION_MODE_GYRONLY     | Reads gyro data alone
+ *  0x04     | BNO055_OPERATION_MODE_ACCMAG      | Reads accel and mag data
+ *  0x05     | BNO055_OPERATION_MODE_ACCGYRO     | Reads accel and gyro data
+ *  0x06     | BNO055_OPERATION_MODE_MAGGYRO     | Reads accel and mag data
+ *  0x07     | OPERATION_MODE_ANY_MOTION  | Reads accel mag and gyro data
+ *  0x08     | BNO055_OPERATION_MODE_IMUPLUS     | Inertial measurement unit
+ *   -       |       -                    | Reads accel,gyro and fusion data
+ *  0x09     | BNO055_OPERATION_MODE_COMPASS     | Reads accel, mag data
+ *   -       |       -                    | and fusion data
+ *  0x0A     | BNO055_OPERATION_MODE_M4G         | Reads accel, mag data
+ *    -      |       -                    | and fusion data
+ *  0x0B     | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with
+ *   -       |       -                    | fast magnetic calibration
+ *   -       |       -                    | Reads accel,mag, gyro
+ *   -       |       -                    | and fusion data
+ *  0x0C     | BNO055_OPERATION_MODE_NDOF        | Nine degrees of freedom
+ *   -       |       -                    | Reads accel,mag, gyro
+ *   -       |       -                    | and fusion data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note In the config mode, all sensor and fusion data
+ *  becomes zero and it is mainly derived
+ *  to configure the various settings of the BNO
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_operation_mode(u8 *operation_mode_u8);
+/*! @brief This API used to write the operation mode
+ *  from register from 0x3D bit 0 to 3
+ *
+ *  @param operation_mode_u8 : The value of operation mode
+ *
+ *  operation_mode_u8  |      result            | comments
+ * ---------|-----------------------------------|--------------------------
+ *  0x00    | BNO055_OPERATION_MODE_CONFIG      | Configuration mode
+ *  0x01    | BNO055_OPERATION_MODE_ACCONLY     | Reads accel data alone
+ *  0x02    | BNO055_OPERATION_MODE_MAGONLY     | Reads mag data alone
+ *  0x03    | BNO055_OPERATION_MODE_GYRONLY     | Reads gyro data alone
+ *  0x04    | BNO055_OPERATION_MODE_ACCMAG      | Reads accel and mag data
+ *  0x05    | BNO055_OPERATION_MODE_ACCGYRO     | Reads accel and gyro data
+ *  0x06    | BNO055_OPERATION_MODE_MAGGYRO     | Reads accel and mag data
+ *  0x07    | OPERATION_MODE_ANY_MOTION         | Reads accel mag and
+ *          |       -                           | gyro data
+ *  0x08    | BNO055_OPERATION_MODE_IMUPLUS     | Inertial measurement unit
+ *   -      |                                   | Reads accel,gyro and
+ *          |       -                           | fusion data
+ *  0x09    | BNO055_OPERATION_MODE_COMPASS     | Reads accel, mag data
+ *   -      |       -                           | and fusion data
+ *  0x0A    | BNO055_OPERATION_MODE_M4G         | Reads accel, mag data
+ *    -     |       -                           | and fusion data
+ *  0x0B    | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with
+ *   -      |       -                           | fast magnetic calibration
+ *   -      |       -                           | Reads accel,mag, gyro
+ *   -      |       -                           | and fusion data
+ *  0x0C    | BNO055_OPERATION_MODE_NDOF        | Nine degrees of freedom
+ *   -      |       -                           | Reads accel,mag, gyro
+ *   -      |       -                           | and fusion data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note In the config mode, all sensor and fusion data
+ *  becomes zero and it is mainly derived
+ *  to configure the various settings of the BNO
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_operation_mode(u8 operation_mode_u8);
+/**************************************************/
+/**\name FUNCTIONS FOR POWER MODE  */
+/**************************************************/
+/*! @brief This API used to read the power mode
+ *  from register from 0x3E bit 0 to 1
+ *
+ *  @param power_mode_u8 : The value of power mode
+ *
+ * power_mode_u8|      result           | comments
+ * ---------|---------------------------|-------------------------------------
+ *  0x00    |BNO055_POWER_MODE_NORMAL   | In the NORMAL mode the register
+ *    -     |       -                   | map and the internal peripherals
+ *    -     |       -                   | of the MCU are always
+ *    -     |       -                   | operative in this mode
+ *  0x01    |BNO055_POWER_MODE_LOWPOWER | This is first level of power
+ *          |       -                   | saving mode
+ *  0x02    |BNO055_POWER_MODE_SUSPEND  | In suspend mode the system is
+ *   -      |      -                    | paused and all the sensors and
+ *   -      |      -                    | the micro controller are
+ *   -      |      -                    | put into sleep mode.
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note For detailed about LOWPOWER mode
+ *  refer data sheet 3.4.2
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_power_mode(u8 *power_mode_u8);
+/*! @brief This API used to write the power mode
+ *  from register from 0x3E bit 0 to 1
+ *
+ *  @param power_mode_u8 : The value of power mode
+ *
+ *
+ * power_mode_u8|      result          | comments
+ * -------|----------------------------|---------------------------------
+ *  0x00  | BNO055_POWER_MODE_NORMAL   | In the NORMAL mode the register
+ *    -   |       -                    | map and the internal peripherals
+ *    -   |       -                    | of the MCU are always
+ *    -   |       -                    | operative in this mode
+ *  0x01  | BNO055_POWER_MODE_LOWPOWER | This is first level of power
+ *        |     -                      | saving mode
+ *  0x02  | BNO055_POWER_MODE_SUSPEND  | In suspend mode the system is
+ *   -    |      -                     | paused and all the sensors and
+ *   -    |      -                     | the micro controller are
+ *   -    |      -                     | put into sleep mode.
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note For detailed about LOWPOWER mode
+ *  refer data sheet 3.4.2
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_power_mode(u8 power_mode_u8);
+/**************************************************/
+/**\name FUNCTIONS FOR RESET INTERRUPT  */
+/**************************************************/
+/*!
+ *  @brief This API used to read the reset interrupt
+ *  from register from 0x3F bit 6
+ *  It resets all the interrupt bit and interrupt output
+ *
+ *  @param intr_rst_u8 : The value of reset interrupt
+ *
+ *    intr_rst_u8 | result
+ *   -------------|----------
+ *     0x01       | BNO055_BIT_ENABLE
+ *     0x00       | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_rst(u8 *intr_rst_u8);
+/*!
+ *  @brief This API used to write the reset interrupt
+ *  from register from 0x3F bit 6
+ *  It resets all the interrupt bit and interrupt output
+ *
+ *  @param intr_rst_u8 : The value of reset interrupt
+ *
+ *    intr_rst_u8   | result
+ *   -------------- |----------
+ *     0x01         | BNO055_BIT_ENABLE
+ *     0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_rst(u8 intr_rst_u8);
+/**************************************************/
+/**\name FUNCTIONS FOR CLOCK SOURCE  */
+/**************************************************/
+/*!
+ *  @brief This API used to read the clk source
+ *  from register from 0x3F bit 7
+ *
+ *  @param clk_src_u8 : The value of clk source
+ *
+ *   clk_src_u8   | result
+ *   -------------|----------
+ *     0x01       | BNO055_BIT_ENABLE
+ *     0x00       | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_clk_src(u8 *clk_src_u8);
+/*!
+ *  @brief This API used to write the clk source
+ *  from register from 0x3F bit 7
+ *
+ *  @param clk_src_u8 : The value of clk source
+ *
+ *   clk_src_u8   | result
+ *   -------------- |----------
+ *     0x01         | BNO055_BIT_ENABLE
+ *     0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_clk_src(u8 clk_src_u8);
+/**************************************************/
+/**\name FUNCTIONS FOR RESET SYSTEM  */
+/**************************************************/
+/*!
+ *  @brief This API used to read the reset system
+ *  from register from 0x3F bit 5
+ *
+ *  @param sys_rst_u8 : The value of reset system
+ *
+ *   sys_rst_u8   | result
+ *   -------------- |----------
+ *     0x01         | BNO055_BIT_ENABLE
+ *     0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note It resets the whole system
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_rst(u8 *sys_rst_u8);
+/*!
+ *  @brief This API used to write the reset system
+ *  from register from 0x3F bit 5
+ *
+ *  @param sys_rst_u8 : The value of reset system
+ *
+ *   sys_rst_u8   | result
+ *   -------------- |----------
+ *     0x01         | BNO055_BIT_ENABLE
+ *     0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note It resets the whole system
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_sys_rst(u8 sys_rst_u8);
+/**************************************************/
+/**\name FUNCTIONS FOR SELF TEST  */
+/**************************************************/
+/*!
+ *  @brief This API used to read the self test
+ *  from register from 0x3F bit 0
+ *
+ *  @param selftest_u8 : The value of self test
+ *
+ *   selftest_u8  | result
+ *   -------------- |----------
+ *     0x01         | BNO055_BIT_ENABLE
+ *     0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note It triggers the self test
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest(u8 *selftest_u8);
+/*!
+ *  @brief This API used to write the self test
+ *  from register from 0x3F bit 0
+ *
+ *  @param selftest_u8 : The value of self test
+ *
+ *   selftest_u8  | result
+ *   -------------- |----------
+ *     0x01         | BNO055_BIT_ENABLE
+ *     0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note It triggers the self test
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_selftest(u8 selftest_u8);
+/**************************************************/
+/**\name FUNCTIONS FOR TEMPERATURE SOURCE  */
+/**************************************************/
+/*!
+ *  @brief This API used to read the temperature source
+ *  from register from 0x40 bit 0 and 1
+ *
+ *  @param temp_source_u8 : The value of selected temperature source
+ *
+ *     temp_source_u8 | result
+ *    ----------------  |---------------
+ *      0x00            | BNO055_ACCEL_TEMP_EN
+ *      0X01            | BNO055_GYRO_TEMP_EN
+ *      0X03            | BNO055_MCU_TEMP_EN
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_source(u8 *temp_source_u8);
+/*!
+ *  @brief This API used to write the temperature source
+ *  from register from 0x40 bit 0 and 1
+ *
+ *  @param temp_source_u8 : The value of selected temperature source
+ *
+ *     temp_source_u8 | result
+ *    ----------------  |---------------
+ *      0x00            | BNO055_ACCEL_TEMP_EN
+ *      0X01            | BNO055_GYRO_TEMP_EN
+ *      0X03            | BNO055_MCU_TEMP_EN
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_source(u8 temp_source_u8);
+/**************************************************/
+/**\name APIs FOR AXIS REMAP  */
+/**************************************************/
+/*!
+ *  @brief This API used to read the axis remap value
+ *  from register from 0x41 bit 0 and 5
+ *
+ *  @param remap_axis_u8 : The value of axis remapping
+ *
+ *    remap_axis_u8 |   result     | comments
+ *   ------------|-------------------|------------
+ *      0X21     | BNO055_REMAP_X_Y         | Z=Z;X=Y;Y=X
+ *      0X18     | BNO055_REMAP_Y_Z         | X=X;Y=Z;Z=Y
+ *      0X06     | BNO055_REMAP_Z_X         | Y=Y;X=Z;Z=X
+ *      0X12     | BNO055_REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y
+ *      0X09     | BNO055_REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X
+ *      0X24     | BNO055_DEFAULT_AXIS      | X=X;Y=Y;Z=Z
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note : For axis sign remap refer the following APIs
+ *  x-axis :
+ *
+ *  bno055_set_x_remap_sign()
+ *
+ *  y-axis :
+ *
+ *  bno055_set_y_remap_sign()
+ *
+ *  z-axis :
+ *
+ *  bno055_set_z_remap_sign()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_axis_remap_value(u8 *remap_axis_u8);
+/*!
+ *  @brief This API used to write the axis remap value
+ *  from register from 0x41 bit 0 and 5
+ *
+ *  @param remap_axis_u8 : The value of axis remapping
+ *
+ * remap_axis_u8 |   result                 | comments
+ *   ------------|--------------------------|------------
+ *      0X21     | BNO055_REMAP_X_Y         | Z=Z;X=Y;Y=X
+ *      0X18     | BNO055_REMAP_Y_Z         | X=X;Y=Z;Z=Y
+ *      0X06     | BNO055_REMAP_Z_X         | Y=Y;X=Z;Z=X
+ *      0X12     | BNO055_REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y
+ *      0X09     | BNO055_REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X
+ *      0X24     | BNO055_DEFAULT_AXIS      | X=X;Y=Y;Z=Z
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note : For axis sign remap refer the following APIs
+ *  x-axis :
+ *
+ *  bno055_set_x_remap_sign()
+ *
+ *  y-axis :
+ *
+ *  bno055_set_y_remap_sign()
+ *
+ *  z-axis :
+ *
+ *  bno055_set_z_remap_sign()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_axis_remap_value(u8 remap_axis_u8);
+/**************************************************/
+/**\name APIs FOR AXIS REMAP SIGN  */
+/**************************************************/
+/*!
+ *  @brief This API used to read the x-axis remap
+ *  sign from register from 0x42 bit 2
+ *
+ *  @param remap_x_sign_u8 : The value of x-axis remap sign
+ *
+ *    remap_x_sign_u8  |    result
+ *   ------------------- |--------------------
+ *      0X00             | BNO055_REMAP_AXIS_POSITIVE
+ *      0X01             | BNO055_REMAP_AXIS_NEGATIVE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_x_sign(u8 *remap_x_sign_u8);
+/*!
+ *  @brief This API used to write the x-axis remap
+ *  sign from register from 0x42 bit 2
+ *
+ *  @param remap_x_sign_u8 : The value of x-axis remap sign
+ *
+ *    remap_x_sign_u8  |    result
+ *   ------------------- |--------------------
+ *      0X00             | BNO055_REMAP_AXIS_POSITIVE
+ *      0X01             | BNO055_REMAP_AXIS_NEGATIVE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_x_sign(u8 remap_x_sign_u8);
+/*!
+ *  @brief This API used to read the y-axis remap
+ *  sign from register from 0x42 bit 1
+ *
+ *  @param remap_y_sign_u8 : The value of y-axis remap sign
+ *
+ *    remap_y_sign_u8  |   result
+ *   ------------------- |--------------------
+ *      0X00             | BNO055_REMAP_AXIS_POSITIVE
+ *      0X01             | BNO055_REMAP_AXIS_NEGATIVE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_y_sign(u8 *remap_y_sign_u8);
+/*!
+ *  @brief This API used to write the y-axis remap
+ *  sign from register from 0x42 bit 1
+ *
+ *  @param remap_y_sign_u8 : The value of y-axis remap sign
+ *
+ *    remap_y_sign_u8  |   result
+ *   ------------------- |--------------------
+ *      0X00             | BNO055_REMAP_AXIS_POSITIVE
+ *      0X01             | BNO055_REMAP_AXIS_NEGATIVE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_y_sign(u8 remap_y_sign_u8);
+/*!
+ *  @brief This API used to read the z-axis remap
+ *  sign from register from 0x42 bit 0
+ *
+ *  @param remap_z_sign_u8 : The value of z-axis remap sign
+ *
+ *    remap_z_sign_u8  |   result
+ *   ------------------- |--------------------
+ *      0X00             | BNO055_REMAP_AXIS_POSITIVE
+ *      0X01             | BNO055_REMAP_AXIS_NEGATIVE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_z_sign(u8 *remap_z_sign_u8);
+/*!
+ *  @brief This API used to write the z-axis remap
+ *  sign from register from 0x42 bit 0
+ *
+ *  @param remap_z_sign_u8 : The value of z-axis remap sign
+ *
+ *    remap_z_sign_u8  |   result
+ *   ------------------|--------------------
+ *      0X00           | BNO055_REMAP_AXIS_POSITIVE
+ *      0X01           | BNO055_REMAP_AXIS_NEGATIVE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_z_sign(u8 remap_z_sign_u8);
+/*****************************************************/
+/**\name FUNCTIONS FOR SOFT IRON CALIBRATION MATRIX  */
+/*****************************************************/
+/*!
+ *  @brief This API is used to read soft iron calibration matrix
+ *  from the register 0x43 to 0x53 it is a 18 bytes of data
+ *
+ *  @param sic_matrix : The value of soft iron calibration matrix
+ *
+ *  sic_matrix         |           result
+ * --------------------|----------------------------------
+ *       sic_0         | soft iron calibration matrix zero
+ *       sic_1         | soft iron calibration matrix one
+ *       sic_2         | soft iron calibration matrix two
+ *       sic_3         | soft iron calibration matrix three
+ *       sic_4         | soft iron calibration matrix four
+ *       sic_5         | soft iron calibration matrix five
+ *       sic_6         | soft iron calibration matrix six
+ *       sic_7         | soft iron calibration matrix seven
+ *       sic_8         | soft iron calibration matrix eight
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note : Each soft iron calibration matrix range from -32768 to +32767
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_sic_matrix(
+        struct bno055_sic_matrix_t *sic_matrix);
+/*!
+ *  @brief This API is used to write soft iron calibration matrix
+ *  from the register 0x43 to 0x53 it is a 18 bytes of data
+ *
+ *  @param sic_matrix : The value of soft iron calibration matrix
+ *
+ *  sic_matrix         |           result
+ * --------------------|----------------------------------
+ *       sic_0         | soft iron calibration matrix zero
+ *       sic_1         | soft iron calibration matrix one
+ *       sic_2         | soft iron calibration matrix two
+ *       sic_3         | soft iron calibration matrix three
+ *       sic_4         | soft iron calibration matrix four
+ *       sic_5         | soft iron calibration matrix five
+ *       sic_6         | soft iron calibration matrix six
+ *       sic_7         | soft iron calibration matrix seven
+ *       sic_8         | soft iron calibration matrix eight
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note : Each soft iron calibration matrix range from -32768 to +32767
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_write_sic_matrix(
+        struct bno055_sic_matrix_t *sic_matrix);
+/*****************************************************/
+/**\name FUNCTIONS FOR ACCEL OFFSET AND RADIUS */
+/*****************************************************/
+/*!
+ *  @brief This API is used to read accel offset and accel radius
+ *  offset form register 0x55 to 0x5A and radius form 0x67 and 0x68
+ *
+ *  @param accel_offset : The value of accel offset and radius
+ *
+ *      bno055_accel_offset_t |     result
+ *      ------------------- | ----------------
+ *               x          |  accel offset x
+ *               y          |  accel offset y
+ *               z          |  accel offset z
+ *               r          |  accel offset r
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note  The range of the accel offset varies based on
+ *  the G-range of accel sensor.
+ *
+ *  accel G range   |  offset range
+ * ---------------  |  --------------
+ *  BNO055_ACCEL_RANGE_2G  |   +/-2000
+ *  BNO055_ACCEL_RANGE_4G  |   +/-4000
+ *  BNO055_ACCEL_RANGE_8G  |   +/-8000
+ *  BNO055_ACCEL_RANGE_16G |   +/-16000
+ *
+ *  accel G range can be configured by using the
+ *  bno055_set_accel_range() API
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_offset(
+        struct bno055_accel_offset_t *accel_offset);
+/*!
+ *  @brief This API is used to write accel offset and accel radius
+ *  offset form register 0x55 to 0x5A and radius form 0x67 and 0x68
+ *
+ *  @param accel_offset : The value of accel offset and radius
+ *
+ *      bno055_accel_offset_t |     result
+ *      ------------------- | ----------------
+ *               x          |  accel offset x
+ *               y          |  accel offset y
+ *               z          |  accel offset z
+ *               r          |  accel offset r
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note  The range of the accel offset varies based on
+ *  the G-range of accel sensor.
+ *
+ *  accel G range   |  offset range
+ * ---------------  |  --------------
+ *  BNO055_ACCEL_RANGE_2G  |   +/-2000
+ *  BNO055_ACCEL_RANGE_4G  |   +/-4000
+ *  BNO055_ACCEL_RANGE_8G  |   +/-8000
+ *  BNO055_ACCEL_RANGE_16G |   +/-16000
+ *
+ *  accel G range can be configured by using the
+ *  bno055_set_accel_range() API
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_write_accel_offset(
+        struct bno055_accel_offset_t *accel_offset);
+/*****************************************************/
+/**\name FUNCTIONS FOR MAG OFFSET AND RADIUS*/
+/*****************************************************/
+/*!
+ *  @brief This API is used to read mag offset
+ *  offset form register 0x69 to 0x6A
+ *
+ *  @param mag_offset :  The value of mag offset and radius
+ *
+ *      bno055_mag_offset_t   |     result
+ *      ------------------- | ----------------
+ *               x          |  mag offset x
+ *               y          |  mag offset y
+ *               z          |  mag offset z
+ *               r          |  mag radius r
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note  The range of the magnetometer offset is +/-6400 in LSB
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_offset(
+        struct bno055_mag_offset_t *mag_offset);
+/*!
+ *  @brief This API is used to read mag offset
+ *  offset form register 0x69 to 0x6A
+ *
+ *  @param mag_offset :  The value of mag offset and radius
+ *
+ *      bno055_mag_offset_t   |     result
+ *      ------------------- | ----------------
+ *               x          |  mag offset x
+ *               y          |  mag offset y
+ *               z          |  mag offset z
+ *               r          |  mag radius r
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note  The range of the magnetometer offset is +/-6400 in LSB
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_write_mag_offset(
+        struct bno055_mag_offset_t *mag_offset);
+/*****************************************************/
+/**\name FUNCTIONS FOR GYRO OFFSET */
+/*****************************************************/
+/*!
+ *  @brief This API is used to read gyro offset
+ *  offset form register 0x61 to 0x66
+ *
+ *  @param gyro_offset : The value of gyro offset
+ *
+ *      bno055_gyro_offset_t  |     result
+ *      ------------------- | ----------------
+ *               x          |  gyro offset x
+ *               y          |  gyro offset y
+ *               z          |  gyro offset z
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note  The range of the gyro offset varies based on
+ *  the range of gyro sensor
+ *
+ *  gyro G range         | offset range
+ * --------------------  | ------------
+ *  BNO055_GYRO_RANGE_2000DPS   | +/-32000
+ *  BNO055_GYRO_RANGE_1000DPS   | +/-16000
+ *  BNO055_GYRO_RANGE_500DPS    | +/-8000
+ *  BNO055_GYRO_RANGE_250DPS    | +/-4000
+ *  BNO055_GYRO_RANGE_125DPS    | +/-2000
+ *
+ *  Gyro range can be configured by using the
+ *  bno055_set_gyro_range() API
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_offset(
+        struct bno055_gyro_offset_t *gyro_offset);
+/*!
+ *  @brief This API is used to read gyro offset
+ *  offset form register 0x61 to 0x66
+ *
+ *  @param gyro_offset : The value of gyro offset
+ *
+ *      bno055_gyro_offset_t  |     result
+ *      ------------------- | ----------------
+ *               x          |  gyro offset x
+ *               y          |  gyro offset y
+ *               z          |  gyro offset z
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note  The range of the gyro offset varies based on
+ *  the range of gyro sensor
+ *
+ *  gyro G range         | offset range
+ * --------------------  | ------------
+ *  BNO055_GYRO_RANGE_2000DPS   | +/-32000
+ *  BNO055_GYRO_RANGE_1000DPS   | +/-16000
+ *  BNO055_GYRO_RANGE_500DPS    | +/-8000
+ *  BNO055_GYRO_RANGE_250DPS    | +/-4000
+ *  BNO055_GYRO_RANGE_125DPS    | +/-2000
+ *
+ *  Gyro range can be configured by using the
+ *  bno055_set_gyro_range() API
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_write_gyro_offset(
+        struct bno055_gyro_offset_t *gyro_offset);
+/********************************************************/
+/************** PAGE1 Functions *********************/
+/********************************************************/
+/*****************************************************/
+/**\name FUNCTIONS FOR ACCEL CONFIGURATION */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the accel range
+ *  from page one register from 0x08 bit 0 and 1
+ *
+ *  @param accel_range_u8 : The value of accel range
+ *        accel_range_u8 |   result
+ *       ----------------- | --------------
+ *              0x00       | BNO055_ACCEL_RANGE_2G
+ *              0x01       | BNO055_ACCEL_RANGE_4G
+ *              0x02       | BNO055_ACCEL_RANGE_8G
+ *              0x03       | BNO055_ACCEL_RANGE_16G
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_range(u8 *accel_range_u8);
+/*!
+ *  @brief This API used to write the accel range
+ *  from page one register from 0x08 bit 0 and 1
+ *
+ *  @param accel_range_u8 : The value of accel range
+ *
+ *        accel_range_u8 |   result
+ *       ----------------- | --------------
+ *              0x00       | BNO055_ACCEL_RANGE_2G
+ *              0x01       | BNO055_ACCEL_RANGE_4G
+ *              0x02       | BNO055_ACCEL_RANGE_8G
+ *              0x03       | BNO055_ACCEL_RANGE_16G
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_range(u8 accel_range_u8);
+/*!
+ *  @brief This API used to read the accel bandwidth
+ *  from page one register from 0x08 bit 2 to 4
+ *
+ *  @param accel_bw_u8 : The value of accel bandwidth
+ *
+ *           accel_bw_u8 |     result
+ *       ----------------- | ---------------
+ *              0x00       | BNO055_ACCEL_BW_7_81HZ
+ *              0x01       | BNO055_ACCEL_BW_15_63HZ
+ *              0x02       | BNO055_ACCEL_BW_31_25HZ
+ *              0x03       | BNO055_ACCEL_BW_62_5HZ
+ *              0x04       | BNO055_ACCEL_BW_125HZ
+ *              0x05       | BNO055_ACCEL_BW_250HZ
+ *              0x06       | BNO055_ACCEL_BW_500HZ
+ *              0x07       | BNO055_ACCEL_BW_1000HZ
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_bw(u8 *accel_bw_u8);
+/*!
+ *  @brief This API used to write the accel bandwidth
+ *  from page one register from 0x08 bit 2 to 4
+ *
+ *  @param accel_bw_u8 : The value of accel bandwidth
+ *
+ *           accel_bw_u8 |     result
+ *       ----------------- | ---------------
+ *              0x00       | BNO055_ACCEL_BW_7_81HZ
+ *              0x01       | BNO055_ACCEL_BW_15_63HZ
+ *              0x02       | BNO055_ACCEL_BW_31_25HZ
+ *              0x03       | BNO055_ACCEL_BW_62_5HZ
+ *              0x04       | BNO055_ACCEL_BW_125HZ
+ *              0x05       | BNO055_ACCEL_BW_250HZ
+ *              0x06       | BNO055_ACCEL_BW_500HZ
+ *              0x07       | BNO055_ACCEL_BW_1000HZ
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_bw(u8 accel_bw_u8);
+/*!
+ *  @brief This API used to read the accel power mode
+ *  from page one register from 0x08 bit 5 to 7
+ *
+ *  @param accel_power_mode_u8 : The value of accel power mode
+ * accel_power_mode_u8 |   result
+ *   -----------------   | -------------
+ *              0x00     | BNO055_ACCEL_NORMAL
+ *              0x01     | BNO055_ACCEL_SUSPEND
+ *              0x02     | BNO055_ACCEL_LOWPOWER_1
+ *              0x03     | BNO055_ACCEL_STANDBY
+ *              0x04     | BNO055_ACCEL_LOWPOWER_2
+ *              0x05     | BNO055_ACCEL_DEEPSUSPEND
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_power_mode(u8 *accel_power_mode_u8);
+/*!
+ *  @brief This API used to write the accel power mode
+ *  from page one register from 0x08 bit 5 to 7
+ *
+ *  @param accel_power_mode_u8 : The value of accel power mode
+ * accel_power_mode_u8 |   result
+ *   -----------------   | -------------
+ *              0x00     | BNO055_ACCEL_NORMAL
+ *              0x01     | BNO055_ACCEL_SUSPEND
+ *              0x02     | BNO055_ACCEL_LOWPOWER_1
+ *              0x03     | BNO055_ACCEL_STANDBY
+ *              0x04     | BNO055_ACCEL_LOWPOWER_2
+ *              0x05     | BNO055_ACCEL_DEEPSUSPEND
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_power_mode(u8 accel_power_mode_u8);
+/*****************************************************/
+/**\name FUNCTIONS FOR MAG CONFIGURATION */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the mag output data rate
+ *  from page one register from 0x09 bit 0 to 2
+ *
+ *  @param mag_data_output_rate_u8 : The value of mag output data rate
+ *
+ *  mag_data_output_rate_u8 |   result
+ *  ----------------------    |----------------------
+ *     0x00                   | MAG_DATA_OUTPUT_RATE_2HZ
+ *     0x01                   | MAG_DATA_OUTPUT_RATE_6HZ
+ *     0x02                   | MAG_DATA_OUTPUT_RATE_8HZ
+ *     0x03                   | MAG_DATA_OUTPUT_RATE_10HZ
+ *     0x04                   | MAG_DATA_OUTPUT_RATE_15HZ
+ *     0x05                   | MAG_DATA_OUTPUT_RATE_20HZ
+ *     0x06                   | MAG_DATA_OUTPUT_RATE_25HZ
+ *     0x07                   | MAG_DATA_OUTPUT_RATE_30HZ
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_data_output_rate(
+        u8 *mag_data_output_rate_u8);
+/*!
+ *  @brief This API used to write the mag output data rate
+ *  from page one register from 0x09 bit 0 to 2
+ *
+ *  @param mag_data_output_rate_u8 : The value of mag output data rate
+ *
+ *  mag_data_output_rate_u8 |   result
+ *  ----------------------  |----------------------
+ *     0x00                 | MAG_DATA_OUTPUT_RATE_2HZ
+ *     0x01                 | MAG_DATA_OUTPUT_RATE_6HZ
+ *     0x02                 | MAG_DATA_OUTPUT_RATE_8HZ
+ *     0x03                 | MAG_DATA_OUTPUT_RATE_10HZ
+ *     0x04                 | MAG_DATA_OUTPUT_RATE_15HZ
+ *     0x05                 | MAG_DATA_OUTPUT_RATE_20HZ
+ *     0x06                 | MAG_DATA_OUTPUT_RATE_25HZ
+ *     0x07                 | MAG_DATA_OUTPUT_RATE_30HZ
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_data_output_rate(
+        u8 mag_data_output_rate_u8);
+/*!
+ *  @brief This API used to read the mag operation mode
+ *  from page one register from 0x09 bit 3 to 4
+ *
+ *  @param mag_operation_mode_u8 : The value of mag operation mode
+ *
+ *  mag_operation_mode_u8  |      result
+ * ------------------------|--------------------------
+ *     0x00                | MAG_OPR_MODE_LOWPOWER
+ *     0x01                | MAG_OPR_MODE_REGULAR
+ *     0x02                | MAG_OPR_MODE_ENHANCED_REGULAR
+ *     0x03                | MAG_OPR_MODE_HIGH_ACCURACY
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_operation_mode(
+        u8 *mag_operation_mode_u8);
+/*!
+ *  @brief This API used to write the mag operation mode
+ *  from page one register from 0x09 bit 3 to 4
+ *
+ *  @param mag_operation_mode_u8 : The value of mag operation mode
+ *
+ *  mag_operation_mode_u8  |      result
+ * ------------------------|--------------------------
+ *     0x00                | MAG_OPR_MODE_LOWPOWER
+ *     0x01                | MAG_OPR_MODE_REGULAR
+ *     0x02                | MAG_OPR_MODE_ENHANCED_REGULAR
+ *     0x03                | MAG_OPR_MODE_HIGH_ACCURACY
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_operation_mode(
+        u8 mag_operation_mode_u8);
+/*!
+ *  @brief This API used to read the mag power mode
+ *  from page one register from 0x09 bit 4 to 6
+ *
+ *  @param mag_power_mode_u8 : The value of mag power mode
+ *
+ * mag_power_mode_u8   |  result
+ * --------------------|-----------------
+ *     0x00            | BNO055_MAG_POWER_MODE_NORMAL
+ *     0x01            | BNO055_MAG_POWER_MODE_SLEEP
+ *     0x02            | BNO055_MAG_POWER_MODE_SUSPEND
+ *     0x03            | BNO055_MAG_POWER_MODE_FORCE_MODE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_power_mode(u8 *mag_power_mode_u8);
+/*!
+ *  @brief This API used to write the mag power mode
+ *  from page one register from 0x09 bit 4 to 6
+ *
+ *  @param mag_power_mode_u8 : The value of mag power mode
+ *
+ * mag_power_mode_u8 |   result
+ * ------------------|-----------------
+ *     0x00          | BNO055_MAG_POWER_MODE_NORMAL
+ *     0x01          | BNO055_MAG_POWER_MODE_SLEEP
+ *     0x02          | BNO055_MAG_POWER_MODE_SUSPEND
+ *     0x03          | BNO055_MAG_POWER_MODE_FORCE_MODE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_power_mode(u8 mag_power_mode_u8);
+/*****************************************************/
+/**\name FUNCTIONS FOR GYRO CONFIGURATION */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the gyro range
+ *  from page one register from 0x0A bit 0 to 3
+ *
+ *  @param gyro_range_u8 : The value of gyro range
+ *
+ *     gyro_range_u8 |   result
+ * --------------------|-----------------
+ *     0x00            | BNO055_GYRO_RANGE_2000DPS
+ *     0x01            | BNO055_GYRO_RANGE_1000DPS
+ *     0x02            | BNO055_GYRO_RANGE_500DPS
+ *     0x03            | BNO055_GYRO_RANGE_250DPS
+ *     0x04            | BNO055_GYRO_RANGE_125DPS
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_range(u8 *gyro_range_u8);
+/*!
+ *  @brief This API used to write the gyro range
+ *  from page one register from 0x0A bit 0 to 3
+ *
+ *  @param gyro_range_u8 : The value of gyro range
+ *
+ *     gyro_range_u8 |   result
+ * --------------------|-----------------
+ *     0x00            | BNO055_GYRO_RANGE_2000DPS
+ *     0x01            | BNO055_GYRO_RANGE_1000DPS
+ *     0x02            | BNO055_GYRO_RANGE_500DPS
+ *     0x03            | BNO055_GYRO_RANGE_250DPS
+ *     0x04            | BNO055_GYRO_RANGE_125DPS
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_range(u8 gyro_range_u8);
+/*!
+ *  @brief This API used to read the gyro bandwidth
+ *  from page one register from 0x0A bit 3 to 5
+ *
+ *  @param gyro_bw_u8 : The value of gyro bandwidth
+ *
+ *     gyro_bw_u8    |   result
+ * --------------------|-----------------
+ *     0x00            | BNO055_GYRO_BW_523HZ
+ *     0x01            | BNO055_GYRO_BW_230HZ
+ *     0x02            | BNO055_GYRO_BW_116HZ
+ *     0x03            | BNO055_GYRO_BW_47HZ
+ *     0x04            | BNO055_GYRO_BW_23HZ
+ *     0x05            | BNO055_GYRO_BW_12HZ
+ *     0x06            | BNO055_GYRO_BW_64HZ
+ *     0x07            | BNO055_GYRO_BW_32HZ
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_bw(u8 *gyro_bw_u8);
+/*!
+ *  @brief This API used to write the gyro bandwidth
+ *  from page one register from 0x0A bit 3 to 5
+ *
+ *  @param gyro_bw_u8 : The value of gyro bandwidth
+ *
+ *     gyro_bw_u8    |   result
+ * --------------------|-----------------
+ *     0x00            | BNO055_GYRO_BW_523HZ
+ *     0x01            | BNO055_GYRO_BW_230HZ
+ *     0x02            | BNO055_GYRO_BW_116HZ
+ *     0x03            | BNO055_GYRO_BW_47HZ
+ *     0x04            | BNO055_GYRO_BW_23HZ
+ *     0x05            | BNO055_GYRO_BW_12HZ
+ *     0x06            | BNO055_GYRO_BW_64HZ
+ *     0x07            | BNO055_GYRO_BW_32HZ
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_bw(u8 gyro_bw_u8);
+/*!
+ *  @brief This API used to read the gyro power mode
+ *  from page one register from 0x0B bit 0 to 2
+ *
+ *  @param gyro_power_mode_u8 : The value of gyro power mode
+ *
+ *  gyro_power_mode_u8 |          result
+ * ----------------------|----------------------------
+ *     0x00              | GYRO_OPR_MODE_NORMAL
+ *     0x01              | GYRO_OPR_MODE_FASTPOWERUP
+ *     0x02              | GYRO_OPR_MODE_DEEPSUSPEND
+ *     0x03              | GYRO_OPR_MODE_SUSPEND
+ *     0x04              | GYRO_OPR_MODE_ADVANCE_POWERSAVE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_power_mode(u8 *gyro_power_mode_u8);
+/*!
+ *  @brief This API used to write the gyro power mode
+ *  from page one register from 0x0B bit 0 to 2
+ *
+ *  @param gyro_power_mode_u8 : The value of gyro power mode
+ *
+ *  gyro_power_mode_u8 |          result
+ * ----------------------|----------------------------
+ *     0x00              | GYRO_OPR_MODE_NORMAL
+ *     0x01              | GYRO_OPR_MODE_FASTPOWERUP
+ *     0x02              | GYRO_OPR_MODE_DEEPSUSPEND
+ *     0x03              | GYRO_OPR_MODE_SUSPEND
+ *     0x04              | GYRO_OPR_MODE_ADVANCE_POWERSAVE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_power_mode(u8 gyro_power_mode_u8);
+/*****************************************************/
+/**\name FUNCTIONS FOR ACCEL SLEEP SETTINGS  */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the accel sleep mode
+ *  from page one register from 0x0C bit 0
+ *
+ *  @param sleep_tmr_u8 : The value of accel sleep mode
+ *
+ *  sleep_tmr_u8   |   result
+ * ----------------- |------------------------------------
+ *     0x00          | enable EventDrivenSampling(EDT)
+ *     0x01          | enable Equidistant sampling mode(EST)
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_tmr_mode(u8 *sleep_tmr_u8);
+/*!
+ *  @brief This API used to write the accel sleep mode
+ *  from page one register from 0x0C bit 0
+ *
+ *  @param sleep_tmr_u8 : The value of accel sleep mode
+ *
+ *  sleep_tmr_u8   |   result
+ * ----------------- |------------------------------------
+ *     0x00          | enable EventDrivenSampling(EDT)
+ *     0x01          | enable Equidistant sampling mode(EST)
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_tmr_mode(u8 sleep_tmr_u8);
+/*!
+ *  @brief This API used to read the accel sleep duration
+ *  from page one register from 0x0C bit 1 to 4
+ *
+ *  @param sleep_durn_u8 : The value of accel sleep duration
+ *
+ * sleep_durn_u8  |      result
+ * ---------------- |-----------------------------
+ *     0x05         | BNO055_ACCEL_SLEEP_DURN_0_5MS
+ *     0x06         | BNO055_ACCEL_SLEEP_DURN_1MS
+ *     0x07         | BNO055_ACCEL_SLEEP_DURN_2MS
+ *     0x08         | BNO055_ACCEL_SLEEP_DURN_4MS
+ *     0x09         | BNO055_ACCEL_SLEEP_DURN_6MS
+ *     0x0A         | BNO055_ACCEL_SLEEP_DURN_10MS
+ *     0x0B         | BNO055_ACCEL_SLEEP_DURN_25MS
+ *     0x0C         | BNO055_ACCEL_SLEEP_DURN_50MS
+ *     0x0D         | BNO055_ACCEL_SLEEP_DURN_100MS
+ *     0x0E         | BNO055_ACCEL_SLEEP_DURN_500MS
+ *     0x0F         | BNO055_ACCEL_SLEEP_DURN_1S
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_durn(u8 *sleep_durn_u8);
+/*!
+ *  @brief This API used to write the accel sleep duration
+ *  from page one register from 0x0C bit 1 to 4
+ *
+ *  @param sleep_durn_u8 : The value of accel sleep duration
+ *
+ * sleep_durn_u8  |      result
+ * ---------------- |-----------------------------
+ *     0x05         | BNO055_ACCEL_SLEEP_DURN_0_5MS
+ *     0x06         | BNO055_ACCEL_SLEEP_DURN_1MS
+ *     0x07         | BNO055_ACCEL_SLEEP_DURN_2MS
+ *     0x08         | BNO055_ACCEL_SLEEP_DURN_4MS
+ *     0x09         | BNO055_ACCEL_SLEEP_DURN_6MS
+ *     0x0A         | BNO055_ACCEL_SLEEP_DURN_10MS
+ *     0x0B         | BNO055_ACCEL_SLEEP_DURN_25MS
+ *     0x0C         | BNO055_ACCEL_SLEEP_DURN_50MS
+ *     0x0D         | BNO055_ACCEL_SLEEP_DURN_100MS
+ *     0x0E         | BNO055_ACCEL_SLEEP_DURN_500MS
+ *     0x0F         | BNO055_ACCEL_SLEEP_DURN_1S
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_durn(u8 sleep_durn_u8);
+/*****************************************************/
+/**\name FUNCTIONS FOR GYRO SLEEP SETTINGS  */
+/*****************************************************/
+/*!
+ *  @brief This API used to write the gyro sleep duration
+ *  from page one register from 0x0D bit 0 to 2
+ *
+ *  @param sleep_durn_u8 : The value of gyro sleep duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_sleep_durn(u8 *sleep_durn_u8);
+/*!
+ *  @brief This API used to write the gyro sleep duration
+ *  from page one register from 0x0D bit 0 to 2
+ *
+ *  @param sleep_durn_u8 : The value of gyro sleep duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_sleep_durn(u8 sleep_durn);
+/*!
+ *  @brief This API used to read the gyro auto sleep duration
+ *  from page one register from 0x0D bit 3 to 5
+ *
+ *  @param auto_sleep_durn_u8 : The value of gyro auto sleep duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_auto_sleep_durn(
+        u8 *auto_sleep_durn_u8);
+/*!
+ *  @brief This API used to write the gyro auto sleep duration
+ *  from page one register from 0x0D bit 3 to 5
+ *
+ *  @param auto_sleep_durn_u8 : The value of gyro auto sleep duration
+ *  @param bw : The value of gyro bandwidth
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_gyro_set_auto_sleep_durn(
+        u8 auto_sleep_durn_u8, u8 bw);
+/*****************************************************/
+/**\name FUNCTIONS FOR MAG SLEEP SETTINGS  */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the mag sleep mode
+ *  from page one register from 0x0E bit 0
+ *
+ *  @param sleep_mode_u8 : The value of mag sleep mode
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_mode(u8 *sleep_mode_u8);
+/*!
+ *  @brief This API used to write the mag sleep mode
+ *  from page one register from 0x0E bit 0
+ *
+ *  @param sleep_mode_u8 : The value of mag sleep mode
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_mode(u8 sleep_mode_u8);
+/*!
+ *  @brief This API used to read the mag sleep duration
+ *  from page one register from 0x0E bit 1 to 4
+ *
+ *  @param sleep_durn_u8 : The value of mag sleep duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_durn(u8 *sleep_durn_u8);
+/*!
+ *  @brief This API used to write the mag sleep duration
+ *  from page one register from 0x0E bit 1 to 4
+ *
+ *  @param sleep_durn_u8 : The value of mag sleep duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_durn(u8 sleep_durn_u8);
+/*****************************************************/
+/**\name FUNCTIONS FOR GYRO INTERRUPT MASK  */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the gyro anymotion interrupt mask
+ *  from page one register from 0x0F bit 2
+ *
+ *  @param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask
+ *      gyro_any_motion_u8 |   result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the gyro anymotion interrupt
+ *  configure the following settings
+ *
+ *  Axis:
+ *  bno055_set_gyro_any_motion_axis_enable()
+ *
+ *  Filter setting:
+ *  bno055_set_gyro_any_motion_filter()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_gyro_any_motion_thres()
+ *
+ *  Slope samples :
+ *
+ *  bno055_set_gyro_any_motion_slope_samples()
+ *
+ *  Awake duration :
+ *
+ *  bno055_set_gyro_any_motion_awake_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_any_motion(
+        u8 *gyro_any_motion_u8);
+/*!
+ *  @brief This API used to write the gyro anymotion interrupt mask
+ *  from page one register from 0x0F bit 2
+ *
+ *  @param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask
+ *      gyro_any_motion_u8 |   result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the gyro anymotion interrupt
+ *  configure the following settings
+ *
+ *  Axis:
+ *  bno055_set_gyro_any_motion_axis_enable()
+ *
+ *  Filter setting:
+ *  bno055_set_gyro_any_motion_filter()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_gyro_any_motion_thres()
+ *
+ *  Slope samples :
+ *
+ *  bno055_set_gyro_any_motion_slope_samples()
+ *
+ *  Awake duration :
+ *
+ *  bno055_set_gyro_any_motion_awake_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_any_motion(
+        u8 gyro_any_motion_u8);
+/*!
+ *  @brief This API used to read the gyro highrate interrupt mask
+ *  from page one register from 0x0F bit 3
+ *
+ *  @param gyro_highrate_u8 : The value of gyro highrate interrupt mask
+ *        gyro_highrate_u8 |  result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the gyro highrate interrupt
+ *  configure the below settings by using
+ *  the following APIs
+ *
+ *  Axis :
+ *
+ *  bno055_set_gyro_highrate_axis_enable()
+ *
+ *  Filter :
+ *
+ *  bno055_set_gyro_highrate_filter()
+ *
+ *  Threshold :
+ *
+ *  bno055_get_gyro_highrate_x_thres()
+ *
+ *  bno055_get_gyro_highrate_y_thres()
+ *
+ *  bno055_get_gyro_highrate_z_thres()
+ *
+ *  Hysteresis :
+ *
+ *  bno055_set_gyro_highrate_x_hyst()
+ *
+ *  bno055_set_gyro_highrate_y_hyst()
+ *
+ *  bno055_set_gyro_highrate_z_hyst()
+ *
+ *  Duration :
+ *
+ *  bno055_set_gyro_highrate_x_durn()
+ *
+ *  bno055_set_gyro_highrate_y_durn()
+ *
+ *  bno055_set_gyro_highrate_z_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_highrate(
+        u8 *gyro_highrate_u8);
+/*!
+ *  @brief This API used to write the gyro highrate interrupt mask
+ *  from page one register from 0x0F bit 3
+ *
+ *  @param gyro_highrate_u8 : The value of gyro highrate interrupt mask
+ *        gyro_highrate_u8 |  result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the gyro highrate interrupt
+ *  configure the below settings by using
+ *  the following APIs
+ *
+ *  Axis :
+ *
+ *  bno055_set_gyro_highrate_axis_enable()
+ *
+ *  Filter :
+ *
+ *  bno055_set_gyro_highrate_filter()
+ *
+ *  Threshold :
+ *
+ *  bno055_get_gyro_highrate_x_thres()
+ *
+ *  bno055_get_gyro_highrate_y_thres()
+ *
+ *  bno055_get_gyro_highrate_z_thres()
+ *
+ *  Hysteresis :
+ *
+ *  bno055_set_gyro_highrate_x_hyst()
+ *
+ *  bno055_set_gyro_highrate_y_hyst()
+ *
+ *  bno055_set_gyro_highrate_z_hyst()
+ *
+ *  Duration :
+ *
+ *  bno055_set_gyro_highrate_x_durn()
+ *
+ *  bno055_set_gyro_highrate_y_durn()
+ *
+ *  bno055_set_gyro_highrate_z_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_highrate(
+        u8 gyro_highrate_u8);
+/*****************************************************/
+/**\name APIs FOR ACCEL INTERRUPT MASK  */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the accel highg interrupt mask
+ *  from page one register from 0x0F bit 5
+ *
+ *  @param accel_high_g_u8 : The value of accel highg interrupt mask
+ *         accel_high_g_u8 |   result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the accel highg interrupt
+ *  configure the below settings by using
+ *  the following APIs
+ *
+ *  Axis :
+ *
+ *  bno055_set_accel_high_g_axis_enable()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_accel_high_g_thres()
+ *
+ *  Duration :
+ *
+ *  bno055_set_accel_high_g_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_high_g(
+        u8 *accel_high_g_u8);
+/*!
+ *  @brief This API used to write the accel highg interrupt mask
+ *  from page one register from 0x0F bit 5
+ *
+ *  @param accel_high_g_u8 : The value of accel highg interrupt mask
+ *         accel_high_g_u8 |   result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the accel highg interrupt
+ *  configure the below settings by using
+ *  the following APIs
+ *
+ *  Axis :
+ *
+ *  bno055_set_accel_high_g_axis_enable()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_accel_high_g_thres()
+ *
+ *  Duration :
+ *
+ *  bno055_set_accel_high_g_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_high_g(
+        u8 accel_high_g_u8);
+/*!
+ *  @brief This API used to read the accel anymotion interrupt mask
+ *  from page one register from 0x0F bit 6
+ *
+ *  @param accel_any_motion_u8 : The value of accel anymotion interrupt mask
+ *     accel_any_motion_u8 | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the accel highg interrupt
+ *  configure the below settings by using
+ *  the following APIs
+ *
+ *  Axis :
+ *
+ *  bno055_set_accel_high_g_axis_enable()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_accel_high_g_thres()
+ *
+ *  Duration :
+ *
+ *  bno055_set_accel_high_g_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_any_motion(
+        u8 *accel_any_motion_u8);
+/*!
+ *  @brief This API used to write the accel anymotion interrupt mask
+ *  from page one register from 0x0F bit 6
+ *
+ *  @param accel_any_motion_u8 : The value of accel anymotion interrupt mask
+ *     accel_any_motion_u8 | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the accel anymotion interrupt
+ *  configure the following settings
+ *
+ *  Axis:
+ *
+ *  bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ *  Duration:
+ *
+ *  bno055_set_accel_any_motion_durn()
+ *
+ * Threshold:
+ *
+ *  bno055_set_accel_any_motion_thres()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_any_motion(
+        u8 accel_any_motion_u8);
+/*!
+ *  @brief This API used to read the accel nomotion interrupt mask
+ *  from page one register from 0x0F bit 7
+ *
+ *  @param accel_nomotion_u8 : The value of accel nomotion interrupt mask
+ *     accel_nomotion_u8   | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *
+ *  @note While enabling the accel anymotion interrupt
+ *  configure the following settings
+ *
+ *  Axis:
+ *
+ *  bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ *  Duration:
+ *
+ *  bno055_set_accel_any_motion_durn()
+ *
+ * Threshold:
+ *
+ *  bno055_set_accel_any_motion_thres())
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_no_motion(
+        u8 *accel_nomotion_u8);
+/*!
+ *  @brief This API used to write the accel nomotion interrupt mask
+ *  from page one register from 0x0F bit 7
+ *
+ *  @param accel_nomotion_u8 : The value of accel nomotion interrupt mask
+ *     accel_nomotion_u8   | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the accel nomotion interrupt
+ *  configure the following settings
+ *
+ *  Axis:
+ *
+ *  bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_accel_slow_no_motion_thres()
+ *
+ *  Duration :
+ *
+ *  bno055_set_accel_slow_no_motion_durn()
+ *
+ *  Slow/no motion enable:
+ *
+ *  bno055_set_accel_slow_no_motion_enable()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_no_motion(
+        u8 accel_nomotion_u8);
+/*****************************************************/
+/**\name FUNCTIONS FOR GYRO INTERRUPT */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the gyro anymotion interrupt
+ *  from page one register from 0x10 bit 2
+ *
+ *  @param gyro_any_motion_u8 : The value of gyro anymotion interrupt
+ *      gyro_any_motion_u8 | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the gyro anymotion interrupt
+ *  configure the following settings
+ *
+ *  Axis:
+ *  bno055_set_gyro_any_motion_axis_enable()
+ *
+ *  Filter setting:
+ *  bno055_set_gyro_any_motion_filter()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_gyro_any_motion_thres()
+ *
+ *  Slope samples :
+ *
+ *  bno055_set_gyro_any_motion_slope_samples()
+ *
+ *  Awake duration :
+ *
+ *  bno055_set_gyro_any_motion_awake_durn()
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_any_motion(
+        u8 *gyro_any_motion_u8);
+/*!
+ *  @brief This API used to write the gyro anymotion interrupt
+ *  from page one register from 0x10 bit 2
+ *
+ *  @param gyro_any_motion_u8 : The value of gyro anymotion interrupt
+ *    gyro_any_motion_u8   | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the gyro anymotion interrupt
+ *  configure the following settings
+ *
+ *  Axis:
+ *  bno055_set_gyro_any_motion_axis_enable()
+ *
+ *  Filter setting:
+ *  bno055_set_gyro_any_motion_filter()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_gyro_any_motion_thres()
+ *
+ *  Slope samples :
+ *
+ *  bno055_set_gyro_any_motion_slope_samples()
+ *
+ *  Awake duration :
+ *
+ *  bno055_set_gyro_any_motion_awake_durn()
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_any_motion(
+        u8 gyro_any_motion_u8);
+/*!
+ *  @brief This API used to read the gyro highrate interrupt
+ *  from page one register from 0x10 bit 3
+ *
+ *  @param gyro_highrate_u8 : The value of gyro highrate interrupt
+ *      gyro_highrate_u8   | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the gyro highrate interrupt
+ *  configure the below settings by using
+ *  the following APIs
+ *
+ *  Axis :
+ *
+ *  bno055_set_gyro_highrate_axis_enable()
+ *
+ *  Filter :
+ *
+ *  bno055_set_gyro_highrate_filter()
+ *
+ *  Threshold :
+ *
+ *  bno055_get_gyro_highrate_x_thres()
+ *
+ *  bno055_get_gyro_highrate_y_thres()
+ *
+ *  bno055_get_gyro_highrate_z_thres()
+ *
+ *  Hysteresis :
+ *
+ *  bno055_set_gyro_highrate_x_hyst()
+ *
+ *  bno055_set_gyro_highrate_y_hyst()
+ *
+ *  bno055_set_gyro_highrate_z_hyst()
+ *
+ *  Duration :
+ *
+ *  bno055_set_gyro_highrate_x_durn()
+ *
+ *  bno055_set_gyro_highrate_y_durn()
+ *
+ *  bno055_set_gyro_highrate_z_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_highrate(u8 *gyro_highrate_u8);
+/*!
+ *  @brief This API used to write the gyro highrate interrupt
+ *  from page one register from 0x10 bit 3
+ *
+ *  @param gyro_highrate_u8 : The value of gyro highrate interrupt
+ *      gyro_highrate_u8   | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the gyro highrate interrupt
+ *  configure the below settings by using
+ *  the following APIs
+ *
+ *  Axis :
+ *
+ *  bno055_set_gyro_highrate_axis_enable()
+ *
+ *  Filter :
+ *
+ *  bno055_set_gyro_highrate_filter()
+ *
+ *  Threshold :
+ *
+ *  bno055_get_gyro_highrate_x_thres()
+ *
+ *  bno055_get_gyro_highrate_y_thres()
+ *
+ *  bno055_get_gyro_highrate_z_thres()
+ *
+ *  Hysteresis :
+ *
+ *  bno055_set_gyro_highrate_x_hyst()
+ *
+ *  bno055_set_gyro_highrate_y_hyst()
+ *
+ *  bno055_set_gyro_highrate_z_hyst()
+ *
+ *  Duration :
+ *
+ *  bno055_set_gyro_highrate_x_durn()
+ *
+ *  bno055_set_gyro_highrate_y_durn()
+ *
+ *  bno055_set_gyro_highrate_z_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_highrate(u8 gyro_highrate_u8);
+/*****************************************************/
+/**\name FUNCTIONS FOR ACCEL INTERRUPT  */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the accel highg interrupt
+ *  from page one register from 0x10 bit 5
+ *
+ *  @param accel_high_g_u8 : The value of accel highg interrupt
+ *      accel_high_g_u8    | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the accel highg interrupt
+ *  configure the below settings by using
+ *  the following APIs
+ *
+ *  Axis :
+ *
+ *  bno055_set_accel_high_g_axis_enable()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_accel_high_g_thres()
+ *
+ *  Duration :
+ *
+ *  bno055_set_accel_high_g_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_high_g(u8 *accel_high_g_u8);
+/*!
+ *  @brief This API used to write the accel highg interrupt
+ *  from page one register from 0x10 bit 5
+ *
+ *  @param accel_high_g_u8 : The value of accel highg interrupt
+ *      accel_high_g_u8    | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the accel highg interrupt
+ *  configure the below settings by using
+ *  the following APIs
+ *
+ *  Axis :
+ *
+ *  bno055_set_accel_high_g_axis_enable()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_accel_high_g_thres()
+ *
+ *  Duration :
+ *
+ *  bno055_set_accel_high_g_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_high_g(u8 accel_high_g_u8);
+/*!
+ *  @brief This API used to read the accel anymotion interrupt
+ *  from page one register from 0x10 bit 6
+ *
+ *  @param accel_any_motion_u8 : The value of accel anymotion interrupt
+ *  accel_any_motion_u8    | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the accel anymotion interrupt
+ *  configure the following settings
+ *
+ *  Axis:
+ *
+ *  bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ *  Duration:
+ *
+ *  bno055_set_accel_any_motion_durn()
+ *
+ * Threshold:
+ *
+ *  bno055_set_accel_any_motion_thres()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_any_motion(
+        u8 *accel_any_motion_u8);
+/*!
+ *  @brief This API used to write the accel anymotion interrupt
+ *  from page one register from 0x10 bit 6
+ *
+ *  @param accel_any_motion_u8 : The value of accel anymotion interrupt
+ *  accel_any_motion_u8    | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the accel anymotion interrupt
+ *  configure the following settings
+ *
+ *  Axis:
+ *
+ *  bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ *  Duration:
+ *
+ *  bno055_set_accel_any_motion_durn()
+ *
+ *  Threshold:
+ *
+ *  bno055_set_accel_any_motion_thres()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_any_motion(
+        u8 accel_any_motion_u8);
+/*!
+ *  @brief This API used to read the accel nomotion interrupt
+ *  from page one register from 0x10 bit 6
+ *
+ *  @param accel_nomotion_u8 : The value of accel nomotion interrupt
+ *    accel_nomotion_u8    | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the accel nomotion interrupt
+ *  configure the following settings
+ *
+ *  Axis:
+ *
+ *  bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_accel_slow_no_motion_thres()
+ *
+ *  Duration :
+ *
+ *  bno055_set_accel_slow_no_motion_durn()
+ *
+ *  Slow/no motion enable:
+ *
+ *  bno055_set_accel_slow_no_motion_enable()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_no_motion(
+        u8 *accel_nomotion_u8);
+/*!
+ *  @brief This API used to write the accel nomotion interrupt
+ *  from page one register from 0x10 bit 6
+ *
+ *  @param accel_nomotion_u8 : The value of accel nomotion interrupt
+ *    accel_nomotion_u8    | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the accel nomotion interrupt
+ *  configure the following settings
+ *
+ *  Axis:
+ *
+ *  bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_accel_slow_no_motion_thres()
+ *
+ *  Duration :
+ *
+ *  bno055_set_accel_slow_no_motion_durn()
+ *
+ *  Slow/no motion enable:
+ *
+ *  bno055_set_accel_slow_no_motion_enable()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_no_motion(
+        u8 accel_nomotion_u8);
+/*****************************************************/
+/**\name FUNCTIONS FOR ACCEL ANY_MOTION THRESHOLD  */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the accel any motion threshold
+ *  from page one register from 0x11 bit 0 to 7
+ *
+ *  @param accel_any_motion_thres_u8 : The value of any motion threshold
+ *  accel_any_motion_thres_u8 | result
+ *  ------------------------    | -------------
+ *              0x01            | BNO055_BIT_ENABLE
+ *              0x00            | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Accel anymotion threshold dependent on the
+ *  range values
+ *
+ *  accel_range_u8 |    threshold | LSB
+ * ------------- | ------------- | ---------
+ *     2g        |    3.19mg     |   1LSB
+ *     4g        |    7.81mg     |   1LSB
+ *     8g        |    15.63mg    |   1LSB
+ *     16g       |    31.25mg    |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_thres(
+        u8 *accel_any_motion_thres_u8);
+/*!
+ *  @brief This API used to write the accel any motion threshold
+ *  from page one register from 0x11 bit 0 to 7
+ *
+ *  @param accel_any_motion_thres_u8 : The value of any motion threshold
+ *  accel_any_motion_thres_u8 | result
+ *  ------------------------    | -------------
+ *              0x01            | BNO055_BIT_ENABLE
+ *              0x00            | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Accel anymotion threshold dependent on the
+ *  range values
+ *
+ *  accel_range_u8   |  threshold    |  LSB
+ * ------------- | ------------- | ---------
+ *     2g        |    3.19mg     |   1LSB
+ *     4g        |    7.81mg     |   1LSB
+ *     8g        |    15.63mg    |   1LSB
+ *     16g       |    31.25mg    |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_thres(
+        u8 accel_any_motion_thres_u8);
+/*****************************************************/
+/**\name FUNCTIONS FOR ACCEL ANY_MOTION DURATION  */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the accel anymotion duration
+ *  from page one register from 0x12 bit 0 to 1
+ *
+ *  @param accel_any_motion_durn_u8 : The value of accel anymotion duration
+ * accel_any_motion_durn_u8  | result
+ *  -------------------------  | -------------
+ *              0x01           | BNO055_BIT_ENABLE
+ *              0x00           | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_durn(
+        u8 *accel_any_motion_durn_u8);
+/*!
+ *  @brief This API used to write the accel anymotion duration
+ *  from page one register from 0x12 bit 0 to 1
+ *
+ *  @param accel_any_motion_durn_u8 : The value of accel anymotion duration
+ *
+ * accel_any_motion_durn_u8  | result
+ *  -------------------------  | -------------
+ *              0x01           | BNO055_BIT_ENABLE
+ *              0x00           | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_durn(
+        u8 accel_any_motion_durn_u8);
+/*****************************************************/
+/**\name FUNCTIONS FOR ACCEL ANY_MOTION AXIS ENABLE  */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the accel anymotion enable
+ *  from page one register from 0x12 bit 2 to 4
+ *
+ *  @param data_u8 : The value of accel anymotion enable
+ *     data_u8 | result
+ *  ------------ | -------------
+ *      0x01     | BNO055_BIT_ENABLE
+ *      0x00     | BNO055_BIT_DISABLE
+ *  @param channel_u8 : The value of accel anymotion axis selection
+ *           channel_u8                        | value
+ *     --------------------------                | ----------
+ *     BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS  |   0
+ *     BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS  |   1
+ *     BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS  |   2
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_no_motion_axis_enable(
+        u8 channel_u8, u8 *data_u8);
+/*!
+ *  @brief This API used to write the accel anymotion enable
+ *  from page one register from 0x12 bit 2 to 4
+ *
+ *  @param data_u8 : The value of accel anymotion enable
+ *     data_u8 | result
+ *  ------------ | -------------
+ *      0x01     | BNO055_BIT_ENABLE
+ *      0x00     | BNO055_BIT_DISABLE
+ *  @param channel_u8 : The value of accel anymotion axis selection
+ *           channel_u8                        | value
+ *     --------------------------                | ----------
+ *     BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS  |   0
+ *     BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS  |   1
+ *     BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS  |   2
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_no_motion_axis_enable(
+        u8 channel_u8, u8 data_u8);
+/*****************************************************/
+/**\name FUNCTIONS FOR ACCEL HIGHG AXIS ENABLE  */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the accel highg enable
+ *  from page one register from 0x12 bit 5 to 7
+ *
+ *  @param data_u8 : The value of accel highg enable
+ *      data_u8| result
+ *  ------------ | -------------
+ *      0x01     | BNO055_BIT_ENABLE
+ *      0x00     | BNO055_BIT_DISABLE
+ *  @param channel_u8 : The value of accel highg axis selection
+ *               channel_u8     | value
+ *     -------------------------- | ----------
+ *     BNO055_ACCEL_HIGH_G_X_AXIS |   0
+ *     BNO055_ACCEL_HIGH_G_Y_AXIS |   1
+ *     BNO055_ACCEL_HIGH_G_Z_AXIS |   2
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_axis_enable(u8 channel_u8,
+        u8 *data_u8);
+/*!
+ *  @brief This API used to write the accel highg enable
+ *  from page one register from 0x12 bit 5 to 7
+ *
+ *  @param data_u8 : The value of accel highg enable
+ *      data_u8| result
+ *  ------------ | -------------
+ *      0x01     | BNO055_BIT_ENABLE
+ *      0x00     | BNO055_BIT_DISABLE
+ *  @param channel_u8 : The value of accel highg axis selection
+ *               channel_u8     | value
+ *     -------------------------- | ----------
+ *     BNO055_ACCEL_HIGH_G_X_AXIS |   0
+ *     BNO055_ACCEL_HIGH_G_Y_AXIS |   1
+ *     BNO055_ACCEL_HIGH_G_Z_AXIS |   2
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_axis_enable(u8 channel_u8,
+        u8 data_u8);
+/*****************************************************/
+/**\name FUNCTIONS FOR ACCEL HIGHG DURATION */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the accel highg duration
+ *  from page one register from 0x13 bit 0 to 7
+ *
+ *  @param accel_high_g_durn_u8 : The value of accel highg duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note The high-g interrupt trigger delay according
+ *  to [highg duration + 1] * 2 ms
+ *
+ *  in a range from 2 ms to 512 ms
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_durn(
+        u8 *accel_high_g_durn_u8);
+/*!
+ *  @brief This API used to write the accel highg duration
+ *  from page one register from 0x13 bit 0 to 7
+ *
+ *  @param accel_high_g_durn_u8 : The value of accel highg duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note The high-g interrupt trigger delay according
+ *  to [highg duration + 1] * 2 ms
+ *
+ *  in a range from 2 ms to 512 ms
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_durn(
+        u8 accel_high_g_durn_u8);
+/*****************************************************/
+/**\name FUNCTIONS FOR ACCEL HIGHG THRESHOLD */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the accel highg threshold
+ *  from page one register from 0x14 bit 0 to 7
+ *
+ *  @param accel_high_g_thres_u8 : The value of accel highg threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Accel highg interrupt threshold dependent
+ *  for accel g range
+ *
+ *  accel_range_u8   |  threshold    |  LSB
+ * ------------- | ------------- | ---------
+ *     2g        |    7.81mg     |   1LSB
+ *     4g        |    15.63mg    |   1LSB
+ *     8g        |    31.25mg    |   1LSB
+ *     16g       |    62.5mg     |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_thres(
+        u8 *accel_high_g_thres_u8);
+/*!
+ *  @brief This API used to write the accel highg threshold
+ *  from page one register from 0x14 bit 0 to 7
+ *
+ *  @param accel_high_g_thres_u8 : The value of accel highg threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Accel highg interrupt threshold dependent
+ *  for accel g range
+ *
+ *  accel_range_u8   |  threshold    |  LSB
+ * ------------- | ------------- | ---------
+ *     2g        |    7.81mg     |   1LSB
+ *     4g        |    15.63mg    |   1LSB
+ *     8g        |    31.25mg    |   1LSB
+ *     16g       |    62.5mg     |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_thres(
+        u8 accel_high_g_thres_u8);
+/**************************************************************/
+/**\name FUNCTIONS FOR ACCEL SLOWNOMOTION THRESHOLD */
+/**************************************************************/
+/*!
+ *  @brief This API used to read the accel slownomotion threshold
+ *  from page one register from 0x15 bit 0 to 7
+ *
+ *  @param accel_slow_no_motion_thres_u8 :
+ *  The value of accel slownomotion threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Accel slow no motion interrupt threshold dependent
+ *  for accel g range
+ *
+ *  accel_range_u8   |  threshold    |  LSB
+ * ------------- | ------------- | ---------
+ *     2g        |    3.19mg     |   1LSB
+ *     4g        |    7.81mg     |   1LSB
+ *     8g        |    15.63mg    |   1LSB
+ *     16g       |    31.25mg    |   1LSB
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_thres(
+        u8 *accel_slow_no_motion_thres_u8);
+/*!
+ *  @brief This API used to write the accel slownomotion threshold
+ *  from page one register from 0x15 bit 0 to 7
+ *
+ *  @param accel_slow_no_motion_thres_u8 :
+ *  The value of accel slownomotion threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Accel slow no motion interrupt threshold dependent
+ *  for accel g range
+ *
+ *  accel_range_u8   |  threshold    |  LSB
+ * ------------- | ------------- | ---------
+ *     2g        |    3.19mg     |   1LSB
+ *     4g        |    7.81mg     |   1LSB
+ *     8g        |    15.63mg    |   1LSB
+ *     16g       |    31.25mg    |   1LSB
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_thres(
+        u8 accel_slow_no_motion_thres_u8);
+/**************************************************************/
+/**\name FUNCTIONS FOR ACCEL SLOWNOMOTION ENABLE */
+/**************************************************************/
+/*!
+ *  @brief This API used to read accel slownomotion enable
+ *  from page one register from 0x16 bit 0
+ *
+ *  @param accel_slow_no_motion_en_u8 : The value of accel slownomotion enable
+ *    accel_slow_no_motion_en_u8   | result
+ *     ------------------------      | --------
+ *              0x01                 | Slow motion
+ *              0x00                 | No motion
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_enable(
+        u8 *accel_slow_no_motion_en_u8);
+/*!
+ *  @brief This API used to write accel slownomotion enable
+ *  from page one register from 0x16 bit 0
+ *
+ *  @param accel_slow_no_motion_en_u8 : The value of accel slownomotion enable
+ *    accel_slow_no_motion_en_u8   | result
+ *     ------------------------      | --------
+ *              0x01                 | Slow motion
+ *              0x00                 | No motion
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_enable(
+        u8 accel_slow_no_motion_en_u8);
+/**************************************************************/
+/**\name FUNCTIONS FOR ACCEL SLOWNOMOTION DURATION */
+/**************************************************************/
+/*!
+ *  @brief This API used to read accel slownomotion duration
+ *  from page one register from 0x16 bit 1 to 6
+ *
+ *  @param accel_slow_no_motion_durn_u8 :
+ *  The value of accel slownomotion duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_durn(
+        u8 *accel_slow_no_motion_durn_u8);
+/*!
+ *  @brief This API used to write accel slownomotion duration
+ *  from page one register from 0x16 bit 1 to 6
+ *
+ *  @param accel_slow_no_motion_durn_u8 :
+ *  The value of accel slownomotion duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_durn(
+        u8 accel_slow_no_motion_durn_u8);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO ANY_MOTION AXIS ENABLE */
+/**************************************************************/
+/*!
+ *  @brief This API used to read the gyro anymotion enable
+ *  from page one register from 0x17 bit 0 to 2
+ *
+ *  @param data_u8 : The value of gyro anymotion enable
+ *      data_u8     | result
+ *  ----------------- |-------------
+ *      0x01          | BNO055_BIT_ENABLE
+ *      0x00          | BNO055_BIT_DISABLE
+ *  @param channel_u8 : The value of gyro anymotion axis selection
+ *               channel_u8         | value
+ *     ---------------------------    | ----------
+ *     BNO055_GYRO_ANY_MOTIONX_AXIS   |   0
+ *     BNO055_GYRO_ANY_MOTIONY_AXIS   |   1
+ *     BNO055_GYRO_ANY_MOTIONZ_AXIS   |   2
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_axis_enable(
+        u8 channel_u8, u8 *data_u8);
+/*!
+ *  @brief This API used to write the gyro anymotion enable
+ *  from page one register from 0x17 bit 0 to 2
+ *
+ *  @param data_u8 : The value of gyro anymotion enable
+ *      data_u8     | result
+ *  ----------------- |-------------
+ *      0x01          | BNO055_BIT_ENABLE
+ *      0x00          | BNO055_BIT_DISABLE
+ *  @param channel_u8 : The value of gyro anymotion axis selection
+ *               channel_u8         | value
+ *     ---------------------------    | ----------
+ *     BNO055_GYRO_ANY_MOTIONX_AXIS   |   0
+ *     BNO055_GYRO_ANY_MOTIONY_AXIS   |   1
+ *     BNO055_GYRO_ANY_MOTIONZ_AXIS   |   2
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_axis_enable(
+        u8 channel_u8, u8 data_u8);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE ENABLE */
+/**************************************************************/
+/*!
+ *  @brief This API used to read the gyro highrate enable
+ *  from page one register from 0x17 bit 3 to 5
+ *
+ *  @param data_u8 : The value of gyro highrate enable
+ *      data_u8     | result
+ *  ----------------  |-------------
+ *      0x01          | BNO055_BIT_ENABLE
+ *      0x00          | BNO055_BIT_DISABLE
+ *  @param channel_u8 : The value of gyro highrate axis selection
+ *               channel_u8         | value
+ *     ------------------------       | ----------
+ *     BNO055_GYRO_HIGHRATE_X_AXIS    |   0
+ *     BNO055_GYRO_HIGHRATE_Y_AXIS    |   1
+ *     BNO055_GYRO_HIGHRATE_Z_AXIS    |   2
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_axis_enable(u8 channel_u8,
+        u8 *data_u8);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE AXIS ENABLE */
+/**************************************************************/
+/*!
+ *  @brief This API used to write the gyro highrate enable
+ *  from page one register from 0x17 bit 3 to 5
+ *
+ *  @param data_u8 : The value of gyro highrate enable
+ *      data_u8     | result
+ *  ----------------  |-------------
+ *      0x01          | BNO055_BIT_ENABLE
+ *      0x00          | BNO055_BIT_DISABLE
+ *  @param channel_u8 : The value of gyro highrate axis selection
+ *               channel_u8         | value
+ *     ------------------------       | ----------
+ *     BNO055_GYRO_HIGHRATE_X_AXIS    |   0
+ *     BNO055_GYRO_HIGHRATE_Y_AXIS    |   1
+ *     BNO055_GYRO_HIGHRATE_Z_AXIS    |   2
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_axis_enable(u8 channel_u8,
+        u8 data_u8);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO ANY_MOTION FILTER */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro anymotion filter
+ *  from page one register from 0x17 bit 6
+ *
+ *  @param gyro_any_motion_filter_u8 : The value of gyro anymotion filter
+ *   gyro_any_motion_filter_u8  | result
+ *  ---------------------------   |------------
+ *      0x00                      | BNO055_GYRO_FILTERED_CONFIG
+ *      0x01                      | BNO055_GYRO_UNFILTERED_CONFIG
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_filter(
+        u8 *gyro_any_motion_filter_u8);
+/*!
+ *  @brief This API used to write gyro anymotion filter
+ *  from page one register from 0x17 bit 6
+ *
+ *  @param gyro_any_motion_filter_u8 : The value of gyro anymotion filter
+ *   gyro_any_motion_filter_u8  | result
+ *  ---------------------------   |------------
+ *      0x00                      | BNO055_GYRO_FILTERED_CONFIG
+ *      0x01                      | BNO055_GYRO_UNFILTERED_CONFIG
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_filter(
+        u8 gyro_any_motion_filter_u8);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE FILTER */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro highrate filter
+ *  from page one register from 0x17 bit 7
+ *
+ *  @param gyro_highrate_filter_u8 : The value of gyro highrate filter
+ *   gyro_highrate_filter_u8  | result
+ *  --------------------------- |------------
+ *         0x00                 | BNO055_GYRO_FILTERED_CONFIG
+ *         0x01                 | BNO055_GYRO_UNFILTERED_CONFIG
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_filter(
+        u8 *gyro_highrate_filter_u8);
+/*!
+ *  @brief This API used to write gyro highrate filter
+ *  from page one register from 0x17 bit 7
+ *
+ *  @param gyro_highrate_filter_u8 : The value of gyro highrate filter
+ *   gyro_highrate_filter_u8  | result
+ *  --------------------------- |------------
+ *         0x00                 | BNO055_GYRO_FILTERED_CONFIG
+ *         0x01                 | BNO055_GYRO_UNFILTERED_CONFIG
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_filter(
+        u8 gyro_highrate_filter_u8);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE X THRESHOLD */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro highrate x threshold
+ *  from page one register from 0x18 bit 0 to 4
+ *
+ *  @param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate threshold dependent on the
+ *  selection of gyro range
+ *
+ *  gyro_range_u8     | threshold       |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.5dps      |   1LSB
+ *     1000           |    31.25dps     |   1LSB
+ *     500            |    15.625dps    |   1LSB
+ *     125            |    7.8125dps    |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_thres(
+        u8 *gyro_highrate_x_thres_u8);
+/*!
+ *  @brief This API used to write gyro highrate x threshold
+ *  from page one register from 0x18 bit 0 to 4
+ *
+ *  @param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate threshold dependent on the
+ *  selection of gyro range
+ *
+ *  gyro_range_u8     | threshold       |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.5dps      |   1LSB
+ *     1000           |    31.25dps     |   1LSB
+ *     500            |    15.625dps    |   1LSB
+ *     125            |    7.8125dps    |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_thres(
+        u8 gyro_highrate_x_thres_u8);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE X HYSTERESIS */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro highrate x hysteresis
+ *  from page one register from 0x18 bit 5 to 6
+ *
+ *  @param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro high rate hysteresis calculated by
+ *
+ *  using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB
+ *
+ *  The high rate value scales with the range setting
+ *
+ *  gyro_range_u8     | hysteresis      |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.26dps     |   1LSB
+ *     1000           |    31.13dps     |   1LSB
+ *     500            |    15.56dps     |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_hyst(
+        u8 *gyro_highrate_x_hyst_u8);
+/*!
+ *  @brief This API used to write gyro highrate x hysteresis
+ *  from page one register from 0x18 bit 5 to 6
+ *
+ *  @param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro high rate hysteresis calculated by
+ *
+ *  using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB
+ *
+ *  The high rate value scales with the range setting
+ *
+ *  gyro_range_u8     | hysteresis      |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.26dps     |   1LSB
+ *     1000           |    31.13dps     |   1LSB
+ *     500            |    15.56dps     |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_hyst(
+        u8 gyro_highrate_x_hyst_u8);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE X DURATION */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro highrate x duration
+ *  from page one register from 0x19 bit 0 to 7
+ *
+ *  @param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate duration calculate by using the formula
+ *
+ *  (1 + gyro_highrate_x_durn_u8)*2.5ms
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_durn(
+        u8 *gyro_highrate_x_durn_u8);
+/*!
+ *  @brief This API used to write gyro highrate x duration
+ *  from page one register from 0x19 bit 0 to 7
+ *
+ *  @param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate duration calculate by using the formula
+ *
+ *  (1 + gyro_highrate_x_durn_u8)*2.5ms
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_durn(
+        u8 gyro_highrate_x_durn_u8);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE Y THRESHOLD */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro highrate y threshold
+ *  from page one register from 0x1A bit 0 to 4
+ *
+ *  @param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate threshold dependent on the
+ *  selection of gyro range
+ *
+ *  gyro_range_u8     | threshold       |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.5dps      |   1LSB
+ *     1000           |    31.25dps     |   1LSB
+ *     500            |    15.625dps    |   1LSB
+ *     125            |    7.8125dps    |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_thres(
+        u8 *gyro_highrate_y_thres_u8);
+/*!
+ *  @brief This API used to write gyro highrate y threshold
+ *  from page one register from 0x1A bit 0 to 4
+ *
+ *  @param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate threshold dependent on the
+ *  selection of gyro range
+ *
+ *  gyro_range_u8     | threshold       |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.5dps      |   1LSB
+ *     1000           |    31.25dps     |   1LSB
+ *     500            |    15.625dps    |   1LSB
+ *     125            |    7.8125dps    |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_thres(
+        u8 gyro_highrate_y_thres_u8);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE Y HYSTERESIS */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro highrate y hysteresis
+ *  from page one register from 0x1A bit 5 to 6
+ *
+ *  @param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro high rate hysteresis calculated by
+ *
+ *  using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB
+ *
+ *  The high rate value scales with the range setting
+ *
+ *  gyro_range_u8     | hysteresis      |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.26dps     |   1LSB
+ *     1000           |    31.13dps     |   1LSB
+ *     500            |    15.56dps     |   1LSB
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_hyst(
+        u8 *gyro_highrate_y_hyst_u8);
+/*!
+ *  @brief This API used to write gyro highrate y hysteresis
+ *  from page one register from 0x1A bit 5 to 6
+ *
+ *  @param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro high rate hysteresis calculated by
+ *
+ *  using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB
+ *
+ *  The high rate value scales with the range setting
+ *
+ *  gyro_range_u8     | hysteresis      |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.26dps     |   1LSB
+ *     1000           |    31.13dps     |   1LSB
+ *     500            |    15.56dps     |   1LSB
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_hyst(
+        u8 gyro_highrate_y_hyst_u8);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE Y DURATION */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro highrate y duration
+ *  from page one register from 0x1B bit 0 to 7
+ *
+ *  @param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate duration calculate by using the formula
+ *
+ *  (1 + gyro_highrate_y_durn_u8)*2.5ms
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_durn(
+        u8 *gyro_highrate_y_durn_u8);
+/*!
+ *  @brief This API used to write gyro highrate y duration
+ *  from page one register from 0x1B bit 0 to 7
+ *
+ *  @param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate duration calculate by using the formula
+ *
+ *  (1 + gyro_highrate_y_durn_u8)*2.5ms
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_durn(
+        u8 gyro_highrate_y_durn_u8);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE Z THRESHOLD */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro highrate z threshold
+ *  from page one register from 0x1C bit 0 to 4
+ *
+ *  @param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate threshold dependent on the
+ *  selection of gyro range
+ *
+ *  gyro_range_u8     | threshold       |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.5dps      |   1LSB
+ *     1000           |    31.25dps     |   1LSB
+ *     500            |    15.625dps    |   1LSB
+ *     125            |    7.8125dps    |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_thres(
+        u8 *gyro_highrate_z_thres_u8);
+/*!
+ *  @brief This API used to write gyro highrate z threshold
+ *  from page one register from 0x1C bit 0 to 4
+ *
+ *  @param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate threshold dependent on the
+ *  selection of gyro range
+ *
+ *  gyro_range_u8     | threshold       |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.5dps      |   1LSB
+ *     1000           |    31.25dps     |   1LSB
+ *     500            |    15.625dps    |   1LSB
+ *     125            |    7.8125dps    |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_thres(
+        u8 gyro_highrate_z_thres_u8);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE Z HYSTERESIS */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro highrate z hysteresis
+ *  from page one register from 0x1C bit 5 to 6
+ *
+ *  @param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro high rate hysteresis calculated by
+ *
+ *  using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB
+ *
+ *  The high rate value scales with the range setting
+ *
+ *  gyro_range_u8     |  hysteresis     |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.26dps     |   1LSB
+ *     1000           |    31.13dps     |   1LSB
+ *     500            |    15.56dps     |   1LSB
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_hyst(
+        u8 *gyro_highrate_z_hyst_u8);
+/*!
+ *  @brief This API used to write gyro highrate z hysteresis
+ *  from page one register from 0x1C bit 5 to 6
+ *
+ *  @param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro high rate hysteresis calculated by
+ *
+ *  using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB
+ *
+ *  The high rate value scales with the range setting
+ *
+ *  gyro_range_u8     |  hysteresis     |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.26dps     |   1LSB
+ *     1000           |    31.13dps     |   1LSB
+ *     500            |    15.56dps     |   1LSB
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_hyst(
+        u8 gyro_highrate_z_hyst_u8);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE Z DURATION */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro highrate z duration
+ *  from page one register from 0x1D bit 0 to 7
+ *
+ *  @param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate duration calculate by using the formula
+ *
+ *  (1 + gyro_highrate_z_durn_u8)*2.5ms
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_durn(
+        u8 *gyro_highrate_z_durn_u8);
+/*!
+ *  @brief This API used to write gyro highrate z duration
+ *  from page one register from 0x1D bit 0 to 7
+ *
+ *  @param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate duration calculate by using the formula
+ *
+ *  (1 + gyro_highrate_z_durn_u8)*2.5ms
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_durn(
+        u8 gyro_highrate_z_durn_u8);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO ANY_MOTION THRESHOLD */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro anymotion threshold
+ *  from page one register from 0x1E bit 0 to 6
+ *
+ *  @param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro anymotion interrupt threshold dependent
+ *  on the selection of gyro range
+ *
+ *  gyro_range_u8     | threshold     |    LSB
+ * -----------------  | ------------- | ---------
+ *     2000           |    1dps       |   1LSB
+ *     1000           |    0.5dps     |   1LSB
+ *     500            |    0.25dps    |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_thres(
+        u8 *gyro_any_motion_thres_u8);
+/*!
+ *  @brief This API used to write gyro anymotion threshold
+ *  from page one register from 0x1E bit 0 to 6
+ *
+ *  @param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro anymotion interrupt threshold dependent
+ *  on the selection of gyro range
+ *
+ *  gyro_range_u8     | threshold     |    LSB
+ * -----------------  | ------------- | ---------
+ *     2000           |    1dps       |   1LSB
+ *     1000           |    0.5dps     |   1LSB
+ *     500            |    0.25dps    |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_thres(
+        u8 gyro_any_motion_thres_u8);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO ANY_MOTION SLOPE SAMPLES */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro anymotion slope samples
+ *  from page one register from 0x1F bit 0 to 1
+ *
+ *  @param gyro_any_motion_slope_samples_u8 :
+ *  The value of gyro anymotion slope samples
+ *  gyro_any_motion_slope_samples_u8   |   result
+ *  ----------------------------------   | -----------
+ *            0                          |    8 samples
+ *            1                          |    16 samples
+ *            2                          |    32 samples
+ *            3                          |    64 samples
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_slope_samples(
+        u8 *gyro_any_motion_slope_samples_u8);
+/*!
+ *  @brief This API used to write gyro anymotion slope samples
+ *  from page one register from 0x1F bit 0 to 1
+ *
+ *  @param gyro_any_motion_slope_samples_u8 :
+ *  The value of gyro anymotion slope samples
+ *  gyro_any_motion_slope_samples_u8   |   result
+ *  ---------------------------------- | -----------
+ *            0                        |    8 samples
+ *            1                        |    16 samples
+ *            2                        |    32 samples
+ *            3                        |    64 samples
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_slope_samples(
+        u8 gyro_any_motion_slope_samples_u8);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO ANY_MOTION AWAKE DURATION */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro anymotion awake duration
+ *  from page one register from 0x1F bit 2 to 3
+ *
+ *  @param gyro_awake_durn_u8 : The value of gyro anymotion awake duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_awake_durn(
+        u8 *gyro_awake_durn_u8);
+/*!
+ *  @brief This API used to write gyro anymotion awake duration
+ *  from page one register from 0x1F bit 2 to 3
+ *
+ *  @param gyro_awake_durn_u8 : The value of gyro anymotion awake duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_awake_durn(
+        u8 gyro_awake_durn_u8);
+#endif
diff --git a/include/BNO055/v1/alld_BNO055_v1.h b/include/BNO055/v1/alld_BNO055_v1.h
new file mode 100644
index 0000000..e6b646f
--- /dev/null
+++ b/include/BNO055/v1/alld_BNO055_v1.h
@@ -0,0 +1,184 @@
+/*
+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 pub
+hed 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_v1.h
+ * @brief   Accelerometer macros and structures.
+ *
+ * @addtogroup lld_accel
+ * @{
+ */
+
+#ifndef AMIROLLD_BNO055_V1_H
+#define AMIROLLD_BNO055_V1_H
+
+#include <amiro-lld.h>
+
+#if (defined(AMIROLLD_CFG_BNO055) && (AMIROLLD_CFG_BNO055 == 1)) || defined(__DOXYGEN__)
+
+/******************************************************************************/
+/* CONSTANTS                                                                  */
+/******************************************************************************/
+
+/******************************************************************************/
+/* SETTINGS                                                                   */
+/******************************************************************************/
+
+/******************************************************************************/
+/* CHECKS                                                                     */
+/******************************************************************************/
+
+/******************************************************************************/
+/* DATA STRUCTURES AND TYPES                                                  */
+/******************************************************************************/
+
+/**
+ * @brief The BNO055 mode (sensor, fusion)
+ */
+typedef enum {
+    MOTN_MODE_NONE = 0,
+    MOTN_MODE_ACC,
+    MOTN_MODE_GYR,
+    MOTN_MODE_MAG,
+    MOTN_MODE_ACC_GYR,
+    MOTN_MODE_ACC_MAG,
+    MOTN_MODE_GYRO_MAG,
+    MOTN_MODE_ACC_GYR_MAG,
+    MOTN_MODE_IMU,
+    MOTN_MODE_COMPASS,
+    MOTN_MODE_M4G,
+    MOTN_MODE_NDOF
+} BNO055_Mode;
+
+/**
+ * @brief The BNO055 unified sample rate settings
+ */
+typedef enum {
+    MOTN_SR_LOW = 0, MOTN_SR_NORMAL, MOTN_SR_HIGHSPEED
+} BNO055_SampleRate;
+
+/**
+ * @brief The BNO055 driver struct
+ */
+typedef struct {
+  apalSPIDriver_t* spid;        /**< @brief The SPI Driver */
+  BNO055_Mode mode;
+  BNO055_SampleRate sr;
+} BNO055_Driver;
+
+typedef struct {
+    int16_t ax;
+    int16_t ay;
+    int16_t az;
+} BNO055_DataAcc;
+
+typedef struct {
+    int16_t gx;
+    int16_t gy;
+    int16_t gz;
+} BNO055_DataGyr;
+
+typedef struct {
+    int16_t mx;
+    int16_t my;
+    int16_t mz;
+} BNO055_DataMag;
+
+typedef struct {
+    int16_t eh;
+    int16_t er;
+    int16_t ep;
+} BNO055_DataEuler;
+
+typedef struct {
+    int16_t qw;
+    int16_t qx;
+    int16_t qy;
+    int16_t qz;
+} BNO055_DataQuaternion;
+
+typedef union {
+
+    BNO055_DataEuler euler;
+    BNO055_DataQuaternion quaternion;
+
+} BNO055_DataFusion;
+
+#define MOTN_DATA_ACC_OFFSET    0
+#define MOTN_DATA_GYR_OFFSET    6
+#define MOTN_DATA_MGN_OFFSET    12
+
+typedef struct {
+    BNO055_DataAcc acc;
+    BNO055_DataGyr gyr;
+    BNO055_DataMag mag;
+
+} BNO055_Data;
+
+typedef union {
+    // 8 Bytes is max from BNO055_DataQuaternion
+    uint8_t byte[18];
+    BNO055_Data raw;           // max 18 Byte
+    BNO055_DataFusion fsn;     // max 8 Byte
+
+} BNO055_DataUnion;
+
+
+/******************************************************************************/
+/* MACROS                                                                     */
+/******************************************************************************/
+
+/******************************************************************************/
+/* EXTERN DECLARATIONS                                                        */
+/******************************************************************************/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+ 
+  apalExitStatus_t BNO055_lld_init(const BNO055_Driver* const bno);
+
+  apalExitStatus_t BNO055_lld_set_mode(const BNO055_Mode mode, const BNO055_SampleRate sr);
+  apalExitStatus_t BNO055_lld_get_data(const BNO055_DataUnion* const dto);
+  
+ 
+
+  //TODO add more fancy functions to do more fancy things e.g.
+  //apalExitStatus_t BNO055_lld_start_calibration(...)
+
+  //apalExitStatus_t BNO055_lld_set_interrupts(...)
+  //apalExitStatus_t BNO055_lld_enable_interrupts(...)
+  //apalExitStatus_t BNO055_lld_clear_interrupts()
+
+  
+
+#ifdef __cplusplus
+}
+#endif
+
+/******************************************************************************/
+/* INLINE FUNCTIONS                                                           */
+/******************************************************************************/
+
+#endif /* defined(AMIROLLD_CFG_BNO055) && (AMIROLLD_CFG_BNO055 == 1) */
+
+#endif /* AMIROLLD_BNO055_V1_H */
+
+/** @} */
diff --git a/source/BNO055/v1/alld_BNO055_v1.c b/source/BNO055/v1/alld_BNO055_v1.c
new file mode 100644
index 0000000..68c3a84
--- /dev/null
+++ b/source/BNO055/v1/alld_BNO055_v1.c
@@ -0,0 +1,437 @@
+/*
+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_v1.c
+ * @brief   Accelerometer function implementations.
+ *
+ * @addtogroup lld_accel
+ * @{
+ */
+
+#include <alld_BNO055.h>
+#include <bno055_reg.h>
+
+#if (defined(AMIROLLD_CFG_BNO055) && (AMIROLLD_CFG_BNO055 == 1)) || defined(__DOXYGEN__)
+
+#include <string.h>
+
+/******************************************************************************/
+/* LOCAL DEFINITIONS                                                          */
+/******************************************************************************/
+
+/******************************************************************************/
+/* EXPORTED VARIABLES                                                         */
+/******************************************************************************/
+
+/******************************************************************************/
+/* LOCAL TYPES                                                                */
+/******************************************************************************/
+
+/******************************************************************************/
+/* LOCAL VARIABLES                                                            */
+/******************************************************************************/
+
+static BNO055_Driver local_drv_cpy;
+
+/******************************************************************************/
+/* LOCAL FUNCTIONS                                                            */
+/******************************************************************************/
+
+/* BNO055 callbacks */
+
+void BNO055_delay_msek(u32 msek) {
+    //TODO aos or chibios fct?
+    chThdSleepMicroseconds(msek);
+}
+
+/*  \Brief: The API is used as I2C bus write
+ *  \Return : Status of the I2C write
+ *  \param dev_addr : The device address of the sensor
+ *  \param reg_addr : Address of the first register,
+ *   will data is going to be written
+ *  \param reg_data : It is a value hold in the array,
+ *      will be used for write the value into the register
+ *  \param cnt : The no of byte of data to be write
+ */
+s8 BNO055_I2C_bus_write(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt) {
+    s8 BNO055_iERROR = BNO055_INIT_VALUE;
+
+    uint8_t buffer[cnt+1];
+    uint8_t i = BNO055_INIT_VALUE;
+
+    buffer[0] = reg_addr;
+    memcpy(buffer+1, reg_data, cnt);
+  
+    apalExitStatus_t status = apalSPITransmit(local_drv_cpy.spid, 
+        buffer, cnt+1);
+
+
+    switch (status) {
+        case APAL_STATUS_OK:
+            BNO055_iERROR = BNO055_SUCCESS;
+            break;
+        case APAL_STATUS_ERROR:
+        case APAL_STATUS_TIMEOUT:
+        case APAL_STATUS_INVALIDARGUMENTS:
+        case APAL_STATUS_UNAVAILABLE:
+            BNO055_iERROR = BNO055_ERROR;
+            break;
+        default:
+            BNO055_iERROR = BNO055_ERROR;
+            break;
+    }
+
+    return (s8) BNO055_iERROR;
+}
+
+/* \Brief: The API is used as I2C bus read
+ *  \Return : Status of the I2C read
+ *  \param dev_addr : The device address of the sensor
+ *  \param reg_addr : Address of the first register,
+ *  will data is going to be read
+ *  \param reg_data : This data read from the sensor,
+ *   which is hold in an array
+ *  \param cnt : The no of byte of data to be read
+ */
+s8 BNO055_I2C_bus_read(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt) {
+    s8 BNO055_iERROR = BNO055_INIT_VALUE;
+    uint8_t buffer[cnt+1];
+    uint8_t i = 0;
+
+    buffer[0] = reg_addr;
+    apalExitStatus_t status = apalSPIExchange(local_drv_cpy.spid, 
+    buffer, buffer, cnt+1);    
+    
+    switch (status) {
+        case APAL_STATUS_OK:
+            BNO055_iERROR = BNO055_SUCCESS;
+            memcpy(reg_data, buffer+1, cnt);
+            break;
+        case APAL_STATUS_ERROR:
+        case APAL_STATUS_TIMEOUT:
+        case APAL_STATUS_INVALIDARGUMENTS:
+        case APAL_STATUS_UNAVAILABLE:
+            BNO055_iERROR = BNO055_ERROR;
+            break;
+        default:
+            BNO055_iERROR = BNO055_ERROR;
+            break;
+    }
+
+    return (s8) BNO055_iERROR;
+}
+
+/******************************************************************************/
+/* EXPORTED FUNCTIONS                                                         */
+/******************************************************************************/
+
+
+apalExitStatus_t BNO055_lld_init(const BNO055_Driver* const bno){
+    //TODO refactor local drv copy -> make stateless
+    local_drv_cpy = *bno;
+    
+    static struct bno055_t bno055;
+
+    bno055.bus_write = BNO055_I2C_bus_write;
+    bno055.bus_read = BNO055_I2C_bus_read;
+    bno055.delay_msec = BNO055_delay_msek;
+    //TODO check I2C address
+    bno055.dev_addr = BNO055_I2C_ADDR2;
+    
+    BNO055_RETURN_FUNCTION_TYPE ret = bno055_init(&bno055);
+    
+    if (ret == BNO055_SUCCESS){
+        return BNO055_lld_set_mode(local_drv_cpy.mode, local_drv_cpy.sr);
+    }
+    
+    return APAL_STATUS_ERROR;
+    
+}
+
+apalExitStatus_t BNO055_lld_set_mode(const BNO055_Mode mode, const BNO055_SampleRate sr){
+
+    local_drv_cpy.mode = mode;
+    local_drv_cpy.sr = sr;
+
+    // switch BNO on/off
+    switch (local_drv_cpy.mode) {
+        case MOTN_MODE_NONE:
+            bno055_set_power_mode(BNO055_POWER_MODE_SUSPEND);
+            return APAL_STATUS_OK;
+        case MOTN_MODE_GYR:
+        case MOTN_MODE_MAG:
+        case MOTN_MODE_ACC_GYR:
+        case MOTN_MODE_ACC_MAG:
+        case MOTN_MODE_GYRO_MAG:
+        case MOTN_MODE_ACC_GYR_MAG:
+        case MOTN_MODE_IMU:
+        case MOTN_MODE_COMPASS:
+        case MOTN_MODE_M4G:
+        case MOTN_MODE_NDOF:
+            bno055_set_power_mode(BNO055_POWER_MODE_NORMAL);
+            break;
+        default:
+            bno055_set_power_mode(BNO055_POWER_MODE_SUSPEND);
+            break;
+    }
+
+    // and configure BNO as requested
+
+    switch (local_drv_cpy.mode) {
+        case MOTN_MODE_ACC:
+            bno055_set_power_mode(BNO055_POWER_MODE_NORMAL);
+            switch (local_drv_cpy.sr) {
+                case MOTN_SR_LOW:
+                    bno055_set_accel_bw(BNO055_ACCEL_BW_15_63HZ);
+                    break;
+                case MOTN_SR_NORMAL:
+                    bno055_set_accel_bw(BNO055_ACCEL_BW_125HZ);
+                    break;
+                case MOTN_SR_HIGHSPEED:
+                    bno055_set_accel_bw(BNO055_ACCEL_BW_1000HZ);
+                    break;
+                default:
+                    break;
+            }
+            bno055_set_gyro_range(BNO055_ACCEL_RANGE_8G);
+            bno055_set_operation_mode(BNO055_OPERATION_MODE_ACCONLY);
+            bno055_set_accel_power_mode(BNO055_ACCEL_NORMAL);
+            break;
+
+        case MOTN_MODE_GYR:
+            switch (local_drv_cpy.sr) {
+                case MOTN_SR_LOW:
+                    bno055_set_gyro_bw(BNO055_GYRO_BW_47HZ);
+                    break;
+                case MOTN_SR_NORMAL:
+                    bno055_set_gyro_bw(BNO055_GYRO_BW_116HZ);
+                    break;
+                case MOTN_SR_HIGHSPEED:
+                    bno055_set_gyro_bw(BNO055_GYRO_BW_523HZ);
+                    break;
+                default:
+                    break;
+            }
+            bno055_set_gyro_range(BNO055_GYRO_RANGE_2000DPS);
+            bno055_set_operation_mode(BNO055_OPERATION_MODE_GYRONLY);
+            bno055_set_gyro_power_mode(BNO055_GYRO_POWER_MODE_NORMAL);
+
+            break;
+        case MOTN_MODE_MAG:
+            switch (local_drv_cpy.sr) {
+                case MOTN_SR_LOW:
+                    bno055_set_mag_data_output_rate(
+                            BNO055_MAG_DATA_OUTRATE_8HZ);
+                    break;
+                case MOTN_SR_NORMAL:
+                    bno055_set_mag_data_output_rate(
+                            BNO055_MAG_DATA_OUTRATE_15HZ);
+                    break;
+                case MOTN_SR_HIGHSPEED:
+                    bno055_set_mag_data_output_rate(
+                            BNO055_MAG_DATA_OUTRATE_30HZ);
+                    break;
+                default:
+                    break;
+            }
+            bno055_set_operation_mode(BNO055_OPERATION_MODE_MAGONLY);
+            bno055_set_mag_power_mode(BNO055_MAG_POWER_MODE_NORMAL);
+
+            break;
+        case MOTN_MODE_ACC_GYR:
+            switch (local_drv_cpy.sr) {
+                case MOTN_SR_LOW:
+                    bno055_set_gyro_bw(BNO055_GYRO_BW_47HZ);
+                    bno055_set_accel_bw(BNO055_ACCEL_BW_62_5HZ);
+                    break;
+                case MOTN_SR_NORMAL:
+                    bno055_set_gyro_bw(BNO055_GYRO_BW_116HZ);
+                    bno055_set_accel_bw(BNO055_ACCEL_BW_125HZ);
+                    break;
+                case MOTN_SR_HIGHSPEED:
+                    bno055_set_gyro_bw(BNO055_GYRO_BW_523HZ);
+                    bno055_set_accel_bw(BNO055_ACCEL_BW_500HZ);
+                    break;
+                default:
+                    break;
+            }
+            bno055_set_operation_mode(BNO055_OPERATION_MODE_ACCGYRO);
+            bno055_set_gyro_range(BNO055_GYRO_RANGE_2000DPS);
+            bno055_set_gyro_power_mode(BNO055_GYRO_POWER_MODE_NORMAL);
+            bno055_set_accel_range(BNO055_ACCEL_RANGE_8G);
+            bno055_set_accel_power_mode(BNO055_ACCEL_NORMAL);
+            break;
+        case MOTN_MODE_ACC_MAG:
+            switch (local_drv_cpy.sr) {
+                case MOTN_SR_LOW:
+                    bno055_set_mag_data_output_rate(
+                            BNO055_MAG_DATA_OUTRATE_8HZ);
+                    bno055_set_accel_bw(BNO055_ACCEL_BW_62_5HZ);
+                    break;
+                case MOTN_SR_NORMAL:
+                    bno055_set_mag_data_output_rate(
+                            BNO055_MAG_DATA_OUTRATE_15HZ);
+                    bno055_set_accel_bw(BNO055_ACCEL_BW_125HZ);
+                    break;
+                case MOTN_SR_HIGHSPEED:
+                    bno055_set_mag_data_output_rate(
+                            BNO055_MAG_DATA_OUTRATE_30HZ);
+                    bno055_set_accel_bw(BNO055_ACCEL_BW_500HZ);
+                    break;
+                default:
+                    break;
+            }
+            bno055_set_operation_mode(BNO055_OPERATION_MODE_ACCMAG);
+            bno055_set_mag_power_mode(BNO055_MAG_POWER_MODE_NORMAL);
+            bno055_set_accel_range(BNO055_ACCEL_RANGE_8G);
+            bno055_set_accel_power_mode(BNO055_ACCEL_NORMAL);
+            break;
+        case MOTN_MODE_GYRO_MAG:
+            switch (local_drv_cpy.sr) {
+                case MOTN_SR_LOW:
+                    bno055_set_gyro_bw(BNO055_GYRO_BW_47HZ);
+                    bno055_set_mag_data_output_rate(
+                            BNO055_MAG_DATA_OUTRATE_8HZ);
+                    break;
+                case MOTN_SR_NORMAL:
+                    bno055_set_gyro_bw(BNO055_GYRO_BW_116HZ);
+                    bno055_set_mag_data_output_rate(
+                            BNO055_MAG_DATA_OUTRATE_15HZ);
+                    break;
+                case MOTN_SR_HIGHSPEED:
+                    bno055_set_gyro_bw(BNO055_GYRO_BW_523HZ);
+                    bno055_set_mag_data_output_rate(
+                            BNO055_MAG_DATA_OUTRATE_30HZ);
+                    break;
+                default:
+                    break;
+            }
+            bno055_set_operation_mode(BNO055_OPERATION_MODE_MAGGYRO);
+            bno055_set_gyro_range(BNO055_GYRO_RANGE_2000DPS);
+            bno055_set_gyro_power_mode(BNO055_GYRO_POWER_MODE_NORMAL);
+            bno055_set_mag_power_mode(BNO055_MAG_POWER_MODE_NORMAL);
+            break;
+        case MOTN_MODE_ACC_GYR_MAG:
+            switch (local_drv_cpy.sr) {
+                case MOTN_SR_LOW:
+                    bno055_set_gyro_bw(BNO055_GYRO_BW_47HZ);
+                    bno055_set_mag_data_output_rate(
+                            BNO055_MAG_DATA_OUTRATE_8HZ);
+                    bno055_set_accel_bw(BNO055_ACCEL_BW_62_5HZ);
+                    break;
+                case MOTN_SR_NORMAL:
+                    bno055_set_gyro_bw(BNO055_GYRO_BW_116HZ);
+                    bno055_set_mag_data_output_rate(
+                            BNO055_MAG_DATA_OUTRATE_15HZ);
+                    bno055_set_accel_bw(BNO055_ACCEL_BW_125HZ);
+                    break;
+                case MOTN_SR_HIGHSPEED:
+                    bno055_set_gyro_bw(BNO055_GYRO_BW_523HZ);
+                    bno055_set_mag_data_output_rate(
+                            BNO055_MAG_DATA_OUTRATE_30HZ);
+                    bno055_set_accel_bw(BNO055_ACCEL_BW_500HZ);
+                    break;
+                default:
+                    break;
+            }
+            bno055_set_operation_mode(BNO055_OPERATION_MODE_AMG);
+            bno055_set_gyro_range(BNO055_GYRO_RANGE_2000DPS);
+            bno055_set_gyro_power_mode(BNO055_GYRO_POWER_MODE_NORMAL);
+            bno055_set_mag_power_mode(BNO055_MAG_POWER_MODE_NORMAL);
+            bno055_set_accel_range(BNO055_ACCEL_RANGE_8G);
+            bno055_set_accel_power_mode(BNO055_ACCEL_NORMAL);
+            break;
+        case MOTN_MODE_IMU:
+            bno055_set_operation_mode(BNO055_OPERATION_MODE_IMUPLUS);
+            //sensor parameters are auto controlled in fusion mode
+            break;
+        case MOTN_MODE_COMPASS:
+            bno055_set_operation_mode(BNO055_OPERATION_MODE_COMPASS);
+            //sensor parameters are auto controlled in fusion mode
+            break;
+        case MOTN_MODE_M4G:
+            bno055_set_operation_mode(BNO055_OPERATION_MODE_M4G);
+            //sensor parameters are auto controlled in fusion mode
+            break;
+        case MOTN_MODE_NDOF:
+            bno055_set_operation_mode(BNO055_OPERATION_MODE_NDOF);
+            //sensor parameters are auto controlled in fusion mode
+            break;
+        default:
+            return APAL_STATUS_INVALIDARGUMENTS;
+    }
+
+    return APAL_STATUS_OK;
+}
+
+apalExitStatus_t BNO055_lld_get_data(const BNO055_DataUnion* const dto){
+
+    switch (local_drv_cpy.mode) {
+
+        case MOTN_MODE_ACC:
+            bno055_read_accel_xyz((struct bno055_accel_t*) &(dto->raw.acc));
+            break;
+        case MOTN_MODE_GYR:
+            bno055_read_gyro_xyz((struct bno055_gyro_t*) &(dto->raw.gyr));
+            break;
+        case MOTN_MODE_MAG:
+            bno055_read_mag_xyz((struct bno055_mag_t*) &(dto->raw.mag));
+            break;
+        case MOTN_MODE_ACC_GYR:
+            bno055_read_accel_xyz((struct bno055_accel_t*) &(dto->raw.acc));
+            bno055_read_gyro_xyz((struct bno055_gyro_t*) &(dto->raw.gyr));
+            break;
+        case MOTN_MODE_ACC_MAG:
+            bno055_read_accel_xyz((struct bno055_accel_t*) &(dto->raw.acc));
+            bno055_read_mag_xyz((struct bno055_mag_t*) &(dto->raw.mag));
+            break;
+        case MOTN_MODE_GYRO_MAG:
+            bno055_read_gyro_xyz((struct bno055_gyro_t*) &(dto->raw.gyr));
+            bno055_read_mag_xyz((struct bno055_mag_t*) &(dto->raw.mag));
+            break;
+        case MOTN_MODE_ACC_GYR_MAG:
+            bno055_read_accel_xyz((struct bno055_accel_t*) &(dto->raw.acc));
+            bno055_read_gyro_xyz((struct bno055_gyro_t*) &(dto->raw.gyr));
+            bno055_read_mag_xyz((struct bno055_mag_t*) &(dto->raw.mag));
+            break;
+        case MOTN_MODE_COMPASS:
+            bno055_read_mag_xyz((struct bno055_mag_t*) &(dto->raw.mag));
+            break;
+        case MOTN_MODE_IMU:
+        case MOTN_MODE_M4G:
+        case MOTN_MODE_NDOF:
+            bno055_read_accel_xyz((struct bno055_accel_t*) &(dto->raw.acc));
+            bno055_read_gyro_xyz((struct bno055_gyro_t*) &(dto->raw.gyr));
+            bno055_read_mag_xyz((struct bno055_mag_t*) &(dto->raw.mag));
+            bno055_read_quaternion_wxyz(
+                    (struct bno055_quaternion_t*) &(dto->fsn.quaternion));
+            //bno055_read_euler_wxyz((struct bno055_euler_t*) &(dto->fusion.euler));
+            break;
+        default:
+            return APAL_STATUS_INVALIDARGUMENTS;
+    }
+
+}
+
+
+
+
+#endif /* defined(AMIROLLD_CFG_BNO055) && (AMIROLLD_CFG_BNO055 == 1) */
+
+/** @} */
diff --git a/source/BNO055/v1/bno055_reg.c b/source/BNO055/v1/bno055_reg.c
new file mode 100644
index 0000000..ebc4baf
--- /dev/null
+++ b/source/BNO055/v1/bno055_reg.c
@@ -0,0 +1,16433 @@
+/*
+ *
+ ****************************************************************************
+ * Copyright (C) 2015 - 2016 Bosch Sensortec GmbH
+ *
+ * File : bno055.c
+ *
+ * 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.
+ **************************************************************************/
+
+/*********************************************************/
+/*              INCLUDES    */
+/*******************************************************/
+#include "bno055_reg.h"
+/*! file <BNO055 >
+ brief <Sensor driver for BNO055> */
+/*  STRUCTURE DEFINITIONS   */
+static struct bno055_t *p_bno055;
+/*   LOCAL FUNCTIONS    */
+/*!
+ *  @brief
+ *  This API is used for initialize
+ *  bus read, bus write function pointers,device
+ *  address,accel revision id, gyro revision id
+ *  mag revision id, software revision id, boot loader
+ *  revision id and page id
+ *
+ *  @param  bno055 - structure pointer
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While changing the parameter of the bno055_t
+ *  consider the following point:
+ *  Changing the reference value of the parameter
+ *  will changes the local copy or local reference
+ *  make sure your changes will not
+ *  affect the reference value of the parameter
+ *  (Better case don't change the reference value of the parameter)
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_init(struct bno055_t *bno055) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8 = BNO055_INIT_VALUE;
+    u8 bno055_page_zero_u8 = BNO055_PAGE_ZERO;
+    /* Array holding the Software revision id
+     */
+    u8 a_SW_ID_u8[BNO055_REV_ID_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    /* stuct parameters are assign to bno055*/
+    p_bno055 = bno055;
+    /* Write the default page as zero*/
+    com_rslt =
+            p_bno055->BNO055_BUS_WRITE_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_PAGE_ID_REG, &bno055_page_zero_u8, BNO055_GEN_READ_WRITE_LENGTH);
+    /* Read the chip id of the sensor from page
+     zero 0x00 register*/
+    com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+    (p_bno055->dev_addr,
+            BNO055_CHIP_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
+    p_bno055->chip_id = data_u8;
+    /* Read the accel revision id from page
+     zero 0x01 register*/
+    com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+    (p_bno055->dev_addr,
+            BNO055_ACCEL_REV_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
+    p_bno055->accel_rev_id = data_u8;
+    /* Read the mag revision id from page
+     zero 0x02 register*/
+    com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+    (p_bno055->dev_addr,
+            BNO055_MAG_REV_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
+    p_bno055->mag_rev_id = data_u8;
+    /* Read the gyro revision id from page
+     zero 0x02 register*/
+    com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+    (p_bno055->dev_addr,
+            BNO055_GYRO_REV_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
+    p_bno055->gyro_rev_id = data_u8;
+    /* Read the boot loader revision from page
+     zero 0x06 register*/
+    com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+    (p_bno055->dev_addr,
+            BNO055_BL_REV_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
+    p_bno055->bl_rev_id = data_u8;
+    /* Read the software revision id from page
+     zero 0x04 and 0x05 register( 2 bytes of data)*/
+    com_rslt += p_bno055->BNO055_BUS_READ_FUNC(p_bno055->dev_addr,
+            BNO055_SW_REV_ID_LSB_REG,
+            a_SW_ID_u8, BNO055_LSB_MSB_READ_LENGTH);
+    a_SW_ID_u8[BNO055_SW_ID_LSB] = BNO055_GET_BITSLICE(
+            a_SW_ID_u8[BNO055_SW_ID_LSB], BNO055_SW_REV_ID_LSB);
+    p_bno055->sw_rev_id = (u16) ((((u32) ((u8) a_SW_ID_u8[BNO055_SW_ID_MSB])) <<
+    BNO055_SHIFT_EIGHT_BITS) | (a_SW_ID_u8[BNO055_SW_ID_LSB]));
+    /* Read the page id from the register 0x07*/
+    com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+    (p_bno055->dev_addr,
+            BNO055_PAGE_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
+    p_bno055->page_id = data_u8;
+
+    return com_rslt;
+}
+/*!
+ *  @brief
+ *  This API gives data to the given register and
+ *  the data is written in the corresponding register address
+ *
+ *  @param addr_u8 : Address of the register
+ *  @param data_u8 : Data to be written to the register
+ *  @param len_u8  : Length of the Data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_write_register(u8 addr_u8, u8 *data_u8,
+        u8 len_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* Write the values of respective given register */
+        com_rslt = p_bno055->BNO055_BUS_WRITE_FUNC
+        (p_bno055->dev_addr, addr_u8, data_u8, len_u8);
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads the data from
+ *  the given register address
+ *
+ *  @param addr_u8 : Address of the register
+ *  @param data_u8 : address of the variable,
+ *  read value will be kept
+ *  @param len_u8  : Length of the data
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_register(u8 addr_u8, u8 *data_u8,
+        u8 len_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* Read the value from given register*/
+        com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+        (p_bno055->dev_addr, addr_u8, data_u8, len_u8);
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads chip id
+ *  from register 0x00 it is a byte of data
+ *
+ *
+ *  @param chip_id_u8 : The chip id value 0xA0
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_chip_id(u8 *chip_id_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8 = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the chip id*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_CHIP_ID_REG, &data_u8,
+                    BNO055_GEN_READ_WRITE_LENGTH);
+            *chip_id_u8 = data_u8;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads software revision id
+ *  from register 0x04 and 0x05 it is a two byte of data
+ *
+ *  @param sw_id_u8 : The SW revision id
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_sw_rev_id(u16 *sw_id_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* array having the software revision id
+     data_u8[0] - LSB
+     data_u8[1] - MSB*/
+    u8 data_u8[BNO055_REV_ID_SIZE] = { BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct  p_bno055 is empty*/
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the two byte value of software
+             revision id*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_SW_REV_ID_LSB_REG,
+                    data_u8, BNO055_LSB_MSB_READ_LENGTH);
+            data_u8[BNO055_SW_ID_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SW_ID_LSB], BNO055_SW_REV_ID_LSB);
+            *sw_id_u8 = (u16) ((((u32) ((u8) data_u8[BNO055_SW_ID_MSB])) <<
+            BNO055_SHIFT_EIGHT_BITS) | (data_u8[BNO055_SW_ID_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads page id
+ *  from register 0x07 it is a byte of data
+ *
+ *
+ *  @param page_id_u8 : The value of page id
+ *
+ *  BNO055_PAGE_ZERO -> 0x00
+ *  BNO055_PAGE_ONE  -> 0x01
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_page_id(u8 *page_id_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8 = BNO055_INIT_VALUE;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* Read the page id form 0x07*/
+        com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+        (p_bno055->dev_addr,
+                BNO055_PAGE_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
+        if (com_rslt == BNO055_SUCCESS) {
+            data_u8 = BNO055_GET_BITSLICE(data_u8, BNO055_PAGE_ID);
+            *page_id_u8 = data_u8;
+            p_bno055->page_id = data_u8;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write
+ *  the page id register 0x07
+ *
+ *  @param page_id_u8 : The value of page id
+ *
+ *  BNO055_PAGE_ZERO -> 0x00
+ *  BNO055_PAGE_ONE  -> 0x01
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_write_page_id(u8 page_id_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* Read the current page*/
+        com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+        (p_bno055->dev_addr,
+                BNO055_PAGE_ID_REG, &data_u8r,
+                BNO055_GEN_READ_WRITE_LENGTH);
+        /* Check condition for communication BNO055_SUCCESS*/
+        if (com_rslt == BNO055_SUCCESS) {
+            data_u8r = BNO055_SET_BITSLICE(data_u8r, BNO055_PAGE_ID,
+                    page_id_u8);
+            /* Write the page id*/
+            com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_PAGE_ID_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            if (com_rslt == BNO055_SUCCESS)
+                p_bno055->page_id = page_id_u8;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads accel revision id
+ *  from register 0x01 it is a byte of value
+ *
+ *  @param accel_rev_id_u8 : The accel revision id 0xFB
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_rev_id(u8 *accel_rev_id_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8 = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the accel revision id */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_REV_ID_REG,
+                    &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
+            *accel_rev_id_u8 = data_u8;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads mag revision id
+ *  from register 0x02 it is a byte of value
+ *
+ *  @param mag_rev_id_u8 : The mag revision id 0x32
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_rev_id(u8 *mag_rev_id_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8 = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the mag revision id */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_MAG_REV_ID_REG,
+                    &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
+            *mag_rev_id_u8 = data_u8;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads gyro revision id
+ *  from register 0x03 it is a byte of value
+ *
+ *  @param gyro_rev_id_u8 : The gyro revision id 0xF0
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_rev_id(u8 *gyro_rev_id_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8 = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the gyro revision id */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_REV_ID_REG,
+                    &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_rev_id_u8 = data_u8;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read boot loader revision id
+ *  from register 0x06 it is a byte of value
+ *
+ *  @param bl_rev_id_u8 : The boot loader revision id
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_bl_rev_id(u8 *bl_rev_id_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8 = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the boot loader revision id */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_BL_REV_ID_REG,
+                    &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
+            *bl_rev_id_u8 = data_u8;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads acceleration data X values
+ *  from register 0x08 and 0x09 it is a two byte data
+ *
+ *
+ *
+ *
+ *  @param accel_x_s16 : The X raw data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_x(s16 *accel_x_s16) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the accel x value
+     data_u8[BNO055_SENSOR_DATA_LSB] - x-LSB
+     data_u8[BNO055_SENSOR_DATA_MSB] - x-MSB
+     */
+    u8 data_u8[BNO055_ACCEL_DATA_SIZE] = { BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the accel x axis two byte value*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_DATA_X_LSB_VALUEX_REG,
+                    data_u8, BNO055_LSB_MSB_READ_LENGTH);
+            data_u8[BNO055_SENSOR_DATA_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_LSB],
+                    BNO055_ACCEL_DATA_X_LSB_VALUEX);
+            data_u8[BNO055_SENSOR_DATA_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_MSB],
+                    BNO055_ACCEL_DATA_X_MSB_VALUEX);
+            *accel_x_s16 =
+                    (s16) ((((s32) (s8) (data_u8[BNO055_SENSOR_DATA_MSB]))
+                            << (BNO055_SHIFT_EIGHT_BITS))
+                            | (data_u8[BNO055_SENSOR_DATA_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads acceleration data Y values
+ *  from register 0x0A and 0x0B it is a two byte data
+ *
+ *
+ *
+ *
+ *  @param accel_y_s16 : The Y raw data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_y(s16 *accel_y_s16) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the accel y value
+     data_u8[BNO055_SENSOR_DATA_LSB] - y-LSB
+     data_u8[BNO055_SENSOR_DATA_MSB] - y-MSB
+     */
+    u8 data_u8[BNO055_ACCEL_DATA_SIZE] = { BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the accel y axis two byte value*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_DATA_Y_LSB_VALUEY_REG,
+                    data_u8, BNO055_LSB_MSB_READ_LENGTH);
+            data_u8[BNO055_SENSOR_DATA_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_LSB],
+                    BNO055_ACCEL_DATA_Y_LSB_VALUEY);
+            data_u8[BNO055_SENSOR_DATA_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_MSB],
+                    BNO055_ACCEL_DATA_Y_MSB_VALUEY);
+            *accel_y_s16 =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_MSB])) <<
+                    BNO055_SHIFT_EIGHT_BITS) | (data_u8[BNO055_SENSOR_DATA_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads acceleration data z values
+ *  from register 0x0C and 0x0D it is a two byte data
+ *
+ *
+ *
+ *
+ *  @param accel_z_s16 : The z raw data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_z(s16 *accel_z_s16) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the accel z value
+     data_u8[BNO055_SENSOR_DATA_LSB] - z-LSB
+     data_u8[BNO055_SENSOR_DATA_MSB] - z-MSB
+     */
+    u8 data_u8[BNO055_ACCEL_DATA_SIZE] = { BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the accel z axis two byte value*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_DATA_Z_LSB_VALUEZ_REG,
+                    data_u8, BNO055_LSB_MSB_READ_LENGTH);
+            data_u8[BNO055_SENSOR_DATA_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_LSB],
+                    BNO055_ACCEL_DATA_Z_LSB_VALUEZ);
+            data_u8[BNO055_SENSOR_DATA_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_MSB],
+                    BNO055_ACCEL_DATA_Z_MSB_VALUEZ);
+            *accel_z_s16 =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_MSB])) <<
+                    BNO055_SHIFT_EIGHT_BITS) | (data_u8[BNO055_SENSOR_DATA_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads acceleration data xyz values
+ *  from register 0x08 to 0x0D it is a six byte data
+ *
+ *
+ *  @param accel : The value of accel xyz data
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | The accel x data
+ *   y        | The accel y data
+ *   z        | The accel z data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_xyz(struct bno055_accel_t *accel) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the accel xyz value
+     data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB
+     */
+    u8 data_u8[BNO055_ACCEL_XYZ_DATA_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_DATA_X_LSB_VALUEX_REG,
+                    data_u8, BNO055_ACCEL_XYZ_DATA_SIZE);
+            /* Data X*/
+            data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB],
+                    BNO055_ACCEL_DATA_X_LSB_VALUEX);
+            data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB],
+                    BNO055_ACCEL_DATA_X_MSB_VALUEX);
+            accel->x =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB]));
+            /* Data Y*/
+            data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB],
+                    BNO055_ACCEL_DATA_Y_LSB_VALUEY);
+            data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB],
+                    BNO055_ACCEL_DATA_Y_MSB_VALUEY);
+            accel->y =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB]));
+            /* Data Z*/
+            data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB],
+                    BNO055_ACCEL_DATA_Z_LSB_VALUEZ);
+            data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB],
+                    BNO055_ACCEL_DATA_Z_MSB_VALUEZ);
+            accel->z =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads mag data x values
+ *  from register 0x0E and 0x0F it is a two byte data
+ *
+ *
+ *
+ *
+ *  @param mag_x_s16 : The x raw data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_x(s16 *mag_x_s16) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the mag x value
+     data_u8[BNO055_SENSOR_DATA_LSB] - x->LSB
+     data_u8[BNO055_SENSOR_DATA_MSB] - x->MSB
+     */
+    u8 data_u8[BNO055_MAG_DATA_SIZE] = { BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /*Read the mag x two bytes of data */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_MAG_DATA_X_LSB_VALUEX_REG,
+                    data_u8, BNO055_LSB_MSB_READ_LENGTH);
+            data_u8[BNO055_SENSOR_DATA_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_LSB],
+                    BNO055_MAG_DATA_X_LSB_VALUEX);
+            data_u8[BNO055_SENSOR_DATA_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_MSB],
+                    BNO055_MAG_DATA_X_MSB_VALUEX);
+            *mag_x_s16 =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_MSB])) <<
+                    BNO055_SHIFT_EIGHT_BITS) | (data_u8[BNO055_SENSOR_DATA_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads mag data y values
+ *  from register 0x10 and 0x11 it is a two byte data
+ *
+ *
+ *
+ *
+ *  @param mag_y_s16 : The y raw data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_y(s16 *mag_y_s16) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the mag y value
+     data_u8[BNO055_SENSOR_DATA_LSB] - y->LSB
+     data_u8[BNO055_SENSOR_DATA_MSB] - y->MSB
+     */
+    u8 data_u8[BNO055_MAG_DATA_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /*Read the mag y two bytes of data */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_MAG_DATA_Y_LSB_VALUEY_REG,
+                    data_u8, BNO055_LSB_MSB_READ_LENGTH);
+            data_u8[BNO055_SENSOR_DATA_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_LSB],
+                    BNO055_MAG_DATA_Y_LSB_VALUEY);
+            data_u8[BNO055_SENSOR_DATA_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_MSB],
+                    BNO055_MAG_DATA_Y_MSB_VALUEY);
+            *mag_y_s16 =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_MSB])) <<
+                    BNO055_SHIFT_EIGHT_BITS) | (data_u8[BNO055_SENSOR_DATA_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads mag data z values
+ *  from register 0x12 and 0x13 it is a two byte data
+ *
+ *
+ *
+ *
+ *  @param mag_z_s16 : The z raw data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_z(s16 *mag_z_s16) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the mag z value
+     data_u8[BNO055_SENSOR_DATA_LSB] - z->LSB
+     data_u8[BNO055_SENSOR_DATA_MSB] - z->MSB
+     */
+    u8 data_u8[BNO055_MAG_DATA_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_MAG_DATA_Z_LSB_VALUEZ_REG,
+                    data_u8, BNO055_LSB_MSB_READ_LENGTH);
+            /*Read the mag z two bytes of data */
+            data_u8[BNO055_SENSOR_DATA_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_LSB],
+                    BNO055_MAG_DATA_Z_LSB_VALUEZ);
+            data_u8[BNO055_SENSOR_DATA_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_MSB],
+                    BNO055_MAG_DATA_Z_MSB_VALUEZ);
+            *mag_z_s16 =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_MSB])) <<
+                    BNO055_SHIFT_EIGHT_BITS) | (data_u8[BNO055_SENSOR_DATA_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads mag data xyz values
+ *  from register 0x0E to 0x13 it is a six byte data
+ *
+ *
+ *  @param mag : The mag xyz values
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | The mag x data
+ *   y        | The mag y data
+ *   z        | The mag z data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_xyz(struct bno055_mag_t *mag) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the mag xyz value
+     data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB
+     */
+    u8 data_u8[BNO055_MAG_XYZ_DATA_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /*Read the six byte value of mag xyz*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_MAG_DATA_X_LSB_VALUEX_REG,
+                    data_u8, BNO055_MAG_XYZ_DATA_SIZE);
+            /* Data X*/
+            data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB],
+                    BNO055_MAG_DATA_X_LSB_VALUEX);
+            data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB],
+                    BNO055_MAG_DATA_X_MSB_VALUEX);
+            mag->x =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB]));
+            /* Data Y*/
+            data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB],
+                    BNO055_MAG_DATA_Y_LSB_VALUEY);
+            data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB],
+                    BNO055_MAG_DATA_Y_MSB_VALUEY);
+            mag->y =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB]));
+            /* Data Z*/
+            data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB],
+                    BNO055_MAG_DATA_Z_LSB_VALUEZ);
+            data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB],
+                    BNO055_MAG_DATA_Z_MSB_VALUEZ);
+            mag->z =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads gyro data x values
+ *  from register 0x14 and 0x15 it is a two byte data
+ *
+ *
+ *
+ *
+ *  @param gyro_x_s16 : The x raw data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_x(s16 *gyro_x_s16) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8[BNO055_GYRO_DATA_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the gyro 16 bit x value*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_DATA_X_LSB_VALUEX_REG,
+                    data_u8, BNO055_LSB_MSB_READ_LENGTH);
+            data_u8[BNO055_SENSOR_DATA_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_LSB],
+                    BNO055_GYRO_DATA_X_LSB_VALUEX);
+            data_u8[BNO055_SENSOR_DATA_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_MSB],
+                    BNO055_GYRO_DATA_X_MSB_VALUEX);
+            *gyro_x_s16 =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_MSB])) <<
+                    BNO055_SHIFT_EIGHT_BITS) | (data_u8[BNO055_SENSOR_DATA_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads gyro data y values
+ *  from register 0x16 and 0x17 it is a two byte data
+ *
+ *
+ *
+ *
+ *  @param gyro_y_s16 : The y raw data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_y(s16 *gyro_y_s16) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8[BNO055_GYRO_DATA_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the value of gyro y */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_DATA_Y_LSB_VALUEY_REG,
+                    data_u8, BNO055_LSB_MSB_READ_LENGTH);
+            data_u8[BNO055_SENSOR_DATA_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_LSB],
+                    BNO055_GYRO_DATA_Y_LSB_VALUEY);
+            data_u8[BNO055_SENSOR_DATA_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_MSB],
+                    BNO055_GYRO_DATA_Y_MSB_VALUEY);
+            *gyro_y_s16 =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_MSB])) <<
+                    BNO055_SHIFT_EIGHT_BITS) | (data_u8[BNO055_SENSOR_DATA_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads gyro data z values
+ *  from register 0x18 and 0x19 it is a two byte data
+ *
+ *  @param gyro_z_s16 : The z raw data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_z(s16 *gyro_z_s16) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8[BNO055_GYRO_DATA_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the gyro z 16 bit value*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_DATA_Z_LSB_VALUEZ_REG,
+                    data_u8, BNO055_LSB_MSB_READ_LENGTH);
+            data_u8[BNO055_SENSOR_DATA_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_LSB],
+                    BNO055_GYRO_DATA_Z_LSB_VALUEZ);
+            data_u8[BNO055_SENSOR_DATA_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_MSB],
+                    BNO055_GYRO_DATA_Z_MSB_VALUEZ);
+            *gyro_z_s16 =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_MSB])) <<
+                    BNO055_SHIFT_EIGHT_BITS) | (data_u8[BNO055_SENSOR_DATA_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads gyro data xyz values
+ *  from register 0x14 to 0x19 it is a six byte data
+ *
+ *
+ *  @param gyro : The value of gyro xyz data's
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | The gyro x data
+ *   y        | The gyro y data
+ *   z        | The gyro z data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_xyz(struct bno055_gyro_t *gyro) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the gyro xyz value
+     data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB
+     */
+    u8 data_u8[BNO055_GYRO_XYZ_DATA_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the six bytes data of gyro xyz*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_DATA_X_LSB_VALUEX_REG,
+                    data_u8, BNO055_GYRO_XYZ_DATA_SIZE);
+            /* Data x*/
+            data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB],
+                    BNO055_GYRO_DATA_X_LSB_VALUEX);
+            data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB],
+                    BNO055_GYRO_DATA_X_MSB_VALUEX);
+            gyro->x =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB]));
+            /* Data y*/
+            data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB],
+                    BNO055_GYRO_DATA_Y_LSB_VALUEY);
+            data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB],
+                    BNO055_GYRO_DATA_Y_MSB_VALUEY);
+            gyro->y =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB]));
+            /* Data z*/
+            data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB],
+                    BNO055_GYRO_DATA_Z_LSB_VALUEZ);
+            data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB],
+                    BNO055_GYRO_DATA_Z_MSB_VALUEZ);
+            gyro->z =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads gyro data z values
+ *  from register 0x1A and 0x1B it is a two byte data
+ *
+ *  @param euler_h_s16 : The raw h data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_h(s16 *euler_h_s16) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the Euler h value
+     data_u8[BNO055_SENSOR_DATA_EULER_LSB] - h->LSB
+     data_u8[BNO055_SENSOR_DATA_EULER_MSB] - h->MSB
+     */
+    u8 data_u8[BNO055_EULER_DATA_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the eulre heading data*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_EULER_H_LSB_VALUEH_REG,
+                    data_u8, BNO055_LSB_MSB_READ_LENGTH);
+            data_u8[BNO055_SENSOR_DATA_EULER_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_EULER_LSB],
+                    BNO055_EULER_H_LSB_VALUEH);
+            data_u8[BNO055_SENSOR_DATA_EULER_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_EULER_MSB],
+                    BNO055_EULER_H_MSB_VALUEH);
+            *euler_h_s16 =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_EULER_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_EULER_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads Euler data r values
+ *  from register 0x1C and 0x1D it is a two byte data
+ *
+ *  @param euler_r_s16 : The raw r data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_r(s16 *euler_r_s16) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the Euler r value
+     data_u8[BNO055_SENSOR_DATA_EULER_LSB] - r->LSB
+     data_u8[BNO055_SENSOR_DATA_EULER_MSB] - r->MSB
+     */
+    u8 data_u8[BNO055_EULER_DATA_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the Euler roll data*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_EULER_R_LSB_VALUER_REG,
+                    data_u8, BNO055_LSB_MSB_READ_LENGTH);
+            data_u8[BNO055_SENSOR_DATA_EULER_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_EULER_LSB],
+                    BNO055_EULER_R_LSB_VALUER);
+            data_u8[BNO055_SENSOR_DATA_EULER_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_EULER_MSB],
+                    BNO055_EULER_R_MSB_VALUER);
+            *euler_r_s16 =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_EULER_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_EULER_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads Euler data p values
+ *  from register 0x1E and 0x1F it is a two byte data
+ *
+ *  @param euler_p_s16 : The raw p data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_p(s16 *euler_p_s16) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the Euler p value
+     data_u8[BNO055_SENSOR_DATA_EULER_LSB] - p->LSB
+     data_u8[BNO055_SENSOR_DATA_EULER_MSB] - p->MSB
+     */
+    u8 data_u8[BNO055_EULER_DATA_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the Euler p data*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_EULER_P_LSB_VALUEP_REG,
+                    data_u8, BNO055_LSB_MSB_READ_LENGTH);
+            data_u8[BNO055_SENSOR_DATA_EULER_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_EULER_LSB],
+                    BNO055_EULER_P_LSB_VALUEP);
+            data_u8[BNO055_SENSOR_DATA_EULER_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_EULER_MSB],
+                    BNO055_EULER_P_MSB_VALUEP);
+            *euler_p_s16 =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_EULER_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_EULER_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads Euler data hrp values
+ *  from register 0x1A to 0x1F it is a six byte data
+ *
+ *
+ *  @param euler : The Euler hrp data's
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   h        | The Euler h data
+ *   r        | The Euler r data
+ *   p        | The Euler p data
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_hrp(struct bno055_euler_t *euler) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the Euler hrp value
+     data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_LSB] - h->LSB
+     data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_MSB] - h->MSB
+     data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_LSB] - r->MSB
+     data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_MSB] - r->MSB
+     data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_LSB] - p->MSB
+     data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_MSB] - p->MSB
+     */
+    u8 data_u8[BNO055_EULER_HRP_DATA_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the six byte of Euler hrp data*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_EULER_H_LSB_VALUEH_REG,
+                    data_u8, BNO055_EULER_HRP_DATA_SIZE);
+            /* Data h*/
+            data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_LSB],
+                    BNO055_EULER_H_LSB_VALUEH);
+            data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_MSB],
+                    BNO055_EULER_H_MSB_VALUEH);
+            euler->h =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_LSB]));
+            /* Data r*/
+            data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_LSB],
+                    BNO055_EULER_R_LSB_VALUER);
+            data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_MSB],
+                    BNO055_EULER_R_MSB_VALUER);
+            euler->r =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_LSB]));
+            /* Data p*/
+            data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_LSB],
+                    BNO055_EULER_P_LSB_VALUEP);
+            data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_MSB],
+                    BNO055_EULER_P_MSB_VALUEP);
+            euler->p =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads quaternion data w values
+ *  from register 0x20 and 0x21 it is a two byte data
+ *
+ *  @param quaternion_w_s16 : The raw w data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_w(s16 *quaternion_w_s16) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the Quaternion w value
+     data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] - w->LSB
+     data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] - w->MSB
+     */
+    u8 data_u8[BNO055_QUATERNION_DATA_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the two byte value
+             of quaternion w data*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_QUATERNION_DATA_W_LSB_VALUEW_REG,
+                    data_u8, BNO055_LSB_MSB_READ_LENGTH);
+            data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB],
+                    BNO055_QUATERNION_DATA_W_LSB_VALUEW);
+            data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB],
+                    BNO055_QUATERNION_DATA_W_MSB_VALUEW);
+            *quaternion_w_s16 =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads quaternion data x values
+ *  from register 0x22 and 0x23 it is a two byte data
+ *
+ *  @param quaternion_x_s16 : The raw x data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_x(s16 *quaternion_x_s16) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the quaternion x value
+     data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] - x->LSB
+     data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] - x->MSB
+     */
+    u8 data_u8[BNO055_QUATERNION_DATA_SIZE] = { BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the two byte value
+             of quaternion x data*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_QUATERNION_DATA_X_LSB_VALUEX_REG,
+                    data_u8, BNO055_LSB_MSB_READ_LENGTH);
+            data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB],
+                    BNO055_QUATERNION_DATA_X_LSB_VALUEX);
+            data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB],
+                    BNO055_QUATERNION_DATA_X_MSB_VALUEX);
+            *quaternion_x_s16 =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads quaternion data y values
+ *  from register 0x24 and 0x25 it is a two byte data
+ *
+ *  @param quaternion_y_s16 : The raw y data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_y(s16 *quaternion_y_s16) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the quaternion y value
+     data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] - y->LSB
+     data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] - y->MSB
+     */
+    u8 data_u8[BNO055_QUATERNION_DATA_SIZE] = { BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the two byte value
+             of quaternion y data*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_QUATERNION_DATA_Y_LSB_VALUEY_REG,
+                    data_u8, BNO055_LSB_MSB_READ_LENGTH);
+            data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB],
+                    BNO055_QUATERNION_DATA_Y_LSB_VALUEY);
+            data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB],
+                    BNO055_QUATERNION_DATA_Y_MSB_VALUEY);
+            *quaternion_y_s16 =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads quaternion data z values
+ *  from register 0x26 and 0x27 it is a two byte data
+ *
+ *  @param quaternion_z_s16 : The raw z data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_z(s16 *quaternion_z_s16) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the quaternion z value
+     data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] - z->LSB
+     data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] - z->MSB
+     */
+    u8 data_u8[BNO055_QUATERNION_DATA_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the two byte value
+             of quaternion z data*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_REG,
+                    data_u8, BNO055_LSB_MSB_READ_LENGTH);
+            data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB],
+                    BNO055_QUATERNION_DATA_Z_LSB_VALUEZ);
+            data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB],
+                    BNO055_QUATERNION_DATA_Z_MSB_VALUEZ);
+            *quaternion_z_s16 =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads Quaternion data wxyz values
+ *  from register 0x20 to 0x27 it is a six byte data
+ *
+ *
+ *  @param quaternion : The value of quaternion wxyz data's
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   w        | The quaternion w data
+ *   x        | The quaternion x data
+ *   y        | The quaternion y data
+ *   z        | The quaternion z data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_wxyz(
+        struct bno055_quaternion_t *quaternion) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the quaternion wxyz value
+     data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB] - w->LSB
+     data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB] - w->MSB
+     data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB] - x->LSB
+     data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB] - x->MSB
+     data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB] - y->MSB
+     data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB] - y->MSB
+     data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB] - z->MSB
+     data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB] - z->MSB
+     */
+    u8 data_u8[BNO055_QUATERNION_WXYZ_DATA_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the eight byte value
+             of quaternion wxyz data*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_QUATERNION_DATA_W_LSB_VALUEW_REG,
+                    data_u8, BNO055_QUATERNION_WXYZ_DATA_SIZE);
+            /* Data W*/
+            data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB] =
+                    BNO055_GET_BITSLICE(
+                            data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB],
+                            BNO055_QUATERNION_DATA_W_LSB_VALUEW);
+            data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB] =
+                    BNO055_GET_BITSLICE(
+                            data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB],
+                            BNO055_QUATERNION_DATA_W_MSB_VALUEW);
+            quaternion->w =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB]));
+            /* Data X*/
+            data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB] =
+                    BNO055_GET_BITSLICE(
+                            data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB],
+                            BNO055_QUATERNION_DATA_X_LSB_VALUEX);
+            data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB] =
+                    BNO055_GET_BITSLICE(
+                            data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB],
+                            BNO055_QUATERNION_DATA_X_MSB_VALUEX);
+            quaternion->x =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB]));
+            /* Data Y*/
+            data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB] =
+                    BNO055_GET_BITSLICE(
+                            data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB],
+                            BNO055_QUATERNION_DATA_Y_LSB_VALUEY);
+            data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB] =
+                    BNO055_GET_BITSLICE(
+                            data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB],
+                            BNO055_QUATERNION_DATA_Y_MSB_VALUEY);
+            quaternion->y =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB]));
+            /* Data Z*/
+            data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB] =
+                    BNO055_GET_BITSLICE(
+                            data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB],
+                            BNO055_QUATERNION_DATA_Z_LSB_VALUEZ);
+            data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB] =
+                    BNO055_GET_BITSLICE(
+                            data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB],
+                            BNO055_QUATERNION_DATA_Z_MSB_VALUEZ);
+            quaternion->z =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads Linear accel data x values
+ *  from register 0x29 and 0x2A it is a two byte data
+ *
+ *  @param linear_accel_x_s16 : The raw x data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_x(s16 *linear_accel_x_s16) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the linear accel x value
+     data_u8[BNO055_SENSOR_DATA_LSB] - x->LSB
+     data_u8[BNO055_SENSOR_DATA_MSB] - x->MSB
+     */
+    u8 data_u8[BNO055_ACCEL_DATA_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the two byte value
+             of linear accel x data*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_REG,
+                    data_u8, BNO055_LSB_MSB_READ_LENGTH);
+            data_u8[BNO055_SENSOR_DATA_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_LSB],
+                    BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX);
+            data_u8[BNO055_SENSOR_DATA_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_MSB],
+                    BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX);
+            *linear_accel_x_s16 =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_MSB])) <<
+                    BNO055_SHIFT_EIGHT_BITS) | (data_u8[BNO055_SENSOR_DATA_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads Linear accel data x values
+ *  from register 0x2B and 0x2C it is a two byte data
+ *
+ *  @param linear_accel_y_s16 : The raw y data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_y(s16 *linear_accel_y_s16) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the linear accel y value
+     data_u8[BNO055_SENSOR_DATA_LSB] - y->LSB
+     data_u8[BNO055_SENSOR_DATA_MSB] - y->MSB
+     */
+    u8 data_u8[BNO055_ACCEL_DATA_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the two byte value
+             of linear accel y data*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_REG,
+                    data_u8, BNO055_LSB_MSB_READ_LENGTH);
+            data_u8[BNO055_SENSOR_DATA_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_LSB],
+                    BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY);
+            data_u8[BNO055_SENSOR_DATA_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_MSB],
+                    BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY);
+            *linear_accel_y_s16 =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_MSB])) <<
+                    BNO055_SHIFT_EIGHT_BITS) | (data_u8[BNO055_SENSOR_DATA_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads Linear accel data x values
+ *  from register 0x2C and 0x2D it is a two byte data
+ *
+ *  @param linear_accel_z_s16 : The raw z data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_z(s16 *linear_accel_z_s16) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the linear accel z value
+     data_u8[BNO055_SENSOR_DATA_LSB] - z->LSB
+     data_u8[BNO055_SENSOR_DATA_MSB] - z->MSB
+     */
+    u8 data_u8[BNO055_ACCEL_DATA_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the two byte value
+             of linear accel z data*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_REG,
+                    data_u8, BNO055_LSB_MSB_READ_LENGTH);
+            data_u8[BNO055_SENSOR_DATA_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_LSB],
+                    BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ);
+            data_u8[BNO055_SENSOR_DATA_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_MSB],
+                    BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ);
+            *linear_accel_z_s16 =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_MSB])) <<
+                    BNO055_SHIFT_EIGHT_BITS) | (data_u8[BNO055_SENSOR_DATA_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads Linear accel data xyz values
+ *  from register 0x28 to 0x2D it is a six byte data
+ *
+ *
+ *  @param linear_accel : The value of linear accel xyz data's
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | The linear accel x data
+ *   y        | The linear accel y data
+ *   z        | The linear accel z data
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_xyz(
+        struct bno055_linear_accel_t *linear_accel) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the linear accel xyz value
+     data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB
+     */
+    u8 data_u8[BNO055_ACCEL_XYZ_DATA_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the six byte value
+             of linear accel xyz data*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_REG,
+                    data_u8, BNO055_ACCEL_XYZ_DATA_SIZE);
+            /* Data x*/
+            data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB],
+                    BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX);
+            data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB],
+                    BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX);
+            linear_accel->x =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB]));
+            /* Data y*/
+            data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB],
+                    BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY);
+            data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB],
+                    BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY);
+            linear_accel->y =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB]));
+            /* Data z*/
+            data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB],
+                    BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ);
+            data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB],
+                    BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ);
+            linear_accel->z =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads gravity data x values
+ *  from register 0x2E and 0x2F it is a two byte data
+ *
+ *  @param gravity_x_s16 : The raw x data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_x(s16 *gravity_x_s16) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the gravity x value
+     data_u8[BNO055_SENSOR_DATA_LSB] - x->LSB
+     data_u8[BNO055_SENSOR_DATA_MSB] - x->MSB
+     */
+    u8 data_u8[BNO055_GRAVITY_DATA_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the two byte value
+             of gravity x data*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GRAVITY_DATA_X_LSB_VALUEX_REG,
+                    data_u8, BNO055_LSB_MSB_READ_LENGTH);
+            data_u8[BNO055_SENSOR_DATA_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_LSB],
+                    BNO055_GRAVITY_DATA_X_LSB_VALUEX);
+            data_u8[BNO055_SENSOR_DATA_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_MSB],
+                    BNO055_GRAVITY_DATA_X_MSB_VALUEX);
+            *gravity_x_s16 =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_MSB])) <<
+                    BNO055_SHIFT_EIGHT_BITS) | (data_u8[BNO055_SENSOR_DATA_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads gravity data y values
+ *  from register 0x30 and 0x31 it is a two byte data
+ *
+ *  @param gravity_y_s16 : The raw y data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_y(s16 *gravity_y_s16) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the gravity y value
+     data_u8[BNO055_SENSOR_DATA_LSB] - y->LSB
+     data_u8[BNO055_SENSOR_DATA_MSB] - y->MSB
+     */
+    u8 data_u8[BNO055_GRAVITY_DATA_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the two byte value
+             of gravity y data*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GRAVITY_DATA_Y_LSB_VALUEY_REG,
+                    data_u8, BNO055_LSB_MSB_READ_LENGTH);
+            data_u8[BNO055_SENSOR_DATA_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_LSB],
+                    BNO055_GRAVITY_DATA_Y_LSB_VALUEY);
+            data_u8[BNO055_SENSOR_DATA_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_MSB],
+                    BNO055_GRAVITY_DATA_Y_MSB_VALUEY);
+            *gravity_y_s16 =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_MSB])) <<
+                    BNO055_SHIFT_EIGHT_BITS) | (data_u8[BNO055_SENSOR_DATA_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads gravity data z values
+ *  from register 0x32 and 0x33 it is a two byte data
+ *
+ *  @param gravity_z_s16 : The raw z data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_z(s16 *gravity_z_s16) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the gravity z value
+     data_u8[BNO055_SENSOR_DATA_LSB] - z->LSB
+     data_u8[BNO055_SENSOR_DATA_MSB] - z->MSB
+     */
+    u8 data_u8[BNO055_GRAVITY_DATA_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the two byte value
+             of gravity z data*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_REG,
+                    data_u8, BNO055_LSB_MSB_READ_LENGTH);
+            data_u8[BNO055_SENSOR_DATA_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_LSB],
+                    BNO055_GRAVITY_DATA_Z_LSB_VALUEZ);
+            data_u8[BNO055_SENSOR_DATA_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_MSB],
+                    BNO055_GRAVITY_DATA_Z_MSB_VALUEZ);
+            *gravity_z_s16 =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_MSB])) <<
+                    BNO055_SHIFT_EIGHT_BITS) | (data_u8[BNO055_SENSOR_DATA_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ * @brief This API reads gravity data xyz values
+ *  from register 0x2E to 0x33 it is a six byte data
+ *
+ *
+ *  @param gravity : The value of gravity xyz data's
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | The gravity x data
+ *   y        | The gravity y data
+ *   z        | The gravity z data
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_xyz(
+        struct bno055_gravity_t *gravity) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the gravity xyz value
+     data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB
+     data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB
+     */
+    u8 data_u8[BNO055_GRAVITY_XYZ_DATA_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the six byte value
+             of gravity xyz data*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GRAVITY_DATA_X_LSB_VALUEX_REG,
+                    data_u8, BNO055_GRAVITY_XYZ_DATA_SIZE);
+            /* Data x*/
+            data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB],
+                    BNO055_GRAVITY_DATA_X_LSB_VALUEX);
+            data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB],
+                    BNO055_GRAVITY_DATA_X_MSB_VALUEX);
+            gravity->x =
+                    (s16) (((s32) ((s8) data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB])
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB]));
+            /* Data y*/
+            data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB],
+                    BNO055_GRAVITY_DATA_Y_LSB_VALUEY);
+            data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB],
+                    BNO055_GRAVITY_DATA_Y_MSB_VALUEY);
+            gravity->y =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB]));
+            /* Data z*/
+            data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB],
+                    BNO055_GRAVITY_DATA_Z_LSB_VALUEZ);
+            data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] = BNO055_GET_BITSLICE(
+                    data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB],
+                    BNO055_GRAVITY_DATA_Z_MSB_VALUEZ);
+            gravity->z =
+                    (s16) ((((s32) ((s8) data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB]))
+                            <<
+                            BNO055_SHIFT_EIGHT_BITS)
+                            | (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB]));
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API reads temperature values
+ *  from register 0x33 it is a byte data
+ *
+ *  @param temp_s8 : The raw temperature data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_temp_data(s8 *temp_s8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8 = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the raw temperature data */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_TEMP_REG, &data_u8,
+                    BNO055_GEN_READ_WRITE_LENGTH);
+            *temp_s8 = data_u8;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+#ifdef  BNO055_FLOAT_ENABLE
+/*!
+ *  @brief This API is used to convert the accel x raw data
+ *  to meterpersecseq output as float
+ *
+ *  @param accel_x_f : The accel x meterpersecseq data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_msq(float *accel_x_f) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_accel_x_s16 = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    u8 accel_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current accel unit and set the
+     unit as m/s2 if the unit is in mg*/
+    com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+    if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
+        com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read the accel raw x data*/
+        com_rslt += bno055_read_accel_x(&reg_accel_x_s16);
+        p_bno055->delay_msec(BNO055_GEN_READ_WRITE_LENGTH);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert the raw accel x to m/s2*/
+            data_f = (float) (reg_accel_x_s16 / BNO055_ACCEL_DIV_MSQ);
+            *accel_x_f = data_f;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the accel x raw data
+ *  to millig output as float
+ *
+ *  @param accel_x_f : The accel x millig data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_mg(float *accel_x_f) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_accel_x_s16 = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    u8 accel_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current accel unit and set the
+     unit as mg if the unit is in m/s2*/
+    com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+    if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
+        com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read the accel raw x data*/
+        com_rslt += bno055_read_accel_x(&reg_accel_x_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert the raw accel x to m/s2*/
+            data_f = (float) (reg_accel_x_s16 / BNO055_ACCEL_DIV_MG);
+            *accel_x_f = data_f;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the accel x raw data
+ *  to meterpersecseq output as float
+ *
+ *  @param accel_y_f : The accel y meterpersecseq data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_msq(float *accel_y_f) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_accel_y_s16 = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    u8 accel_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current accel unit and set the
+     unit as m/s2 if the unit is in mg*/
+    com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+    if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
+        com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
+    if (com_rslt == BNO055_SUCCESS) {
+        com_rslt += bno055_read_accel_y(&reg_accel_y_s16);
+        p_bno055->delay_msec(BNO055_GEN_READ_WRITE_LENGTH);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert the raw accel y to m/s2*/
+            data_f = (float) (reg_accel_y_s16 / BNO055_ACCEL_DIV_MSQ);
+            *accel_y_f = data_f;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the accel y raw data
+ *  to millig output as float
+ *
+ *  @param accel_y_f : The accel y millig data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_mg(float *accel_y_f) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_accel_y_s16 = BNO055_INIT_VALUE;
+    float data = BNO055_INIT_VALUE;
+    u8 accel_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current accel unit and set the
+     unit as mg if the unit is in m/s2*/
+    com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+    if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
+        com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read the accel raw z data*/
+        com_rslt += bno055_read_accel_y(&reg_accel_y_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert the raw accel z to mg*/
+            data = (float) (reg_accel_y_s16 / BNO055_ACCEL_DIV_MG);
+            *accel_y_f = data;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the accel z raw data
+ *  to meterpersecseq output as float
+ *
+ *  @param accel_z_f : The accel z meterpersecseq data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_msq(float *accel_z_f) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_accel_z_s16 = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    u8 accel_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current accel unit and set the
+     unit as m/s2 if the unit is in mg*/
+    com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+    if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
+        com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read the accel raw z data*/
+        com_rslt += bno055_read_accel_z(&reg_accel_z_s16);
+        p_bno055->delay_msec(BNO055_GEN_READ_WRITE_LENGTH);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert the raw accel z to m/s2*/
+            data_f = (float) (reg_accel_z_s16 / BNO055_ACCEL_DIV_MSQ);
+            *accel_z_f = data_f;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the accel z raw data
+ *  to millig output as float
+ *
+ *  @param accel_z_f : The accel z millig data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_mg(float *accel_z_f) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_accel_z_s16 = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    u8 accel_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current accel unit and set the
+     unit as mg if the unit is in m/s2 */
+    com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+    if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
+        com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read the accel raw z data*/
+        com_rslt += bno055_read_accel_z(&reg_accel_z_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert the raw accel x to mg*/
+            data_f = (float) (reg_accel_z_s16 / BNO055_ACCEL_DIV_MG);
+            *accel_z_f = data_f;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the accel xyz raw data
+ *  to meterpersecseq output as float
+ *
+ *  @param accel_xyz : The meterpersecseq data of accel xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | meterpersecseq data of accel
+ *   y        | meterpersecseq data of accel
+ *   z        | meterpersecseq data of accel
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_msq(
+        struct bno055_accel_float_t *accel_xyz) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    struct bno055_accel_t reg_accel_xyz = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    u8 accel_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current accel unit and set the
+     unit as m/s2 if the unit is in mg*/
+    com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+    if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
+        com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read the accel raw xyz data*/
+        com_rslt += bno055_read_accel_xyz(&reg_accel_xyz);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert the accel raw xyz to meterpersecseq*/
+            accel_xyz->x = (float) (reg_accel_xyz.x / BNO055_ACCEL_DIV_MSQ);
+            accel_xyz->y = (float) (reg_accel_xyz.y / BNO055_ACCEL_DIV_MSQ);
+            accel_xyz->z = (float) (reg_accel_xyz.z / BNO055_ACCEL_DIV_MSQ);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the accel xyz raw data
+ *  to millig output as float
+ *
+ *  @param accel_xyz : The millig data of accel xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | millig data of accel
+ *   y        | millig data of accel
+ *   z        | millig data of accel
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_mg(
+        struct bno055_accel_float_t *accel_xyz) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    struct bno055_accel_t reg_accel_xyz = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    u8 accel_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current accel unit and set the
+     unit as mg if the unit is in m/s2*/
+    com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+    if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
+        com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read the accel raw y data*/
+        com_rslt += bno055_read_accel_xyz(&reg_accel_xyz);
+        if (com_rslt == BNO055_SUCCESS) {
+            /*Convert the accel raw xyz to millig */
+            accel_xyz->x = (float) (reg_accel_xyz.x / BNO055_ACCEL_DIV_MG);
+            accel_xyz->y = (float) (reg_accel_xyz.y / BNO055_ACCEL_DIV_MG);
+            accel_xyz->z = (float) (reg_accel_xyz.z / BNO055_ACCEL_DIV_MG);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the mag x raw data
+ *  to microTesla output as float
+ *
+ *  @param mag_x_f : The mag x microTesla data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_x_uT(float *mag_x_f) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_mag_x_s16 = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    /* Read raw mag x data */
+    com_rslt = bno055_read_mag_x(&reg_mag_x_s16);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Convert the raw mag x to microTesla*/
+        data_f = (float) (reg_mag_x_s16 / BNO055_MAG_DIV_UT);
+        *mag_x_f = data_f;
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the mag y raw data
+ *  to microTesla output as float
+ *
+ *  @param mag_y_f : The mag y microTesla data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_y_uT(float *mag_y_f) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_mag_y_s16 = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    /* Read raw mag y data */
+    com_rslt = bno055_read_mag_y(&reg_mag_y_s16);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Convert the raw mag y to microTesla*/
+        data_f = (float) (reg_mag_y_s16 / BNO055_MAG_DIV_UT);
+        *mag_y_f = data_f;
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the mag z raw data
+ *  to microTesla output as float
+ *
+ *  @param mag_z_f : The mag z microTesla data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_z_uT(float *mag_z_f) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_mag_z_s16 = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    /* Read raw mag z data */
+    com_rslt = bno055_read_mag_z(&reg_mag_z_s16);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Convert the raw mag z to microTesla*/
+        data_f = (float) (reg_mag_z_s16 / BNO055_MAG_DIV_UT);
+        *mag_z_f = data_f;
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the mag yz raw data
+ *  to microTesla output as float
+ *
+ *  @param mag_xyz_data : The microTesla data of mag xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *    x       | microTesla data of mag
+ *    y       | microTesla data of mag
+ *    z       | microTesla data of mag
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_xyz_uT(
+        struct bno055_mag_float_t *mag_xyz_data) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    struct bno055_mag_t mag_xyz = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    /* Read raw mag x data */
+    com_rslt = bno055_read_mag_xyz(&mag_xyz);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Convert mag raw xyz to microTesla*/
+        mag_xyz_data->x = (float) (mag_xyz.x / BNO055_MAG_DIV_UT);
+        mag_xyz_data->y = (float) (mag_xyz.y / BNO055_MAG_DIV_UT);
+        mag_xyz_data->z = (float) (mag_xyz.z / BNO055_MAG_DIV_UT);
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gyro x raw data
+ *  to dps output as float
+ *
+ *  @param gyro_x_f : The gyro x dps float data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_dps(float *gyro_x_f) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_gyro_x_s16 = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    u8 gyro_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current gyro unit and set the
+     unit as dps if the unit is in rps */
+    com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+    if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
+        com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read gyro raw x data */
+        com_rslt += bno055_read_gyro_x(&reg_gyro_x_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert the raw gyro x to dps*/
+            data_f = (float) (reg_gyro_x_s16 / BNO055_GYRO_DIV_DPS);
+            *gyro_x_f = data_f;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gyro x raw data
+ *  to rps output as float
+ *
+ *  @param gyro_x_f : The gyro x dps float data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_rps(float *gyro_x_f) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_gyro_x_s16 = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    u8 gyro_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current gyro unit and set the
+     unit as rps if the unit is in dps */
+    com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+    if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
+        com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read gyro raw x data */
+        com_rslt += bno055_read_gyro_x(&reg_gyro_x_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert the raw gyro x to rps*/
+            data_f = (float) (reg_gyro_x_s16 / BNO055_GYRO_DIV_RPS);
+            *gyro_x_f = data_f;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gyro y raw data
+ *  to dps output as float
+ *
+ *  @param gyro_y_f : The gyro y dps float data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_dps(float *gyro_y_f) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_gyro_y_s16 = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    u8 gyro_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current gyro unit and set the
+     unit as dps if the unit is in rps */
+    com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+    if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
+        com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read gyro raw y data */
+        com_rslt += bno055_read_gyro_y(&reg_gyro_y_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert the raw gyro x to dps*/
+            data_f = (float) (reg_gyro_y_s16 / BNO055_GYRO_DIV_DPS);
+            *gyro_y_f = data_f;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gyro y raw data
+ *  to rps output as float
+ *
+ *  @param gyro_y_f : The gyro y dps float data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_rps(float *gyro_y_f) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_gyro_y_s16 = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    u8 gyro_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current gyro unit and set the
+     unit as rps if the unit is in dps */
+    com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+    if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
+        com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read gyro raw y data */
+        com_rslt += bno055_read_gyro_y(&reg_gyro_y_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert the raw gyro x to rps*/
+            data_f = (float) (reg_gyro_y_s16 / BNO055_GYRO_DIV_RPS);
+            *gyro_y_f = data_f;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gyro z raw data
+ *  to dps output as float
+ *
+ *  @param gyro_z_f : The gyro z dps float data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_dps(float *gyro_z_f) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_gyro_z_s16 = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    u8 gyro_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current gyro unit and set the
+     unit as dps if the unit is in rps */
+    com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+    if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
+        com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read gyro raw z data */
+        com_rslt += bno055_read_gyro_z(&reg_gyro_z_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert the raw gyro x to dps*/
+            data_f = (float) (reg_gyro_z_s16 / BNO055_GYRO_DIV_DPS);
+            *gyro_z_f = data_f;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gyro z raw data
+ *  to rps output as float
+ *
+ *  @param gyro_z_f : The gyro z rps float data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_rps(float *gyro_z_f) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_gyro_z_s16 = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    u8 gyro_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current gyro unit and set the
+     unit as rps if the unit is in dps */
+    com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+    if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
+        com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read gyro raw x data */
+        com_rslt += bno055_read_gyro_z(&reg_gyro_z_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert the raw gyro x to rps*/
+            data_f = (float) (reg_gyro_z_s16 / BNO055_GYRO_DIV_RPS);
+            *gyro_z_f = data_f;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gyro xyz raw data
+ *  to dps output as float
+ *
+ *  @param gyro_xyz_data : The dps data of gyro xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *    x       | dps data of gyro
+ *    y       | dps data of gyro
+ *    z       | dps data of gyro
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_dps(
+        struct bno055_gyro_float_t *gyro_xyz_data) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    struct bno055_gyro_t gyro_xyz = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    u8 gyro_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current gyro unit and set the
+     unit as dps if the unit is in rps */
+    com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+    if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
+        com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read gyro raw xyz data */
+        com_rslt += bno055_read_gyro_xyz(&gyro_xyz);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert gyro raw xyz to dps*/
+            gyro_xyz_data->x = (float) (gyro_xyz.x / BNO055_GYRO_DIV_DPS);
+            gyro_xyz_data->y = (float) (gyro_xyz.y / BNO055_GYRO_DIV_DPS);
+            gyro_xyz_data->z = (float) (gyro_xyz.z / BNO055_GYRO_DIV_DPS);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gyro xyz raw data
+ *  to rps output as float
+ *
+ *  @param gyro_xyz_data : The rps data of gyro xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *    x       | rps data of gyro
+ *    y       | rps data of gyro
+ *    z       | rps data of gyro
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_rps(
+        struct bno055_gyro_float_t *gyro_xyz_data) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    struct bno055_gyro_t gyro_xyz = { BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    u8 gyro_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current gyro unit and set the
+     unit as rps if the unit is in dps */
+    com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+    if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
+        com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read gyro raw xyz data */
+        com_rslt += bno055_read_gyro_xyz(&gyro_xyz);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert gyro raw xyz to rps*/
+            gyro_xyz_data->x = (float) (gyro_xyz.x / BNO055_GYRO_DIV_RPS);
+            gyro_xyz_data->y = (float) (gyro_xyz.y / BNO055_GYRO_DIV_RPS);
+            gyro_xyz_data->z = (float) (gyro_xyz.z / BNO055_GYRO_DIV_RPS);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the Euler h raw data
+ *  to degree output as float
+ *
+ *  @param euler_h_f : The float value of Euler h degree
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_deg(float *euler_h_f) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_euler_h_s16 = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    u8 euler_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current Euler unit and set the
+     unit as degree if the unit is in radians */
+    com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+    if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
+        com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read Euler raw h data*/
+        com_rslt += bno055_read_euler_h(&reg_euler_h_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw Euler h data to degree*/
+            data_f = (float) (reg_euler_h_s16 / BNO055_EULER_DIV_DEG);
+            *euler_h_f = data_f;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the Euler h raw data
+ *  to radians output as float
+ *
+ *  @param euler_h_f : The float value of Euler h radians
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_rad(float *euler_h_f) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_euler_h_s16 = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    u8 euler_unit_u8 = BNO055_INIT_VALUE;
+
+    com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+    if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
+        /* Read the current Euler unit and set the
+         unit as radians if the unit is in degree */
+        com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read Euler raw h data*/
+        com_rslt += bno055_read_euler_h(&reg_euler_h_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw Euler h data to degree*/
+            data_f = (float) (reg_euler_h_s16 / BNO055_EULER_DIV_RAD);
+            *euler_h_f = data_f;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the Euler r raw data
+ *  to degree output as float
+ *
+ *  @param euler_r_f : The float value of Euler r degree
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_deg(float *euler_r_f) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_euler_r = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    u8 euler_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current Euler unit and set the
+     unit as degree if the unit is in radians */
+    com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+    if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
+        com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read Euler raw r data*/
+        com_rslt += bno055_read_euler_r(&reg_euler_r);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw Euler r data to degree*/
+            data_f = (float) (reg_euler_r / BNO055_EULER_DIV_DEG);
+            *euler_r_f = data_f;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the Euler r raw data
+ *  to radians output as float
+ *
+ *  @param euler_r_f : The float value of Euler r radians
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_rad(float *euler_r_f) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_euler_r_f = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    u8 euler_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current Euler unit and set the
+     unit as radians if the unit is in degree */
+    com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+    if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
+        com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read Euler raw r data*/
+        com_rslt += bno055_read_euler_r(&reg_euler_r_f);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw Euler r data to radians*/
+            data_f = (float) (reg_euler_r_f / BNO055_EULER_DIV_RAD);
+            *euler_r_f = data_f;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the Euler p raw data
+ *  to degree output as float
+ *
+ *  @param euler_p_f : The float value of Euler p degree
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_deg(float *euler_p_f) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_euler_p_f = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    u8 euler_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current Euler unit and set the
+     unit as degree if the unit is in radians */
+    com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+    if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
+        com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read Euler raw p data*/
+        com_rslt += bno055_read_euler_p(&reg_euler_p_f);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw Euler p data to degree*/
+            data_f = (float) (reg_euler_p_f / BNO055_EULER_DIV_DEG);
+            *euler_p_f = data_f;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the Euler p raw data
+ *  to radians output as float
+ *
+ *  @param euler_p_f : The float value of Euler p radians
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_rad(float *euler_p_f) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_euler_p_f = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    u8 euler_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current Euler unit and set the
+     unit as radians if the unit is in degree */
+    com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+    if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
+        com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read Euler raw r data*/
+        com_rslt += bno055_read_euler_p(&reg_euler_p_f);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw Euler r data to radians*/
+            data_f = (float) (reg_euler_p_f / BNO055_EULER_DIV_RAD);
+            *euler_p_f = data_f;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the Euler hrp raw data
+ *  to degree output as float
+ *
+ *  @param euler_hpr : The degree data of Euler hrp
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *    h       | degree data of Euler
+ *    r       | degree data of Euler
+ *    p       | degree data of Euler
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_deg(
+        struct bno055_euler_float_t *euler_hpr) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    struct bno055_euler_t reg_euler = { BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    u8 euler_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current Euler unit and set the
+     unit as degree if the unit is in radians */
+    com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+    if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
+        com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read Euler raw hrp data*/
+        com_rslt += bno055_read_euler_hrp(&reg_euler);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw Euler hrp to degree*/
+            euler_hpr->h = (float) (reg_euler.h / BNO055_EULER_DIV_DEG);
+            euler_hpr->p = (float) (reg_euler.p / BNO055_EULER_DIV_DEG);
+            euler_hpr->r = (float) (reg_euler.r / BNO055_EULER_DIV_DEG);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the Euler xyz raw data
+ *  to radians output as float
+ *
+ *  @param euler_hpr : The radians data of Euler hrp
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *    h       | radians data of Euler
+ *    r       | radians data of Euler
+ *    p       | radians data of Euler
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_rad(
+        struct bno055_euler_float_t *euler_hpr) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    struct bno055_euler_t reg_euler = { BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    u8 euler_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current Euler unit and set the
+     unit as radians if the unit is in degree */
+    com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+    if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
+        com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read Euler raw hrp data*/
+        com_rslt += bno055_read_euler_hrp(&reg_euler);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw hrp to radians */
+            euler_hpr->h = (float) (reg_euler.h / BNO055_EULER_DIV_RAD);
+            euler_hpr->p = (float) (reg_euler.p / BNO055_EULER_DIV_RAD);
+            euler_hpr->r = (float) (reg_euler.r / BNO055_EULER_DIV_RAD);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the linear
+ *  accel x raw data to meterpersecseq output as float
+ *
+ *  @param linear_accel_x_f : The float value of linear accel x meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_x_msq(
+        float *linear_accel_x_f) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_linear_accel_x_s16 = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    /* Read the raw x of linear accel */
+    com_rslt = bno055_read_linear_accel_x(&reg_linear_accel_x_s16);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Convert the raw linear accel x to m/s2*/
+        data_f = (float) (reg_linear_accel_x_s16 / BNO055_LINEAR_ACCEL_DIV_MSQ);
+        *linear_accel_x_f = data_f;
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the linear
+ *  accel y raw data to meterpersecseq output as float
+ *
+ *  @param linear_accel_y_f : The float value of linear accel y meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_y_msq(
+        float *linear_accel_y_f) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_linear_accel_y = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    /* Read the raw y of linear accel */
+    com_rslt = bno055_read_linear_accel_y(&reg_linear_accel_y);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Convert the raw linear accel x to m/s2*/
+        data_f = (float) (reg_linear_accel_y / BNO055_LINEAR_ACCEL_DIV_MSQ);
+        *linear_accel_y_f = data_f;
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the linear
+ *  accel z raw data to meterpersecseq output as float
+ *
+ *  @param linear_accel_z_f : The float value of linear accel z meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_z_msq(
+        float *linear_accel_z_f) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_linear_accel_z = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    /* Read the raw x of linear accel */
+    com_rslt = bno055_read_linear_accel_z(&reg_linear_accel_z);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Convert the raw linear accel z to m/s2*/
+        data_f = (float) (reg_linear_accel_z / BNO055_LINEAR_ACCEL_DIV_MSQ);
+        *linear_accel_z_f = data_f;
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the linear accel xyz raw data
+ *  to meterpersecseq output as float
+ *
+ *  @param linear_accel_xyz : The meterpersecseq data of linear accel xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *    x       | meterpersecseq data of linear accel
+ *    y       | meterpersecseq data of linear accel
+ *    z       | meterpersecseq data of linear accel
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_xyz_msq(
+        struct bno055_linear_accel_float_t *linear_accel_xyz) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    struct bno055_linear_accel_t reg_linear_accel = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    /* Read the raw x of linear accel */
+    com_rslt = bno055_read_linear_accel_xyz(&reg_linear_accel);
+    if (com_rslt == BNO055_SUCCESS) {
+        linear_accel_xyz->x = (float) (reg_linear_accel.x
+                / BNO055_LINEAR_ACCEL_DIV_MSQ);
+        linear_accel_xyz->y = (float) (reg_linear_accel.y
+                / BNO055_LINEAR_ACCEL_DIV_MSQ);
+        linear_accel_xyz->z = (float) (reg_linear_accel.z
+                / BNO055_LINEAR_ACCEL_DIV_MSQ);
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gravity
+ *  x raw data to meterpersecseq output as float
+ *
+ *  @param gravity_x_f : The float value of gravity x meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_x_msq(
+        float *gravity_x_f) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_gravity_x_s16 = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    /* Read raw gravity of x*/
+    com_rslt = bno055_read_gravity_x(&reg_gravity_x_s16);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Convert the raw gravity x to m/s2*/
+        data_f = (float) (reg_gravity_x_s16 / BNO055_GRAVITY_DIV_MSQ);
+        *gravity_x_f = data_f;
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gravity
+ *  y raw data to meterpersecseq output as float
+ *
+ *  @param gravity_y_f : The float value of gravity y meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_y_msq(
+        float *gravity_y_f) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_gravity_y_s16 = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    /* Read raw gravity of y*/
+    com_rslt = bno055_read_gravity_y(&reg_gravity_y_s16);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Convert the raw gravity y to m/s2*/
+        data_f = (float) (reg_gravity_y_s16 / BNO055_GRAVITY_DIV_MSQ);
+        *gravity_y_f = data_f;
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gravity
+ *  z raw data to meterpersecseq output as float
+ *
+ *  @param gravity_z_f : The float value of gravity z meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_z_msq(
+        float *gravity_z_f) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_gravity_z_s16 = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    /* Read raw gravity of z */
+    com_rslt = bno055_read_gravity_z(&reg_gravity_z_s16);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Convert the raw gravity z to m/s2*/
+        data_f = (float) (reg_gravity_z_s16 / BNO055_GRAVITY_DIV_MSQ);
+        *gravity_z_f = data_f;
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gravity xyz raw data
+ *  to meterpersecseq output as float
+ *
+ *  @param gravity_xyz : The meterpersecseq data of gravity xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *    x       | meterpersecseq data of gravity
+ *    y       | meterpersecseq data of gravity
+ *    z       | meterpersecseq data of gravity
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gravity_xyz_msq(
+        struct bno055_gravity_float_t *gravity_xyz) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    struct bno055_gravity_t reg_gravity_xyz = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    /* Read raw gravity of xyz */
+    com_rslt = bno055_read_gravity_xyz(&reg_gravity_xyz);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Convert raw gravity xyz to meterpersecseq */
+        gravity_xyz->x = (float) (reg_gravity_xyz.x / BNO055_GRAVITY_DIV_MSQ);
+        gravity_xyz->y = (float) (reg_gravity_xyz.y / BNO055_GRAVITY_DIV_MSQ);
+        gravity_xyz->z = (float) (reg_gravity_xyz.z / BNO055_GRAVITY_DIV_MSQ);
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the temperature
+ *  data to Fahrenheit output as float
+ *
+ *  @param temp_f : The float value of temperature Fahrenheit
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_fahrenheit(float *temp_f) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s8 reg_temp_s8 = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    u8 temp_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current temperature unit and set the
+     unit as Fahrenheit if the unit is in Celsius */
+    com_rslt = bno055_get_temp_unit(&temp_unit_u8);
+    if (temp_unit_u8 != BNO055_TEMP_UNIT_FAHRENHEIT)
+        com_rslt += bno055_set_temp_unit(BNO055_TEMP_UNIT_FAHRENHEIT);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read the raw temperature data */
+        com_rslt += bno055_read_temp_data(&reg_temp_s8);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw temperature data to Fahrenheit*/
+            data_f = (float) (reg_temp_s8 / BNO055_TEMP_DIV_FAHRENHEIT);
+            *temp_f = data_f;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the temperature
+ *  data to Celsius output as float
+ *
+ *  @param temp_f : The float value of temperature Celsius
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_celsius(float *temp_f) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s8 reg_temp_s8 = BNO055_INIT_VALUE;
+    float data_f = BNO055_INIT_VALUE;
+    u8 temp_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current temperature unit and set the
+     unit as Fahrenheit if the unit is in Celsius */
+    com_rslt = bno055_get_temp_unit(&temp_unit_u8);
+    if (temp_unit_u8 != BNO055_TEMP_UNIT_CELSIUS)
+        com_rslt += bno055_set_temp_unit(BNO055_TEMP_UNIT_CELSIUS);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read the raw temperature data */
+        com_rslt += bno055_read_temp_data(&reg_temp_s8);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw temperature data to Fahrenheit*/
+            data_f = (float) (reg_temp_s8 / BNO055_TEMP_DIV_CELSIUS);
+            *temp_f = data_f;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+#endif
+#ifdef  BNO055_DOUBLE_ENABLE
+/*!
+ *  @brief This API is used to convert the accel x raw data
+ *  to meterpersecseq output as double
+ *
+ *  @param accel_x_d : The accel x meterpersecseq data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_msq(double *accel_x_d) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_accel_x_s16 = BNO055_INIT_VALUE;
+    double data_f = BNO055_INIT_VALUE;
+    u8 accel_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current accel unit and set the
+     unit as m/s2 if the unit is in mg*/
+    com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+    if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
+        com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read the accel raw y data*/
+        com_rslt += bno055_read_accel_x(&reg_accel_x_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert the raw x to m/s2 */
+            data_f = (double) (reg_accel_x_s16 / BNO055_ACCEL_DIV_MSQ);
+            *accel_x_d = data_f;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the accel x raw data
+ *  to millig output as double
+ *
+ *  @param accel_x_d : The accel x millig data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_mg(double *accel_x_d) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_accel_x_s16 = BNO055_INIT_VALUE;
+    double data_f = BNO055_INIT_VALUE;
+    u8 accel_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current accel unit and set the
+     unit as mg if the unit is in m/s2*/
+    com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+    if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
+        com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read the accel raw y data*/
+        com_rslt += bno055_read_accel_x(&reg_accel_x_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert the raw x to mg */
+            data_f = (double) (reg_accel_x_s16 / BNO055_ACCEL_DIV_MG);
+            *accel_x_d = data_f;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the accel y raw data
+ *  to meterpersecseq output as double
+ *
+ *  @param accel_y_d : The accel y meterpersecseq data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_msq(double *accel_y_d) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_accel_y_s16 = BNO055_INIT_VALUE;
+    double data_f = BNO055_INIT_VALUE;
+    u8 accel_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current accel unit and set the
+     unit as m/s2 if the unit is in mg*/
+    com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+    if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
+        com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read the accel raw y data*/
+        com_rslt += bno055_read_accel_y(&reg_accel_y_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert the raw x to m/s2 */
+            data_f = (double) (reg_accel_y_s16 / BNO055_ACCEL_DIV_MSQ);
+            *accel_y_d = data_f;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the accel y raw data
+ *  to millig output as double
+ *
+ *  @param accel_y_d : The accel y millig data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_mg(double *accel_y_d) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_accel_y_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    u8 accel_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current accel unit and set the
+     unit as mg if the unit is in m/s2*/
+    com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+    if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
+        com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read the accel raw y data*/
+        com_rslt += bno055_read_accel_y(&reg_accel_y_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert the raw y to mg */
+            data_d = (double) (reg_accel_y_s16 / BNO055_ACCEL_DIV_MG);
+            *accel_y_d = data_d;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the accel z raw data
+ *  to meterpersecseq output as double
+ *
+ *  @param accel_z_d : The accel z meterpersecseq data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_msq(double *accel_z_d) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_accel_z_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    u8 accel_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current accel unit and set the
+     unit as m/s2 if the unit is in mg*/
+    com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+    if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
+        com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read the accel raw z data*/
+        com_rslt += bno055_read_accel_z(&reg_accel_z_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert the raw z to m/s2 */
+            data_d = (double) (reg_accel_z_s16 / BNO055_ACCEL_DIV_MSQ);
+            *accel_z_d = data_d;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the accel z raw data
+ *  to millig output as double
+ *
+ *  @param accel_z_d : The accel z millig data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_mg(double *accel_z_d) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_accel_z_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    u8 accel_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current accel unit and set the
+     unit as mg if the unit is in m/s2*/
+    com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+    if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
+        com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read the accel raw z data*/
+        com_rslt += bno055_read_accel_z(&reg_accel_z_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert the raw z to mg */
+            data_d = (double) (reg_accel_z_s16 / BNO055_ACCEL_DIV_MG);
+            *accel_z_d = data_d;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the accel xyz raw data
+ *  to meterpersecseq output as double
+ *
+ *  @param accel_xyz : The meterpersecseq data of accel xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | meterpersecseq data of accel
+ *   y        | meterpersecseq data of accel
+ *   z        | meterpersecseq data of accel
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_msq(
+        struct bno055_accel_double_t *accel_xyz) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    struct bno055_accel_t reg_accel_xyz = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    u8 accel_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current accel unit and set the
+     unit as m/s2 if the unit is in mg*/
+    com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+    if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
+        com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read the accel raw xyz data*/
+        com_rslt += bno055_read_accel_xyz(&reg_accel_xyz);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw xyz to m/s2*/
+            accel_xyz->x = (double) (reg_accel_xyz.x / BNO055_ACCEL_DIV_MSQ);
+            accel_xyz->y = (double) (reg_accel_xyz.y / BNO055_ACCEL_DIV_MSQ);
+            accel_xyz->z = (double) (reg_accel_xyz.z / BNO055_ACCEL_DIV_MSQ);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the accel xyz raw data
+ *  to millig output as double
+ *
+ *  @param accel_xyz : The millig data of accel xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | millig data of accel
+ *   y        | millig data of accel
+ *   z        | millig data of accel
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_mg(
+        struct bno055_accel_double_t *accel_xyz) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    struct bno055_accel_t reg_accel_xyz = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    u8 accel_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current accel unit and set the
+     unit as m/s2 if the unit is in mg*/
+    com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+    if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
+        com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read the accel raw xyz data*/
+        com_rslt += bno055_read_accel_xyz(&reg_accel_xyz);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw xyz to mg*/
+            accel_xyz->x = (double) (reg_accel_xyz.x / BNO055_ACCEL_DIV_MG);
+            accel_xyz->y = (double) (reg_accel_xyz.y / BNO055_ACCEL_DIV_MG);
+            accel_xyz->z = (double) (reg_accel_xyz.z / BNO055_ACCEL_DIV_MG);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the mag x raw data
+ *  to microTesla output as double
+ *
+ *  @param mag_x_d : The mag x microTesla data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_x_uT(double *mag_x_d) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_mag_x_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    /* Read raw mag x data */
+    com_rslt = bno055_read_mag_x(&reg_mag_x_s16);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Convert raw mag x to microTesla */
+        data_d = (double) (reg_mag_x_s16 / BNO055_MAG_DIV_UT);
+        *mag_x_d = data_d;
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the mag y raw data
+ *  to microTesla output as double
+ *
+ *  @param mag_y_d : The mag y microTesla data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_y_uT(double *mag_y_d) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_mag_y_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    /* Read raw mag y data */
+    com_rslt = bno055_read_mag_y(&reg_mag_y_s16);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Convert raw mag y to microTesla */
+        data_d = (double) (reg_mag_y_s16 / BNO055_MAG_DIV_UT);
+        *mag_y_d = data_d;
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the mag z raw data
+ *  to microTesla output as double
+ *
+ *  @param mag_z_d : The mag z microTesla data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_z_uT(double *mag_z_d) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_mag_z_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    /* Read raw mag x */
+    com_rslt = bno055_read_mag_z(&reg_mag_z_s16);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Convert raw mag x to microTesla */
+        data_d = (double) (reg_mag_z_s16 / BNO055_MAG_DIV_UT);
+        *mag_z_d = data_d;
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the mag yz raw data
+ *  to microTesla output as double
+ *
+ *  @param mag_xyz : The microTesla data of mag xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | microTesla data of mag
+ *   y        | microTesla data of mag
+ *   z        | microTesla data of mag
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_xyz_uT(
+        struct bno055_mag_double_t *mag_xyz) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    struct bno055_mag_t reg_mag_xyz = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    /* Read raw mag xyz data */
+    com_rslt = bno055_read_mag_xyz(&reg_mag_xyz);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Convert raw mag xyz to microTesla*/
+        mag_xyz->x = (double) (reg_mag_xyz.x / BNO055_MAG_DIV_UT);
+        mag_xyz->y = (double) (reg_mag_xyz.y / BNO055_MAG_DIV_UT);
+        mag_xyz->z = (double) (reg_mag_xyz.z / BNO055_MAG_DIV_UT);
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gyro x raw data
+ *  to dps output as double
+ *
+ *  @param gyro_x_d : The gyro x dps double data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_dps(double *gyro_x_d) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_gyro_x_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    u8 gyro_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current gyro unit and set the
+     unit as dps if the unit is in rps */
+    com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+    if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
+        com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read gyro raw x data */
+        com_rslt += bno055_read_gyro_x(&reg_gyro_x_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw gyro x to dps */
+            data_d = (double) (reg_gyro_x_s16 / BNO055_GYRO_DIV_DPS);
+            *gyro_x_d = data_d;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gyro x raw data
+ *  to rps output as double
+ *
+ *  @param gyro_x_d : The gyro x dps double data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_rps(double *gyro_x_d) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_gyro_x_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    u8 gyro_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current gyro unit and set the
+     unit as rps if the unit is in dps */
+    com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+    if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
+        com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read gyro raw x data */
+        com_rslt += bno055_read_gyro_x(&reg_gyro_x_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw gyro x to rps */
+            data_d = (double) (reg_gyro_x_s16 / BNO055_GYRO_DIV_RPS);
+            *gyro_x_d = data_d;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gyro y raw data
+ *  to dps output as double
+ *
+ *  @param gyro_y_d : The gyro y dps double data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_dps(double *gyro_y_d) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_gyro_y_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    u8 gyro_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current gyro unit and set the
+     unit as dps if the unit is in rps */
+    com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+    if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
+        com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read gyro raw y data */
+        com_rslt += bno055_read_gyro_y(&reg_gyro_y_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw gyro y to dps */
+            data_d = (double) (reg_gyro_y_s16 / BNO055_GYRO_DIV_DPS);
+            *gyro_y_d = data_d;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gyro y raw data
+ *  to rps output as double
+ *
+ *  @param gyro_y_d : The gyro y dps double data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_rps(double *gyro_y_d) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_gyro_y_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    u8 gyro_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current gyro unit and set the
+     unit as rps if the unit is in dps */
+    com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+    if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
+        com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read gyro raw y data */
+        com_rslt += bno055_read_gyro_y(&reg_gyro_y_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw gyro y to rps */
+            data_d = (double) (reg_gyro_y_s16 / BNO055_GYRO_DIV_RPS);
+            *gyro_y_d = data_d;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gyro z raw data
+ *  to dps output as double
+ *
+ *  @param gyro_z_d : The gyro z dps double data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_dps(double *gyro_z_d) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_gyro_z_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    u8 gyro_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current gyro unit and set the
+     unit as dps if the unit is in rps */
+    com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+    if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
+        com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read gyro raw z data */
+        com_rslt += bno055_read_gyro_z(&reg_gyro_z_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw gyro z to dps */
+            data_d = (double) (reg_gyro_z_s16 / BNO055_GYRO_DIV_DPS);
+            *gyro_z_d = data_d;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gyro z raw data
+ *  to rps output as double
+ *
+ *  @param gyro_z_d : The gyro z rps double data
+ *
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_rps(double *gyro_z_d) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_gyro_z_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    u8 gyro_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current gyro unit and set the
+     unit as rps if the unit is in dps */
+    com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+    if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
+        com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read gyro raw x data */
+        com_rslt += bno055_read_gyro_z(&reg_gyro_z_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw gyro x to rps */
+            data_d = (double) (reg_gyro_z_s16 / BNO055_GYRO_DIV_RPS);
+            *gyro_z_d = data_d;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gyro xyz raw data
+ *  to dps output as double
+ *
+ *  @param gyro_xyz : The dps data of gyro xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | dps data of gyro
+ *   y        | dps data of gyro
+ *   z        | dps data of gyro
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_dps(
+        struct bno055_gyro_double_t *gyro_xyz) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    struct bno055_gyro_t reg_gyro_xyz = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    u8 gyro_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current gyro unit and set the
+     unit as dps if the unit is in rps */
+    com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+    if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
+        com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read gyro raw xyz data */
+        com_rslt += bno055_read_gyro_xyz(&reg_gyro_xyz);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert gyro raw xyz to dps*/
+            gyro_xyz->x = (double) (reg_gyro_xyz.x / BNO055_GYRO_DIV_DPS);
+            gyro_xyz->y = (double) (reg_gyro_xyz.y / BNO055_GYRO_DIV_DPS);
+            gyro_xyz->z = (double) (reg_gyro_xyz.z / BNO055_GYRO_DIV_DPS);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gyro xyz raw data
+ *  to rps output as double
+ *
+ *  @param gyro_xyz : The rps data of gyro xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | rps data of gyro
+ *   y        | rps data of gyro
+ *   z        | rps data of gyro
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_rps(
+        struct bno055_gyro_double_t *gyro_xyz) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    struct bno055_gyro_t reg_gyro_xyz = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    u8 gyro_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current gyro unit and set the
+     unit as rps if the unit is in dps */
+    com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+    if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
+        com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read gyro raw x data */
+        com_rslt += bno055_read_gyro_xyz(&reg_gyro_xyz);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert the raw gyro xyz to rps*/
+            gyro_xyz->x = (double) (reg_gyro_xyz.x / BNO055_GYRO_DIV_RPS);
+            gyro_xyz->y = (double) (reg_gyro_xyz.y / BNO055_GYRO_DIV_RPS);
+            gyro_xyz->z = (double) (reg_gyro_xyz.z / BNO055_GYRO_DIV_RPS);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the Euler h raw data
+ *  to degree output as double
+ *
+ *  @param euler_h_d : The double value of Euler h degree
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_deg(double *euler_h_d) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_euler_h_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    u8 euler_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current Euler unit and set the
+     unit as degree if the unit is in radians */
+    com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+    if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
+        com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read Euler raw h data*/
+        com_rslt += bno055_read_euler_h(&reg_euler_h_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw Euler h to degree */
+            data_d = (double) (reg_euler_h_s16 / BNO055_EULER_DIV_DEG);
+            *euler_h_d = data_d;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the Euler h raw data
+ *  to radians output as double
+ *
+ *  @param euler_h_d : The double value of Euler h radians
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_rad(double *euler_h_d) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_euler_h_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    u8 euler_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current Euler unit and set the
+     unit as radians if the unit is in degree */
+    com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+    if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
+        com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read Euler raw h data*/
+        com_rslt += bno055_read_euler_h(&reg_euler_h_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw Euler h to radians */
+            data_d = (double) (reg_euler_h_s16 / BNO055_EULER_DIV_RAD);
+            *euler_h_d = data_d;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the Euler r raw data
+ *  to degree output as double
+ *
+ *  @param euler_r_d : The double value of Euler r degree
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_deg(double *euler_r_d) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_euler_r_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    u8 euler_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current Euler unit and set the
+     unit as degree if the unit is in radians */
+    com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+    if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
+        com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read Euler raw r data*/
+        com_rslt += bno055_read_euler_r(&reg_euler_r_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw Euler r to degree */
+            data_d = (double) (reg_euler_r_s16 / BNO055_EULER_DIV_DEG);
+            *euler_r_d = data_d;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the Euler r raw data
+ *  to radians output as double
+ *
+ *  @param euler_r_d : The double value of Euler r radians
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_rad(double *euler_r_d) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_euler_r_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    u8 euler_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current Euler unit and set the
+     unit as radians if the unit is in degree */
+    com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+    if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
+        com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read Euler raw r data*/
+        com_rslt += bno055_read_euler_r(&reg_euler_r_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw Euler r to radians */
+            data_d = (double) (reg_euler_r_s16 / BNO055_EULER_DIV_RAD);
+            *euler_r_d = data_d;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the Euler p raw data
+ *  to degree output as double
+ *
+ *  @param euler_p_d : The double value of Euler p degree
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_deg(double *euler_p_d) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_euler_p_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    u8 euler_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current Euler unit and set the
+     unit as degree if the unit is in radians */
+    com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+    if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
+        com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read Euler raw p data*/
+        com_rslt += bno055_read_euler_p(&reg_euler_p_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw Euler p to degree*/
+            data_d = (double) (reg_euler_p_s16 / BNO055_EULER_DIV_DEG);
+            *euler_p_d = data_d;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the Euler p raw data
+ *  to radians output as double
+ *
+ *  @param euler_p_d : The double value of Euler p radians
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_rad(double *euler_p_d) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_euler_p_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    u8 euler_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current Euler unit and set the
+     unit as radians if the unit is in degree */
+    com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+    if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
+        com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read Euler raw p data*/
+        com_rslt += bno055_read_euler_p(&reg_euler_p_s16);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw p to radians*/
+            data_d = (double) (reg_euler_p_s16 / BNO055_EULER_DIV_RAD);
+            *euler_p_d = data_d;
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the Euler hpr raw data
+ *  to degree output as double
+ *
+ *  @param euler_hpr : The degree data of Euler hpr
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   h        | degree data of Euler
+ *   r        | degree data of Euler
+ *   p        | degree data of Euler
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_deg(
+        struct bno055_euler_double_t *euler_hpr) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    struct bno055_euler_t reg_euler = { BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    u8 euler_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current Euler unit and set the
+     unit as degree if the unit is in radians */
+    com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+    if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
+        com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read Euler raw h data*/
+        com_rslt += bno055_read_euler_hrp(&reg_euler);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw Euler hrp to degree*/
+            euler_hpr->h = (double) (reg_euler.h / BNO055_EULER_DIV_DEG);
+            euler_hpr->p = (double) (reg_euler.p / BNO055_EULER_DIV_DEG);
+            euler_hpr->r = (double) (reg_euler.r / BNO055_EULER_DIV_DEG);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the Euler hpr raw data
+ *  to radians output as double
+ *
+ *  @param euler_hpr : The radians data of Euler hpr
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   h        | radians data of Euler
+ *   r        | radians data of Euler
+ *   p        | radians data of Euler
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_rad(
+        struct bno055_euler_double_t *euler_hpr) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    struct bno055_euler_t reg_euler = { BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    u8 euler_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current Euler unit and set the
+     unit as radians if the unit is in degree */
+    com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+    if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
+        com_rslt = bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read the raw hrp */
+        com_rslt = bno055_read_euler_hrp(&reg_euler);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw Euler hrp to radians*/
+            euler_hpr->h = (double) (reg_euler.h / BNO055_EULER_DIV_RAD);
+            euler_hpr->p = (double) (reg_euler.p / BNO055_EULER_DIV_RAD);
+            euler_hpr->r = (double) (reg_euler.r / BNO055_EULER_DIV_RAD);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the linear
+ *  accel x raw data to meterpersecseq output as double
+ *
+ *  @param linear_accel_x_d : The double value of
+ *  linear accel x meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_x_msq(
+        double *linear_accel_x_d) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_linear_accel_x_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    /* Read the raw x of linear accel */
+    com_rslt = bno055_read_linear_accel_x(&reg_linear_accel_x_s16);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Convert the raw x to m/s2 */
+        data_d =
+                (double) (reg_linear_accel_x_s16 / BNO055_LINEAR_ACCEL_DIV_MSQ);
+        *linear_accel_x_d = data_d;
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the linear
+ *  accel y raw data to meterpersecseq output as double
+ *
+ *  @param linear_accel_y_d : The double value of
+ *  linear accel y meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_y_msq(
+        double *linear_accel_y_d) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_linear_accel_y_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    /* Read the raw x of linear accel */
+    com_rslt = bno055_read_linear_accel_y(&reg_linear_accel_y_s16);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Convert the raw y to m/s2 */
+        data_d =
+                (double) (reg_linear_accel_y_s16 / BNO055_LINEAR_ACCEL_DIV_MSQ);
+        *linear_accel_y_d = data_d;
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the linear
+ *  accel z raw data to meterpersecseq output as double
+ *
+ *  @param linear_accel_z_d : The double value of
+ *  linear accel z meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_z_msq(
+        double *linear_accel_z_d) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_linear_accel_z_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    /* Read the raw x of linear accel */
+    com_rslt = bno055_read_linear_accel_z(&reg_linear_accel_z_s16);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Convert the raw z to m/s2 */
+        data_d =
+                (double) (reg_linear_accel_z_s16 / BNO055_LINEAR_ACCEL_DIV_MSQ);
+        *linear_accel_z_d = data_d;
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the linear accel xyz raw data
+ *  to meterpersecseq output as double
+ *
+ *  @param linear_accel_xyz : The meterpersecseq data of linear accel xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | meterpersecseq data of linear accel
+ *   y        | meterpersecseq data of linear accel
+ *   z        | meterpersecseq data of linear accel
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_xyz_msq(
+        struct bno055_linear_accel_double_t *linear_accel_xyz) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    struct bno055_linear_accel_t reg_linear_accel_xyz = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    /* Read the raw xyz of linear accel */
+    com_rslt = bno055_read_linear_accel_xyz(&reg_linear_accel_xyz);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Convert the raw xyz of linear accel to m/s2 */
+        linear_accel_xyz->x = (double) (reg_linear_accel_xyz.x
+                / BNO055_LINEAR_ACCEL_DIV_MSQ);
+        linear_accel_xyz->y = (double) (reg_linear_accel_xyz.y
+                / BNO055_LINEAR_ACCEL_DIV_MSQ);
+        linear_accel_xyz->z = (double) (reg_linear_accel_xyz.z
+                / BNO055_LINEAR_ACCEL_DIV_MSQ);
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gravity
+ *  x raw data to meterpersecseq output as double
+ *
+ *  @param gravity_x_d : The double value of gravity x meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_x_msq(
+        double *gravity_x_d) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_gravity_x_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    /* Read raw gravity of x*/
+    com_rslt = bno055_read_gravity_x(&reg_gravity_x_s16);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Convert raw gravity of x to m/s2 */
+        data_d = (double) (reg_gravity_x_s16 / BNO055_GRAVITY_DIV_MSQ);
+        *gravity_x_d = data_d;
+    } else {
+        com_rslt = BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gravity
+ *  y raw data to meterpersecseq output as double
+ *
+ *  @param gravity_y_d : The double value of gravity y meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_y_msq(
+        double *gravity_y_d) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_gravity_y_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    /* Read raw gravity of y */
+    com_rslt = bno055_read_gravity_y(&reg_gravity_y_s16);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* convert raw gravity of y to m/s2 */
+        data_d = (double) (reg_gravity_y_s16 / BNO055_GRAVITY_DIV_MSQ);
+        *gravity_y_d = data_d;
+    } else {
+        com_rslt += BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gravity
+ *  z raw data to meterpersecseq output as double
+ *
+ *  @param gravity_z_d : The double value of gravity z meterpersecseq
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_z_msq(
+        double *gravity_z_d) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s16 reg_gravity_z_s16 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    /* Read raw gravity of z */
+    com_rslt = bno055_read_gravity_z(&reg_gravity_z_s16);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Convert raw gravity of z to m/s2 */
+        data_d = (double) (reg_gravity_z_s16 / BNO055_GRAVITY_DIV_MSQ);
+        *gravity_z_d = data_d;
+    } else {
+        com_rslt += BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the gravity xyz raw data
+ *  to meterpersecseq output as double
+ *
+ *  @param gravity_xyz : The meterpersecseq data of gravity xyz
+ *
+ *  Parameter |    result
+ *  --------- | -----------------
+ *   x        | meterpersecseq data of gravity
+ *   y        | meterpersecseq data of gravity
+ *   z        | meterpersecseq data of gravity
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gravity_xyz_msq(
+        struct bno055_gravity_double_t *gravity_xyz) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    struct bno055_gravity_t reg_gravity_xyz = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    /* Read raw gravity of xyz */
+    com_rslt = bno055_read_gravity_xyz(&reg_gravity_xyz);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Convert raw gravity of xyz to m/s2 */
+        gravity_xyz->x = (double) (reg_gravity_xyz.x / BNO055_GRAVITY_DIV_MSQ);
+        gravity_xyz->y = (double) (reg_gravity_xyz.y / BNO055_GRAVITY_DIV_MSQ);
+        gravity_xyz->z = (double) (reg_gravity_xyz.z / BNO055_GRAVITY_DIV_MSQ);
+    } else {
+        com_rslt += BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the temperature
+ *  data to Fahrenheit output as double
+ *
+ *  @param temp_d : The double value of temperature Fahrenheit
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_fahrenheit(
+        double *temp_d) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s8 reg_temp_s8 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    u8 temp_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current temperature unit and set the
+     unit as Fahrenheit if the unit is in Celsius */
+    com_rslt = bno055_get_temp_unit(&temp_unit_u8);
+    if (temp_unit_u8 != BNO055_TEMP_UNIT_FAHRENHEIT)
+        com_rslt += bno055_set_temp_unit(BNO055_TEMP_UNIT_FAHRENHEIT);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read the raw temperature data */
+        com_rslt += bno055_read_temp_data(&reg_temp_s8);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw temperature data to Fahrenheit*/
+            data_d = (double) (reg_temp_s8 /
+            BNO055_TEMP_DIV_FAHRENHEIT);
+            *temp_d = data_d;
+        } else {
+            com_rslt += BNO055_ERROR;
+        }
+    } else {
+        com_rslt += BNO055_ERROR;
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to convert the temperature
+ *  data to Celsius output as double
+ *
+ *  @param temp_d : The double value of temperature Celsius
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_celsius(double *temp_d) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    s8 reg_temp_s8 = BNO055_INIT_VALUE;
+    double data_d = BNO055_INIT_VALUE;
+    u8 temp_unit_u8 = BNO055_INIT_VALUE;
+    /* Read the current temperature unit and set the
+     unit as Fahrenheit if the unit is in Celsius */
+    com_rslt = bno055_get_temp_unit(&temp_unit_u8);
+    if (temp_unit_u8 != BNO055_TEMP_UNIT_CELSIUS)
+        com_rslt += bno055_set_temp_unit(BNO055_TEMP_UNIT_CELSIUS);
+    if (com_rslt == BNO055_SUCCESS) {
+        /* Read the raw temperature data */
+        com_rslt += bno055_read_temp_data(&reg_temp_s8);
+        if (com_rslt == BNO055_SUCCESS) {
+            /* Convert raw temperature data to Fahrenheit*/
+            data_d = (double) (reg_temp_s8 / BNO055_TEMP_DIV_CELSIUS);
+            *temp_d = data_d;
+        } else {
+            com_rslt += BNO055_ERROR;
+        }
+    } else {
+        com_rslt += BNO055_ERROR;
+    }
+    return com_rslt;
+}
+#endif
+/*!
+ *  @brief This API used to read
+ *  mag calibration status from register from 0x35 bit 0 and 1
+ *
+ *  @param mag_calib_u8 : The value of mag calib status
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_calib_stat(u8 *mag_calib_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, mag calib
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the mag calib stat_s8 */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_MAG_CALIB_STAT_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *mag_calib_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_MAG_CALIB_STAT);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read
+ *  accel calibration status from register from 0x35 bit 2 and 3
+ *
+ *  @param accel_calib_u8 : The value of accel calib status
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_calib_stat(u8 *accel_calib_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty*/
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel calib
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the accel calib stat_s8 */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_CALIB_STAT_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *accel_calib_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_ACCEL_CALIB_STAT);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read
+ *  gyro calibration status from register from 0x35 bit 4 and 5
+ *
+ *  @param gyro_calib_u8 : The value of gyro calib status
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_calib_stat(u8 *gyro_calib_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro calib
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the gyro calib status */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_CALIB_STAT_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_calib_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_GYRO_CALIB_STAT);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read
+ *  system calibration status from register from 0x35 bit 6 and 7
+ *
+ *  @param sys_calib_u8 : The value of system calib status
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_calib_stat(u8 *sys_calib_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty*/
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page,system calib
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the system calib */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_SYS_CALIB_STAT_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *sys_calib_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_SYS_CALIB_STAT);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read
+ *  self test of accel from register from 0x36 bit 0
+ *
+ *  @param selftest_accel_u8 : The value of self test of accel
+ *
+ *    selftest_accel_u8 |  result
+ *   -------------------- | ---------------------
+ *     0x00               | indicates test failed
+ *     0x01               | indicated test passed
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_accel(u8 *selftest_accel_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel self test is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the accel self test */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_SELFTEST_ACCEL_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *selftest_accel_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_SELFTEST_ACCEL);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read
+ *  self test of mag from register from 0x36 bit 1
+ *
+ *  @param selftest_mag_u8 : The value of self test of mag
+ *
+ *     selftest_mag_u8  |  result
+ *   -------------------- | ---------------------
+ *     0x00               | indicates test failed
+ *     0x01               | indicated test passed
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mag(u8 *selftest_mag_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, self test of mag is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the mag self test */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_SELFTEST_MAG_REG, &data_u8r,
+                    BNO055_GEN_READ_WRITE_LENGTH);
+            *selftest_mag_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_SELFTEST_MAG);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read
+ *  self test of gyro from register from 0x36 bit 2
+ *
+ *  @param selftest_gyro_u8 : The value of self test of gyro
+ *
+ *     selftest_gyro_u8 |  result
+ *   -------------------- | ---------------------
+ *     0x00               | indicates test failed
+ *     0x01               | indicated test passed
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_gyro(u8 *selftest_gyro_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page self test of gyro is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the gyro self test */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_SELFTEST_GYRO_REG, &data_u8r,
+                    BNO055_GEN_READ_WRITE_LENGTH);
+            *selftest_gyro_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_SELFTEST_GYRO);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read
+ *  self test of micro controller from register from 0x36 bit 3
+ *
+ *  @param selftest_mcu_u8 : The value of self test of micro controller
+ *
+ *     selftest_mcu_u8  |  result
+ *   -------------------- | ---------------------
+ *     0x00               | indicates test failed
+ *     0x01               | indicated test passed
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mcu(u8 *selftest_mcu_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page self test of micro controller
+         is available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the self test of micro controller*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_SELFTEST_MCU_REG, &data_u8r,
+                    BNO055_GEN_READ_WRITE_LENGTH);
+            *selftest_mcu_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_SELFTEST_MCU);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the stat_s8 of
+ *  gyro anymotion interrupt from register from 0x37 bit 2
+ *
+ *  @param gyro_any_motion_u8 : The value of gyro anymotion interrupt
+ *
+ *     gyro_any_motion_u8  |  result
+ *    --------------------   | ---------------------
+ *     0x00                  | indicates no interrupt triggered
+ *     0x01                  | indicates interrupt triggered
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro anymotion interrupt can be BNO055_BIT_ENABLE
+ *  by the following APIs
+ *
+ *  bno055_set_intr_mask_gyro_any_motion()
+ *
+ *  bno055_set_intr_gyro_any_motion()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_any_motion(
+        u8 *gyro_any_motion_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro anymotion interrupt
+         status is available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the gyro anymotion interrupt stat_s8*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_INTR_STAT_GYRO_ANY_MOTION_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_any_motion_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_INTR_STAT_GYRO_ANY_MOTION);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the stat_s8 of
+ *  gyro highrate interrupt from register from 0x37 bit 3
+ *
+ *  @param gyro_highrate_u8 : The value of gyro highrate interrupt
+ *
+ *     gyro_highrate_u8   |  result
+ *    -------------------   | ---------------------
+ *     0x00                 | indicates no interrupt triggered
+ *     0x01                 | indicates interrupt triggered
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate interrupt can be configured
+ *          by the following APIs
+ *
+ *  bno055_set_intr_mask_gyro_highrate()
+ *
+ *  bno055_set_intr_gyro_highrate()
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_highrate(
+        u8 *gyro_highrate_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro highrate is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the gyro highrate interrupt stat_s8*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_INTR_STAT_GYRO_HIGHRATE_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_highrate_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_INTR_STAT_GYRO_HIGHRATE);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the stat_s8 of
+ *  accel highg interrupt from register from 0x37 bit 5
+ *
+ *  @param accel_high_g_u8 : The value of accel highg interrupt
+ *
+ *     accel_high_g_u8    |  result
+ *    -------------------   | ---------------------
+ *     0x00                 | indicates no interrupt triggered
+ *     0x01                 | indicates interrupt triggered
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Accel highg interrupt can be configured
+ *          by the following APIs
+ *
+ *  bno055_set_intr_mask_accel_high_g()
+ *
+ *  bno055_set_intr_accel_high_g()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_high_g(
+        u8 *accel_high_g_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel highg is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the accel highg interrupt stat_s8 */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_INTR_STAT_ACCEL_HIGH_G_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *accel_high_g_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_INTR_STAT_ACCEL_HIGH_G);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the stat_s8 of
+ *  accel anymotion interrupt from register from 0x37 bit 6
+ *
+ *  @param accel_any_motion_u8 : The value of accel anymotion interrupt
+ *
+ *     accel_any_motion_u8 |  result
+ *    -------------------   | ---------------------
+ *     0x00                 | indicates no interrupt triggered
+ *     0x01                 | indicates interrupt triggered
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Accel anymotion interrupt can be configured
+ *          by the following APIs
+ *
+ *  bno055_set_intr_mask_accel_any_motion()
+ *
+ *  bno055_set_intr_accel_any_motion()
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_any_motion(
+        u8 *accel_any_motion_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel anymotion is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the accel anymotion interrupt stat_s8 */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_INTR_STAT_ACCEL_ANY_MOTION_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *accel_any_motion_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_INTR_STAT_ACCEL_ANY_MOTION);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the stat_s8 of
+ *  accel nomotion/slowmotion interrupt from register from 0x37 bit 6
+ *
+ *  @param accel_no_motion_u8 : The value of accel
+ *  nomotion/slowmotion interrupt
+ *
+ *     accel_no_motion_u8 |  result
+ *    -------------------   | ---------------------
+ *     0x00                 | indicates no interrupt triggered
+ *     0x01                 | indicates interrupt triggered
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Accel nomotion/slowmotion interrupt can be configured
+ *          by the following APIs
+ *
+ *  bno055_set_intr_mask_accel_nomotion()
+ *
+ *  bno055_set_intr_accel_nomotion()
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_no_motion(
+        u8 *accel_no_motion_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel
+         nomotion/slowmotion interrupt
+         is available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the stat_s8 of accel
+             nomotion/slowmotion interrupt*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_INTR_STAT_ACCEL_NO_MOTION_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *accel_no_motion_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_INTR_STAT_ACCEL_NO_MOTION);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to read status of main clock
+ *  from the register 0x38 bit 0
+ *
+ *  @param stat_main_clk_u8 : the status of main clock
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_stat_main_clk(u8 *stat_main_clk_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, status of main clk is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the status of main clk */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_SYS_MAIN_CLK_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *stat_main_clk_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_SYS_MAIN_CLK);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to read system status
+ *  code from the register 0x39 it is a byte of data
+ *
+ *  @param sys_stat_u8 : the status of system
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_stat_code(u8 *sys_stat_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, the status of system is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the the status of system*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_SYS_STAT_CODE_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *sys_stat_u8 = BNO055_GET_BITSLICE(data_u8r, BNO055_SYS_STAT_CODE);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to read system BNO055_ERROR
+ *  code from the register 0x3A it is a byte of data
+ *
+ *  @param sys_error_u8 : The value of system BNO055_ERROR code
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_error_code(u8 *sys_error_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, system BNO055_ERROR code is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the system BNO055_ERROR code*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_SYS_ERROR_CODE_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *sys_error_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_SYS_ERROR_CODE);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the accel unit
+ *  from register from 0x3B bit 0
+ *
+ *  @param accel_unit_u8 : The value of accel unit
+ *
+ *    accel_unit_u8 |   result
+ *   -------------    | ---------------
+ *        0x00        | BNO055_ACCEL_UNIT_MSQ
+ *        0x01        | BNO055_ACCEL_UNIT_MG
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_unit(u8 *accel_unit_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel unit is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the accel unit */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_UNIT_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *accel_unit_u8 = BNO055_GET_BITSLICE(data_u8r, BNO055_ACCEL_UNIT);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the accel unit
+ *  from register from 0x3B bit 0
+ *
+ *  @param accel_unit_u8 : The value of accel unit
+ *
+ *    accel_unit_u8 |   result
+ *   -------------    | ---------------
+ *        0x00        | BNO055_ACCEL_UNIT_MSQ
+ *        0x01        | BNO055_ACCEL_UNIT_MG
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_unit(u8 accel_unit_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write the accel unit */
+                com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_ACCEL_UNIT_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data_u8r = BNO055_SET_BITSLICE(data_u8r, BNO055_ACCEL_UNIT,
+                            accel_unit_u8);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_ACCEL_UNIT_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode
+         of previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the gyro unit
+ *  from register from 0x3B bit 1
+ *
+ *  @param gyro_unit_u8 : The value of accel unit
+ *
+ *  gyro_unit_u8  |  result
+ *  -------------   | -----------
+ *    0x00          | BNO055_GYRO_UNIT_DPS
+ *    0x01          | BNO055_GYRO_UNIT_RPS
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_unit(u8 *gyro_unit_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro unit is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the gyro unit */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_UNIT_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_unit_u8 = BNO055_GET_BITSLICE(data_u8r, BNO055_GYRO_UNIT);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the gyro unit
+ *  from register from 0x3B bit 1
+ *
+ *  @param gyro_unit_u8 : The value of accel unit
+ *
+ *  gyro_unit_u8  |  result
+ *  -------------   | -----------
+ *    0x00          | BNO055_GYRO_UNIT_DPS
+ *    0x01          | BNO055_GYRO_UNIT_RPS
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_unit(u8 gyro_unit_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write the gyro unit */
+                com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_GYRO_UNIT_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data_u8r = BNO055_SET_BITSLICE(data_u8r, BNO055_GYRO_UNIT,
+                            gyro_unit_u8);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_UNIT_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode
+         of previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the Euler unit
+ *  from register from 0x3B bit 2
+ *
+ *  @param euler_unit_u8 : The value of accel unit
+ *
+ *    euler_unit_u8 | result
+ *   --------------   | -----------
+ *      0x00          | BNO055_EULER_UNIT_DEG
+ *      0x01          | BNO055_EULER_UNIT_RAD
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_euler_unit(u8 *euler_unit_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, Euler unit is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the Euler unit */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_EULER_UNIT_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *euler_unit_u8 = BNO055_GET_BITSLICE(data_u8r, BNO055_EULER_UNIT);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the Euler unit
+ *  from register from 0x3B bit 2
+ *
+ *  @param euler_unit_u8 : The value of Euler unit
+ *
+ *    euler_unit_u8 | result
+ *   --------------   | -----------
+ *      0x00          | BNO055_EULER_UNIT_DEG
+ *      0x01          | BNO055_EULER_UNIT_RAD
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_euler_unit(u8 euler_unit_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write the Euler unit*/
+                com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_EULER_UNIT_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data_u8r = BNO055_SET_BITSLICE(data_u8r, BNO055_EULER_UNIT,
+                            euler_unit_u8);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_EULER_UNIT_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode
+         of previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the tilt unit
+ *  from register from 0x3B bit 3
+ *
+ *  @param tilt_unit_u8 : The value of tilt unit
+ *
+ *    tilt_unit_u8  | result
+ *   ---------------  | ---------
+ *     0x00           | degrees
+ *     0x01           | radians
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_tilt_unit(u8 *tilt_unit_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, chip id is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_TILT_UNIT_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *tilt_unit_u8 = BNO055_GET_BITSLICE(data_u8r, BNO055_TILT_UNIT);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the tilt unit
+ *  from register from 0x3B bit 3
+ *
+ *  @param tilt_unit_u8 : The value of tilt unit
+ *
+ *    tilt_unit_u8  | result
+ *   ---------------  | ---------
+ *     0x00           | degrees
+ *     0x01           | radians
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ *
+ *  \return Communication results
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_tilt_unit(u8 tilt_unit_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_TILT_UNIT_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data_u8r = BNO055_SET_BITSLICE(data_u8r, BNO055_TILT_UNIT,
+                            tilt_unit_u8);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_TILT_UNIT_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode
+         of previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the temperature unit
+ *  from register from 0x3B bit 4
+ *
+ *  @param temp_unit_u8 : The value of temperature unit
+ *
+ *    temp_unit_u8  |  result
+ *   -----------      | --------------
+ *      0x00          | BNO055_TEMP_UNIT_CELSIUS
+ *      0x01          | BNO055_TEMP_UNIT_FAHRENHEIT
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_unit(u8 *temp_unit_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, temperature unit is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the temperature unit */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_TEMP_UNIT_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *temp_unit_u8 = BNO055_GET_BITSLICE(data_u8r, BNO055_TEMP_UNIT);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the temperature unit
+ *  from register from 0x3B bit 4
+ *
+ *  @param temp_unit_u8 : The value of temperature unit
+ *
+ *    temp_unit_u8  |  result
+ *   -----------      | --------------
+ *      0x00          | BNO055_TEMP_UNIT_CELSIUS
+ *      0x01          | BNO055_TEMP_UNIT_FAHRENHEIT
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_unit(u8 temp_unit_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write the temperature unit */
+                com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_TEMP_UNIT_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data_u8r = BNO055_SET_BITSLICE(data_u8r, BNO055_TEMP_UNIT,
+                            temp_unit_u8);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_TEMP_UNIT_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode
+         of previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the current selected orientation mode
+ *  from register from 0x3B bit 7
+ *
+ *  @param data_output_format_u8 : The value of data output format
+ *
+ *    data_output_format_u8  | result
+ *   --------------------      | --------
+ *    0x00                     | Windows
+ *    0x01                     | Android
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_data_output_format(
+        u8 *data_output_format_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, data output format is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the data output format */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_DATA_OUTPUT_FORMAT_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *data_output_format_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_DATA_OUTPUT_FORMAT);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the current selected orientation mode
+ *  from register from 0x3B bit 7
+ *
+ *  @param data_output_format_u8 : The value of data output format
+ *
+ *    data_output_format_u8  | result
+ *   --------------------      | --------
+ *    0x00                     | Windows
+ *    0x01                     | Android
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_data_output_format(
+        u8 data_output_format_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write the data output format */
+                com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_DATA_OUTPUT_FORMAT_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                            BNO055_DATA_OUTPUT_FORMAT, data_output_format_u8);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_DATA_OUTPUT_FORMAT_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode
+         of previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*! @brief This API used to read the operation mode
+ *  from register from 0x3D bit 0 to 3
+ *
+ *  @param operation_mode_u8 : The value of operation mode
+ *
+ * operation_mode_u8 |      result      | comments
+ * ----------|----------------------------|----------------------------
+ *  0x00     | BNO055_OPERATION_MODE_CONFIG      | Configuration mode
+ *  0x01     | BNO055_OPERATION_MODE_ACCONLY     | Reads accel data alone
+ *  0x02     | BNO055_OPERATION_MODE_MAGONLY     | Reads mag data alone
+ *  0x03     | BNO055_OPERATION_MODE_GYRONLY     | Reads gyro data alone
+ *  0x04     | BNO055_OPERATION_MODE_ACCMAG      | Reads accel and mag data
+ *  0x05     | BNO055_OPERATION_MODE_ACCGYRO     | Reads accel and gyro data
+ *  0x06     | BNO055_OPERATION_MODE_MAGGYRO     | Reads accel and mag data
+ *  0x07     | OPERATION_MODE_ANY_MOTION  | Reads accel mag and gyro data
+ *  0x08     | BNO055_OPERATION_MODE_IMUPLUS     | Inertial measurement unit
+ *   -       |       -                    | Reads accel,gyro and fusion data
+ *  0x09     | BNO055_OPERATION_MODE_COMPASS     | Reads accel, mag data
+ *   -       |       -                    | and fusion data
+ *  0x0A     | BNO055_OPERATION_MODE_M4G         | Reads accel, mag data
+ *    -      |       -                    | and fusion data
+ *  0x0B     | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with
+ *   -       |       -                    | fast magnetic calibration
+ *   -       |       -                    | Reads accel,mag, gyro
+ *   -       |       -                    | and fusion data
+ *  0x0C     | BNO055_OPERATION_MODE_NDOF        | Nine degrees of freedom
+ *   -       |       -                    | Reads accel,mag, gyro
+ *   -       |       -                    | and fusion data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note In the config mode, all sensor and fusion data
+ *  becomes zero and it is mainly derived
+ *  to configure the various settings of the BNO
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_operation_mode(u8 *operation_mode_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, operation mode is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the value of operation mode*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_OPERATION_MODE_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *operation_mode_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_OPERATION_MODE);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*! @brief This API used to write the operation mode
+ *  from register from 0x3D bit 0 to 3
+ *
+ *  @param operation_mode_u8 : The value of operation mode
+ *
+ *  operation_mode_u8  |      result            | comments
+ * ---------|-----------------------------------|--------------------------
+ *  0x00    | BNO055_OPERATION_MODE_CONFIG      | Configuration mode
+ *  0x01    | BNO055_OPERATION_MODE_ACCONLY     | Reads accel data alone
+ *  0x02    | BNO055_OPERATION_MODE_MAGONLY     | Reads mag data alone
+ *  0x03    | BNO055_OPERATION_MODE_GYRONLY     | Reads gyro data alone
+ *  0x04    | BNO055_OPERATION_MODE_ACCMAG      | Reads accel and mag data
+ *  0x05    | BNO055_OPERATION_MODE_ACCGYRO     | Reads accel and gyro data
+ *  0x06    | BNO055_OPERATION_MODE_MAGGYRO     | Reads accel and mag data
+ *  0x07    | OPERATION_MODE_ANY_MOTION         | Reads accel mag and
+ *          |       -                           | gyro data
+ *  0x08    | BNO055_OPERATION_MODE_IMUPLUS     | Inertial measurement unit
+ *   -      |                                   | Reads accel,gyro and
+ *          |       -                           | fusion data
+ *  0x09    | BNO055_OPERATION_MODE_COMPASS     | Reads accel, mag data
+ *   -      |       -                           | and fusion data
+ *  0x0A    | BNO055_OPERATION_MODE_M4G         | Reads accel, mag data
+ *    -     |       -                           | and fusion data
+ *  0x0B    | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with
+ *   -      |       -                           | fast magnetic calibration
+ *   -      |       -                           | Reads accel,mag, gyro
+ *   -      |       -                           | and fusion data
+ *  0x0C    | BNO055_OPERATION_MODE_NDOF        | Nine degrees of freedom
+ *   -      |       -                           | Reads accel,mag, gyro
+ *   -      |       -                           | and fusion data
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note In the config mode, all sensor and fusion data
+ *  becomes zero and it is mainly derived
+ *  to configure the various settings of the BNO
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_operation_mode(u8 operation_mode_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            /* If the previous operation mode is config it is
+             directly write the operation mode */
+            if (prev_opmode_u8 == BNO055_OPERATION_MODE_CONFIG) {
+                com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_OPERATION_MODE_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                            BNO055_OPERATION_MODE, operation_mode_u8);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_OPERATION_MODE_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                    /* Config mode to other
+                     operation mode switching
+                     required delay of 600ms*/
+                    p_bno055->delay_msec(
+                    BNO055_MODE_SWITCHING_DELAY);
+                }
+            } else {
+                /* If the previous operation
+                 mode is not config it is
+                 write the config mode */
+                com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_OPERATION_MODE_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                            BNO055_OPERATION_MODE,
+                            BNO055_OPERATION_MODE_CONFIG);
+                    com_rslt += bno055_write_register(
+                    BNO055_OPERATION_MODE_REG, &data_u8r,
+                    BNO055_GEN_READ_WRITE_LENGTH);
+                    /* other mode to config mode switching
+                     required delay of 20ms*/
+                    p_bno055->delay_msec(
+                    BNO055_CONFIG_MODE_SWITCHING_DELAY);
+                }
+                /* Write the operation mode */
+                if (operation_mode_u8 !=
+                BNO055_OPERATION_MODE_CONFIG) {
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_OPERATION_MODE_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_OPERATION_MODE, operation_mode_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_OPERATION_MODE_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                        /* Config mode to other
+                         operation mode switching
+                         required delay of 600ms*/
+                        p_bno055->delay_msec(
+                        BNO055_MODE_SWITCHING_DELAY);
+                    }
+                }
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*! @brief This API used to read the power mode
+ *  from register from 0x3E bit 0 to 1
+ *
+ *  @param power_mode_u8 : The value of power mode
+ *
+ * power_mode_u8|      result           | comments
+ * ---------|---------------------------|-------------------------------------
+ *  0x00    |BNO055_POWER_MODE_NORMAL   | In the NORMAL mode the register
+ *    -     |       -                   | map and the internal peripherals
+ *    -     |       -                   | of the MCU are always
+ *    -     |       -                   | operative in this mode
+ *  0x01    |BNO055_POWER_MODE_LOWPOWER | This is first level of power
+ *          |       -                   | saving mode
+ *  0x02    |BNO055_POWER_MODE_SUSPEND  | In suspend mode the system is
+ *   -      |      -                    | paused and all the sensors and
+ *   -      |      -                    | the micro controller are
+ *   -      |      -                    | put into sleep mode.
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note For detailed about LOWPOWER mode
+ *  refer data sheet 3.4.2
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_power_mode(u8 *power_mode_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, power mode is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the value of power mode */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_POWER_MODE_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *power_mode_u8 = BNO055_GET_BITSLICE(data_u8r, BNO055_POWER_MODE);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*! @brief This API used to write the power mode
+ *  from register from 0x3E bit 0 to 1
+ *
+ *  @param power_mode_u8 : The value of power mode
+ *
+ *
+ * power_mode_u8|      result          | comments
+ * -------|----------------------------|---------------------------------
+ *  0x00  | BNO055_POWER_MODE_NORMAL   | In the NORMAL mode the register
+ *    -   |       -                    | map and the internal peripherals
+ *    -   |       -                    | of the MCU are always
+ *    -   |       -                    | operative in this mode
+ *  0x01  | BNO055_POWER_MODE_LOWPOWER | This is first level of power
+ *        |     -                      | saving mode
+ *  0x02  | BNO055_POWER_MODE_SUSPEND  | In suspend mode the system is
+ *   -    |      -                     | paused and all the sensors and
+ *   -    |      -                     | the micro controller are
+ *   -    |      -                     | put into sleep mode.
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note For detailed about LOWPOWER mode
+ *  refer data sheet 3.4.2
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_power_mode(u8 power_mode_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write the value of power mode */
+                com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_POWER_MODE_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data_u8r = BNO055_SET_BITSLICE(data_u8r, BNO055_POWER_MODE,
+                            power_mode_u8);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_POWER_MODE_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode
+         of previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the reset interrupt
+ *  from register from 0x3F bit 6
+ *  It resets all the interrupt bit and interrupt output
+ *
+ *  @param intr_rst_u8 : The value of reset interrupt
+ *
+ *    intr_rst_u8 | result
+ *   ------------ |----------
+ *     0x01       | BNO055_BIT_ENABLE
+ *     0x00       | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_rst(u8 *intr_rst_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page,  reset interrupt is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the value of reset interrupt*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_INTR_RST_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *intr_rst_u8 = BNO055_GET_BITSLICE(data_u8r, BNO055_INTR_RST);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the reset interrupt
+ *  from register from 0x3F bit 6
+ *  It resets all the interrupt bit and interrupt output
+ *
+ *  @param intr_rst_u8 : The value of reset interrupt
+ *
+ *    intr_rst_u8 | result
+ *   -------------- |----------
+ *     0x01         | BNO055_BIT_ENABLE
+ *     0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_rst(u8 intr_rst_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, reset interrupt
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Write the value of reset interrupt */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_INTR_RST_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            if (com_rslt == BNO055_SUCCESS) {
+                data_u8r = BNO055_SET_BITSLICE(data_u8r, BNO055_INTR_RST,
+                        intr_rst_u8);
+                com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_INTR_RST_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the clk source
+ *  from register from 0x3F bit 7
+ *
+ *  @param clk_src_u8 : The value of clk source
+ *
+ *   clk_src_u8   | result
+ *   -------------- |----------
+ *     0x01         | BNO055_BIT_ENABLE
+ *     0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_clk_src(u8 *clk_src_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, clk source is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the value of clk source */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_CLK_SRC_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *clk_src_u8 = BNO055_GET_BITSLICE(data_u8r, BNO055_CLK_SRC);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the clk source
+ *  from register from 0x3F bit 7
+ *
+ *  @param clk_src_u8 : The value of clk source
+ *
+ *   clk_src_u8   | result
+ *   -------------- |----------
+ *     0x01         | BNO055_BIT_ENABLE
+ *     0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_clk_src(u8 clk_src_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, clk source is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Write the value of clk source */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_CLK_SRC_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            if (com_rslt == BNO055_SUCCESS) {
+                data_u8r = BNO055_SET_BITSLICE(data_u8r, BNO055_CLK_SRC,
+                        clk_src_u8);
+                com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_CLK_SRC_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the reset system
+ *  from register from 0x3F bit 5
+ *
+ *  @param sys_rst_u8 : The value of reset system
+ *
+ *   sys_rst_u8   | result
+ *   -------------- |----------
+ *     0x01         | BNO055_BIT_ENABLE
+ *     0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note It resets the whole system
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_rst(u8 *sys_rst_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, reset system is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the value of reset system */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_SYS_RST_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *sys_rst_u8 = BNO055_GET_BITSLICE(data_u8r, BNO055_SYS_RST);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the reset system
+ *  from register from 0x3F bit 5
+ *
+ *  @param sys_rst_u8 : The value of reset system
+ *
+ *   sys_rst_u8   | result
+ *   -------------- |----------
+ *     0x01         | BNO055_BIT_ENABLE
+ *     0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note It resets the whole system
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_sys_rst(u8 sys_rst_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, reset system is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Write the value of reset system */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_SYS_RST_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            if (com_rslt == BNO055_SUCCESS) {
+                data_u8r = BNO055_SET_BITSLICE(data_u8r, BNO055_SYS_RST,
+                        sys_rst_u8);
+                com_rslt = p_bno055->BNO055_BUS_WRITE_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_SYS_RST_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the self test
+ *  from register from 0x3F bit 0
+ *
+ *  @param selftest_u8 : The value of self test
+ *
+ *   selftest_u8  | result
+ *   -------------- |----------
+ *     0x01         | BNO055_BIT_ENABLE
+ *     0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note It triggers the self test
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest(u8 *selftest_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, self test is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the value of self test */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_SELFTEST_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *selftest_u8 = BNO055_GET_BITSLICE(data_u8r, BNO055_SELFTEST);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the self test
+ *  from register from 0x3F bit 0
+ *
+ *  @param selftest_u8 : The value of self test
+ *
+ *   selftest_u8  | result
+ *   -------------- |----------
+ *     0x01         | BNO055_BIT_ENABLE
+ *     0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note It triggers the self test
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_selftest(u8 selftest_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write the value of self test */
+                com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_SELFTEST_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data_u8r = BNO055_SET_BITSLICE(data_u8r, BNO055_SELFTEST,
+                            selftest_u8);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_SELFTEST_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode
+         of previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the temperature source
+ *  from register from 0x40 bit 0 and 1
+ *
+ *  @param temp_source_u8 : The value of selected temperature source
+ *
+ *     temp_source_u8 | result
+ *    ----------------  |---------------
+ *      0x00            | BNO055_ACCEL_TEMP_EN
+ *      0X01            | BNO055_GYRO_TEMP_EN
+ *      0X03            | BNO055_MCU_TEMP_EN
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_source(u8 *temp_source_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, temperature source is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the value of temperature source */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_TEMP_SOURCE_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *temp_source_u8 = BNO055_GET_BITSLICE(data_u8r, BNO055_TEMP_SOURCE);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the temperature source
+ *  from register from 0x40 bit 0 and 1
+ *
+ *  @param temp_source_u8 : The value of selected temperature source
+ *
+ *     temp_source_u8 | result
+ *    ----------------  |---------------
+ *      0x00            | BNO055_ACCEL_TEMP_EN
+ *      0X01            | BNO055_GYRO_TEMP_EN
+ *      0X03            | BNO055_MCU_TEMP_EN
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_source(u8 temp_source_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write the value of temperature source*/
+                com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_TEMP_SOURCE_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data_u8r = BNO055_SET_BITSLICE(data_u8r, BNO055_TEMP_SOURCE,
+                            temp_source_u8);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_TEMP_SOURCE_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode
+         of previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the axis remap value
+ *  from register from 0x41 bit 0 and 5
+ *
+ *  @param remap_axis_u8 : The value of axis remapping
+ *
+ *    remap_axis_u8 |   result     | comments
+ *   ------------|-------------------|------------
+ *      0X21     | BNO055_REMAP_X_Y         | Z=Z;X=Y;Y=X
+ *      0X18     | BNO055_REMAP_Y_Z         | X=X;Y=Z;Z=Y
+ *      0X06     | BNO055_REMAP_Z_X         | Y=Y;X=Z;Z=X
+ *      0X12     | BNO055_REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y
+ *      0X09     | BNO055_REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X
+ *      0X24     | BNO055_DEFAULT_AXIS      | X=X;Y=Y;Z=Z
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note : For axis sign remap refer the following APIs
+ *  x-axis :
+ *
+ *  bno055_set_x_remap_sign()
+ *
+ *  y-axis :
+ *
+ *  bno055_set_y_remap_sign()
+ *
+ *  z-axis :
+ *
+ *  bno055_set_z_remap_sign()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_axis_remap_value(u8 *remap_axis_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, axis remap is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the value of axis remap*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_REMAP_AXIS_VALUE_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *remap_axis_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_REMAP_AXIS_VALUE);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the axis remap value
+ *  from register from 0x41 bit 0 and 5
+ *
+ *  @param remap_axis_u8 : The value of axis remapping
+ *
+ *    remap_axis_u8 |   result     | comments
+ *   ------------|-------------------|------------
+ *      0X21     | BNO055_REMAP_X_Y         | Z=Z;X=Y;Y=X
+ *      0X18     | BNO055_REMAP_Y_Z         | X=X;Y=Z;Z=Y
+ *      0X06     | BNO055_REMAP_Z_X         | Y=Y;X=Z;Z=X
+ *      0X12     | BNO055_REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y
+ *      0X09     | BNO055_REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X
+ *      0X24     | BNO055_DEFAULT_AXIS      | X=X;Y=Y;Z=Z
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note : For axis sign remap refer the following APIs
+ *  x-axis :
+ *
+ *  bno055_set_x_remap_sign()
+ *
+ *  y-axis :
+ *
+ *  bno055_set_y_remap_sign()
+ *
+ *  z-axis :
+ *
+ *  bno055_set_z_remap_sign()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_axis_remap_value(u8 remap_axis_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            /* Write the value of axis remap */
+            if (stat_s8 == BNO055_SUCCESS) {
+                switch (remap_axis_u8) {
+                    case BNO055_REMAP_X_Y:
+                    case BNO055_REMAP_Y_Z:
+                    case BNO055_REMAP_Z_X:
+                    case BNO055_REMAP_X_Y_Z_TYPE0:
+                    case BNO055_REMAP_X_Y_Z_TYPE1:
+                    case BNO055_DEFAULT_AXIS:
+                        com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_REMAP_AXIS_VALUE_REG,
+                                &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                        if (com_rslt == BNO055_SUCCESS) {
+                            data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                    BNO055_REMAP_AXIS_VALUE, remap_axis_u8);
+                            com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_REMAP_AXIS_VALUE_REG,
+                                    &data_u8r,
+                                    BNO055_GEN_READ_WRITE_LENGTH);
+                        }
+                        break;
+                    default:
+                        /* Write the default axis remap value */
+                        com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_REMAP_AXIS_VALUE_REG,
+                                &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                        if (com_rslt == BNO055_SUCCESS) {
+                            data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                    BNO055_REMAP_AXIS_VALUE,
+                                    BNO055_DEFAULT_AXIS);
+                            com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_REMAP_AXIS_VALUE_REG,
+                                    &data_u8r,
+                                    BNO055_GEN_READ_WRITE_LENGTH);
+                        }
+                        break;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode
+         of previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the x-axis remap
+ *  sign from register from 0x42 bit 2
+ *
+ *  @param remap_x_sign_u8 : The value of x-axis remap sign
+ *
+ *    remap_x_sign_u8  |    result
+ *   ------------------- |--------------------
+ *      0X00             | BNO055_REMAP_AXIS_POSITIVE
+ *      0X01             | BNO055_REMAP_AXIS_NEGATIVE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_x_sign(u8 *remap_x_sign_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, x-axis remap sign is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the value of x-axis remap sign */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_REMAP_X_SIGN_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *remap_x_sign_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_REMAP_X_SIGN);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the x-axis remap
+ *  sign from register from 0x42 bit 2
+ *
+ *  @param remap_x_sign_u8 : The value of x-axis remap sign
+ *
+ *    remap_x_sign_u8  |    result
+ *   ------------------- |--------------------
+ *      0X00             | BNO055_REMAP_AXIS_POSITIVE
+ *      0X01             | BNO055_REMAP_AXIS_NEGATIVE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_x_sign(u8 remap_x_sign_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write the value of x-axis remap */
+                com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_REMAP_X_SIGN_REG,
+                        &data_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                            BNO055_REMAP_X_SIGN, remap_x_sign_u8);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_REMAP_X_SIGN_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode
+         of previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the y-axis remap
+ *  sign from register from 0x42 bit 1
+ *
+ *  @param remap_y_sign_u8 : The value of y-axis remap sign
+ *
+ *    remap_y_sign_u8  |   result
+ *   ------------------- |--------------------
+ *      0X00             | BNO055_REMAP_AXIS_POSITIVE
+ *      0X01             | BNO055_REMAP_AXIS_NEGATIVE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_y_sign(u8 *remap_y_sign_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, y-axis remap sign is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the value of y-axis remap sign*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_REMAP_Y_SIGN_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *remap_y_sign_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_REMAP_Y_SIGN);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the y-axis remap
+ *  sign from register from 0x42 bit 1
+ *
+ *  @param remap_y_sign_u8 : The value of y-axis remap sign
+ *
+ *    remap_y_sign_u8  |   result
+ *   ------------------- |--------------------
+ *      0X00             | BNO055_REMAP_AXIS_POSITIVE
+ *      0X01             | BNO055_REMAP_AXIS_NEGATIVE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_y_sign(u8 remap_y_sign_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write the value of y-axis remap sign*/
+                com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_REMAP_Y_SIGN_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                            BNO055_REMAP_Y_SIGN, remap_y_sign_u8);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_REMAP_Y_SIGN_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode
+         of previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the z-axis remap
+ *  sign from register from 0x42 bit 0
+ *
+ *  @param remap_z_sign_u8 : The value of z-axis remap sign
+ *
+ *    remap_z_sign_u8  |   result
+ *   ------------------- |--------------------
+ *      0X00             | BNO055_REMAP_AXIS_POSITIVE
+ *      0X01             | BNO055_REMAP_AXIS_NEGATIVE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_z_sign(u8 *remap_z_sign_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, z-axis remap sign is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read the value of z-axis remap sign*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_REMAP_Z_SIGN_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *remap_z_sign_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_REMAP_Z_SIGN);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the z-axis remap
+ *  sign from register from 0x42 bit 0
+ *
+ *  @param remap_z_sign_u8 : The value of z-axis remap sign
+ *
+ *    remap_z_sign_u8  |   result
+ *   ------------------- |--------------------
+ *      0X00             | BNO055_REMAP_AXIS_POSITIVE
+ *      0X01             | BNO055_REMAP_AXIS_NEGATIVE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_z_sign(u8 remap_z_sign_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write the value of z-axis remap sign*/
+                com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_REMAP_Z_SIGN_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                            BNO055_REMAP_Z_SIGN, remap_z_sign_u8);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_REMAP_Z_SIGN_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode
+         of previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to read soft iron calibration matrix
+ *  from the register 0x43 to 0x53 it is a 18 bytes of data
+ *
+ *  @param sic_matrix : The value of soft iron calibration matrix
+ *
+ *  sic_matrix         |           result
+ * --------------------|----------------------------------
+ *       sic_0         | soft iron calibration matrix zero
+ *       sic_1         | soft iron calibration matrix one
+ *       sic_2         | soft iron calibration matrix two
+ *       sic_3         | soft iron calibration matrix three
+ *       sic_4         | soft iron calibration matrix four
+ *       sic_5         | soft iron calibration matrix five
+ *       sic_6         | soft iron calibration matrix six
+ *       sic_7         | soft iron calibration matrix seven
+ *       sic_8         | soft iron calibration matrix eight
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note : Each soft iron calibration matrix range from -32768 to +32767
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_sic_matrix(
+        struct bno055_sic_matrix_t *sic_matrix) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the soft iron calibration matrix values
+     data_u8[BNO055_SOFT_IRON_CALIB_0_LSB] - sic_0->LSB
+     data_u8[BNO055_SOFT_IRON_CALIB_0_MSB] - sic_0->MSB
+     data_u8[BNO055_SOFT_IRON_CALIB_1_LSB] - sic_1->LSB
+     data_u8[BNO055_SOFT_IRON_CALIB_1_MSB] - sic_1->MSB
+     data_u8[BNO055_SOFT_IRON_CALIB_2_LSB] - sic_2->LSB
+     data_u8[BNO055_SOFT_IRON_CALIB_2_MSB] - sic_2->MSB
+     data_u8[BNO055_SOFT_IRON_CALIB_3_LSB] - sic_3->LSB
+     data_u8[BNO055_SOFT_IRON_CALIB_3_MSB] - sic_3->MSB
+     data_u8[BNO055_SOFT_IRON_CALIB_4_LSB] - sic_4->LSB
+     data_u8[BNO055_SOFT_IRON_CALIB_4_MSB] - sic_4->MSB
+     data_u8[BNO055_SOFT_IRON_CALIB_5_LSB] - sic_5->LSB
+     data_u8[BNO055_SOFT_IRON_CALIB_5_MSB] - sic_5->MSB
+     data_u8[BNO055_SOFT_IRON_CALIB_6_LSB] - sic_6->LSB
+     data_u8[BNO055_SOFT_IRON_CALIB_6_MSB] - sic_6->MSB
+     data_u8[BNO055_SOFT_IRON_CALIB_7_LSB] - sic_7->LSB
+     data_u8[BNO055_SOFT_IRON_CALIB_7_MSB] - sic_7->MSB
+     data_u8[BNO055_SOFT_IRON_CALIB_8_LSB] - sic_8->LSB
+     data_u8[BNO055_SOFT_IRON_CALIB_8_MSB] - sic_8->MSB
+     */
+    u8 data_u8[BNO055_SOFT_IRON_CALIBRATION_MATRIX_SIZE] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, soft iron calibration matrix is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read soft iron calibration matrix value
+             it is eighteen bytes of data */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_SIC_MATRIX_0_LSB_REG,
+                    data_u8, BNO055_SOFT_IRON_CALIBRATION_MATRIX_SIZE);
+            if (com_rslt == BNO055_SUCCESS) {
+                /*soft iron calibration matrix zero*/
+                data_u8[BNO055_SOFT_IRON_CALIB_0_LSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SOFT_IRON_CALIB_0_LSB],
+                        BNO055_SIC_MATRIX_0_LSB);
+                data_u8[BNO055_SOFT_IRON_CALIB_0_MSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SOFT_IRON_CALIB_0_MSB],
+                        BNO055_SIC_MATRIX_0_MSB);
+                sic_matrix->sic_0 =
+                        (s16) ((((s32) (s8) (data_u8[BNO055_SOFT_IRON_CALIB_0_MSB]))
+                                << (BNO055_SHIFT_EIGHT_BITS))
+                                | (data_u8[BNO055_SOFT_IRON_CALIB_0_LSB]));
+
+                /*soft iron calibration matrix one*/
+                data_u8[BNO055_SOFT_IRON_CALIB_1_LSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SOFT_IRON_CALIB_1_LSB],
+                        BNO055_SIC_MATRIX_1_LSB);
+                data_u8[BNO055_SOFT_IRON_CALIB_1_MSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SOFT_IRON_CALIB_1_MSB],
+                        BNO055_SIC_MATRIX_1_MSB);
+                sic_matrix->sic_1 =
+                        (s16) ((((s32) (s8) (data_u8[BNO055_SOFT_IRON_CALIB_1_MSB]))
+                                << (BNO055_SHIFT_EIGHT_BITS))
+                                | (data_u8[BNO055_SOFT_IRON_CALIB_1_LSB]));
+
+                /*soft iron calibration matrix two*/
+                data_u8[BNO055_SOFT_IRON_CALIB_2_LSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SOFT_IRON_CALIB_2_LSB],
+                        BNO055_SIC_MATRIX_2_LSB);
+                data_u8[BNO055_SOFT_IRON_CALIB_2_MSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SOFT_IRON_CALIB_2_MSB],
+                        BNO055_SIC_MATRIX_2_MSB);
+                sic_matrix->sic_2 =
+                        (s16) ((((s32) (s8) (data_u8[BNO055_SOFT_IRON_CALIB_2_MSB]))
+                                << (BNO055_SHIFT_EIGHT_BITS))
+                                | (data_u8[BNO055_SOFT_IRON_CALIB_2_LSB]));
+
+                /*soft iron calibration matrix three*/
+                data_u8[BNO055_SOFT_IRON_CALIB_3_LSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SOFT_IRON_CALIB_3_LSB],
+                        BNO055_SIC_MATRIX_3_LSB);
+                data_u8[BNO055_SOFT_IRON_CALIB_3_MSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SOFT_IRON_CALIB_3_MSB],
+                        BNO055_SIC_MATRIX_3_LSB);
+                sic_matrix->sic_3 =
+                        (s16) ((((s32) (s8) (data_u8[BNO055_SOFT_IRON_CALIB_3_MSB]))
+                                << (BNO055_SHIFT_EIGHT_BITS))
+                                | (data_u8[BNO055_SOFT_IRON_CALIB_3_LSB]));
+
+                /*soft iron calibration matrix four*/
+                data_u8[BNO055_SOFT_IRON_CALIB_4_LSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SOFT_IRON_CALIB_4_LSB],
+                        BNO055_SIC_MATRIX_4_LSB);
+                data_u8[BNO055_SOFT_IRON_CALIB_4_MSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SOFT_IRON_CALIB_4_MSB],
+                        BNO055_SIC_MATRIX_4_LSB);
+                sic_matrix->sic_4 =
+                        (s16) ((((s32) (s8) (data_u8[BNO055_SOFT_IRON_CALIB_4_MSB]))
+                                << (BNO055_SHIFT_EIGHT_BITS))
+                                | (data_u8[BNO055_SOFT_IRON_CALIB_4_LSB]));
+
+                /*soft iron calibration matrix five*/
+                data_u8[BNO055_SOFT_IRON_CALIB_5_LSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SOFT_IRON_CALIB_5_LSB],
+                        BNO055_SIC_MATRIX_5_LSB);
+                data_u8[BNO055_SOFT_IRON_CALIB_5_MSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SOFT_IRON_CALIB_5_MSB],
+                        BNO055_SIC_MATRIX_5_LSB);
+                sic_matrix->sic_5 =
+                        (s16) ((((s32) (s8) (data_u8[BNO055_SOFT_IRON_CALIB_5_MSB]))
+                                << (BNO055_SHIFT_EIGHT_BITS))
+                                | (data_u8[BNO055_SOFT_IRON_CALIB_5_LSB]));
+
+                /*soft iron calibration matrix six*/
+                data_u8[BNO055_SOFT_IRON_CALIB_6_LSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SOFT_IRON_CALIB_6_LSB],
+                        BNO055_SIC_MATRIX_6_LSB);
+                data_u8[BNO055_SOFT_IRON_CALIB_6_MSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SOFT_IRON_CALIB_6_MSB],
+                        BNO055_SIC_MATRIX_6_LSB);
+                sic_matrix->sic_6 =
+                        (s16) ((((s32) (s8) (data_u8[BNO055_SOFT_IRON_CALIB_6_MSB]))
+                                << (BNO055_SHIFT_EIGHT_BITS))
+                                | (data_u8[BNO055_SOFT_IRON_CALIB_6_LSB]));
+
+                /*soft iron calibration matrix seven*/
+                data_u8[BNO055_SOFT_IRON_CALIB_7_LSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SOFT_IRON_CALIB_7_LSB],
+                        BNO055_SIC_MATRIX_7_LSB);
+                data_u8[BNO055_SOFT_IRON_CALIB_7_MSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SOFT_IRON_CALIB_7_MSB],
+                        BNO055_SIC_MATRIX_7_LSB);
+                sic_matrix->sic_7 =
+                        (s16) ((((s32) (s8) (data_u8[BNO055_SOFT_IRON_CALIB_7_MSB]))
+                                << (BNO055_SHIFT_EIGHT_BITS))
+                                | (data_u8[BNO055_SOFT_IRON_CALIB_7_LSB]));
+
+                /*soft iron calibration matrix eight*/
+                data_u8[BNO055_SOFT_IRON_CALIB_8_LSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SOFT_IRON_CALIB_8_LSB],
+                        BNO055_SIC_MATRIX_8_LSB);
+                data_u8[BNO055_SOFT_IRON_CALIB_8_MSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SOFT_IRON_CALIB_8_MSB],
+                        BNO055_SIC_MATRIX_8_LSB);
+                sic_matrix->sic_8 =
+                        (s16) ((((s32) (s8) (data_u8[BNO055_SOFT_IRON_CALIB_8_MSB]))
+                                << (BNO055_SHIFT_EIGHT_BITS))
+                                | (data_u8[BNO055_SOFT_IRON_CALIB_8_LSB]));
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to write soft iron calibration matrix
+ *  from the register 0x43 to 0x53 it is a 18 bytes of data
+ *
+ *  @param sic_matrix : The value of soft iron calibration matrix
+ *
+ *  sic_matrix         |           result
+ * --------------------|----------------------------------
+ *       sic_0         | soft iron calibration matrix zero
+ *       sic_1         | soft iron calibration matrix one
+ *       sic_2         | soft iron calibration matrix two
+ *       sic_3         | soft iron calibration matrix three
+ *       sic_4         | soft iron calibration matrix four
+ *       sic_5         | soft iron calibration matrix five
+ *       sic_6         | soft iron calibration matrix six
+ *       sic_7         | soft iron calibration matrix seven
+ *       sic_8         | soft iron calibration matrix eight
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note : Each soft iron calibration matrix range from -32768 to +32767
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_write_sic_matrix(
+        struct bno055_sic_matrix_t *sic_matrix) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data1_u8r = BNO055_INIT_VALUE;
+    u8 data2_u8r = BNO055_INIT_VALUE;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* write soft iron calibration
+                 matrix zero value*/
+                com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_SIC_MATRIX_0_LSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (sic_matrix->sic_0
+                            & BNO055_SIC_HEX_0_0_F_F_DATA));
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_SIC_MATRIX_0_LSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_SIC_MATRIX_0_LSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_SIC_MATRIX_0_MSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (sic_matrix->sic_0 >>
+                    BNO055_SHIFT_EIGHT_BITS) & BNO055_SIC_HEX_0_0_F_F_DATA);
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_SIC_MATRIX_0_MSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_SIC_MATRIX_0_MSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                /* write soft iron calibration
+                 matrix one value*/
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_SIC_MATRIX_1_LSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (sic_matrix->sic_1
+                            & BNO055_SIC_HEX_0_0_F_F_DATA));
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_SIC_MATRIX_1_LSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_SIC_MATRIX_1_LSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_SIC_MATRIX_1_MSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (sic_matrix->sic_1 >>
+                    BNO055_SHIFT_EIGHT_BITS) & BNO055_SIC_HEX_0_0_F_F_DATA);
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_SIC_MATRIX_1_MSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_SIC_MATRIX_1_MSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                /* write soft iron calibration
+                 matrix two value*/
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_SIC_MATRIX_2_LSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (sic_matrix->sic_2
+                            & BNO055_SIC_HEX_0_0_F_F_DATA));
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_SIC_MATRIX_2_LSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_SIC_MATRIX_2_LSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_SIC_MATRIX_2_MSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (sic_matrix->sic_2 >>
+                    BNO055_SHIFT_EIGHT_BITS) & BNO055_SIC_HEX_0_0_F_F_DATA);
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_SIC_MATRIX_2_MSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_SIC_MATRIX_2_MSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                /* write soft iron calibration
+                 matrix three value*/
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_SIC_MATRIX_3_LSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (sic_matrix->sic_3
+                            & BNO055_SIC_HEX_0_0_F_F_DATA));
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_SIC_MATRIX_3_LSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_SIC_MATRIX_3_LSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_SIC_MATRIX_3_MSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (sic_matrix->sic_3 >>
+                    BNO055_SHIFT_EIGHT_BITS) & BNO055_SIC_HEX_0_0_F_F_DATA);
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_SIC_MATRIX_3_MSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_SIC_MATRIX_3_MSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                /* write soft iron calibration
+                 matrix four value*/
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_SIC_MATRIX_4_LSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (sic_matrix->sic_4
+                            & BNO055_SIC_HEX_0_0_F_F_DATA));
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_SIC_MATRIX_4_LSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_SIC_MATRIX_4_LSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_SIC_MATRIX_4_MSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (sic_matrix->sic_4 >>
+                    BNO055_SHIFT_EIGHT_BITS) & BNO055_SIC_HEX_0_0_F_F_DATA);
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_SIC_MATRIX_4_MSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_SIC_MATRIX_4_MSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                /* write soft iron calibration
+                 matrix five value*/
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_SIC_MATRIX_5_LSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (sic_matrix->sic_5
+                            & BNO055_SIC_HEX_0_0_F_F_DATA));
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_SIC_MATRIX_5_LSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_SIC_MATRIX_5_LSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_SIC_MATRIX_5_MSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (sic_matrix->sic_5 >>
+                    BNO055_SHIFT_EIGHT_BITS) & BNO055_SIC_HEX_0_0_F_F_DATA);
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_SIC_MATRIX_5_MSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_SIC_MATRIX_5_MSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                /* write soft iron calibration
+                 matrix six value*/
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_SIC_MATRIX_6_LSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (sic_matrix->sic_6
+                            & BNO055_SIC_HEX_0_0_F_F_DATA));
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_SIC_MATRIX_6_LSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_SIC_MATRIX_6_LSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_SIC_MATRIX_6_MSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (sic_matrix->sic_6 >>
+                    BNO055_SHIFT_EIGHT_BITS) & BNO055_SIC_HEX_0_0_F_F_DATA);
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_SIC_MATRIX_6_MSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_SIC_MATRIX_6_MSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                /* write soft iron calibration
+                 matrix seven value*/
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_SIC_MATRIX_7_LSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (sic_matrix->sic_7
+                            & BNO055_SIC_HEX_0_0_F_F_DATA));
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_SIC_MATRIX_7_LSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_SIC_MATRIX_7_LSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_SIC_MATRIX_7_MSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (sic_matrix->sic_7 >>
+                    BNO055_SHIFT_EIGHT_BITS) & BNO055_SIC_HEX_0_0_F_F_DATA);
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_SIC_MATRIX_7_MSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_SIC_MATRIX_7_MSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                /* write soft iron calibration
+                 matrix eight value*/
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_SIC_MATRIX_8_LSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (sic_matrix->sic_8
+                            & BNO055_SIC_HEX_0_0_F_F_DATA));
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_SIC_MATRIX_8_LSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_SIC_MATRIX_8_LSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_SIC_MATRIX_8_MSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (sic_matrix->sic_8 >>
+                    BNO055_SHIFT_EIGHT_BITS) & BNO055_SIC_HEX_0_0_F_F_DATA);
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_SIC_MATRIX_8_MSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_SIC_MATRIX_8_MSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode
+         of previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to read accel offset and accel radius
+ *  offset form register 0x55 to 0x5A and radius form 0x67 and 0x68
+ *
+ *  @param accel_offset : The value of accel offset and radius
+ *
+ *      bno055_accel_offset_t |     result
+ *      ------------------- | ----------------
+ *               x          |  accel offset x
+ *               y          |  accel offset y
+ *               z          |  accel offset z
+ *               r          |  accel offset r
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note  The range of the accel offset varies based on
+ *  the G-range of accel sensor.
+ *
+ *  accel G range   |  offset range
+ * ---------------  |  --------------
+ *  BNO055_ACCEL_RANGE_2G  |   +/-2000
+ *  BNO055_ACCEL_RANGE_4G  |   +/-4000
+ *  BNO055_ACCEL_RANGE_8G  |   +/-8000
+ *  BNO055_ACCEL_RANGE_16G |   +/-16000
+ *
+ *  accel G range can be configured by using the
+ *  bno055_set_accel_range() API
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_offset(
+        struct bno055_accel_offset_t *accel_offset) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the accel offset values
+     data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] - offset x->LSB
+     data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] - offset x->MSB
+     data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] - offset y->LSB
+     data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] - offset y->MSB
+     data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] - offset z->LSB
+     data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] - offset z->MSB
+     */
+    u8 data_u8[BNO055_ACCEL_OFFSET_ARRAY] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel offset is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read accel offset value it is six bytes of data*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_OFFSET_X_LSB_REG,
+                    data_u8, BNO055_ACCEL_OFFSET_ARRAY);
+            if (com_rslt == BNO055_SUCCESS) {
+                /* Read accel x offset value*/
+                data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB],
+                        BNO055_ACCEL_OFFSET_X_LSB);
+                data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB],
+                        BNO055_ACCEL_OFFSET_X_MSB);
+                accel_offset->x =
+                        (s16) ((((s32) (s8) (data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB]))
+                                << (BNO055_SHIFT_EIGHT_BITS))
+                                | (data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB]));
+
+                /* Read accel y offset value*/
+                data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB],
+                        BNO055_ACCEL_OFFSET_Y_LSB);
+                data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB],
+                        BNO055_ACCEL_OFFSET_Y_MSB);
+                accel_offset->y =
+                        (s16) ((((s32) (s8) (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB]))
+                                << (BNO055_SHIFT_EIGHT_BITS))
+                                | (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB]));
+
+                /* Read accel z offset value*/
+                data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB],
+                        BNO055_ACCEL_OFFSET_Z_LSB);
+                data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB],
+                        BNO055_ACCEL_OFFSET_Z_MSB);
+                accel_offset->z =
+                        (s16) ((((s32) (s8) (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB]))
+                                << (BNO055_SHIFT_EIGHT_BITS))
+                                | (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB]));
+
+                /* Read accel radius value
+                 it is two bytes of data*/
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_ACCEL_RADIUS_LSB_REG,
+                        data_u8,
+                        BNO055_LSB_MSB_READ_LENGTH);
+                /* Array holding the accel radius values
+                 data_u8[BNO055_OFFSET_RADIUS_LSB] - radius->LSB
+                 data_u8[BNO055_OFFSET_RADIUS_MSB] - radius->MSB
+                 */
+                if (com_rslt == BNO055_SUCCESS) {
+                    data_u8[BNO055_OFFSET_RADIUS_LSB] = BNO055_GET_BITSLICE(
+                            data_u8[BNO055_OFFSET_RADIUS_LSB],
+                            BNO055_ACCEL_RADIUS_LSB);
+                    data_u8[BNO055_OFFSET_RADIUS_MSB] = BNO055_GET_BITSLICE(
+                            data_u8[BNO055_OFFSET_RADIUS_MSB],
+                            BNO055_ACCEL_RADIUS_MSB);
+                    accel_offset->r =
+                            (s16) ((((s32) (s8) (data_u8[BNO055_OFFSET_RADIUS_MSB]))
+                                    << (BNO055_SHIFT_EIGHT_BITS))
+                                    | (data_u8[BNO055_OFFSET_RADIUS_LSB]));
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to write accel offset and accel radius
+ *  offset form register 0x55 to 0x5A and radius form 0x67 and 0x68
+ *
+ *  @param accel_offset : The value of accel offset and radius
+ *
+ *      bno055_accel_offset_t |     result
+ *      ------------------- | ----------------
+ *               x          |  accel offset x
+ *               y          |  accel offset y
+ *               z          |  accel offset z
+ *               r          |  accel offset r
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note  The range of the accel offset varies based on
+ *  the G-range of accel sensor.
+ *
+ *  accel G range   |  offset range
+ * ---------------  |  --------------
+ *  BNO055_ACCEL_RANGE_2G  |   +/-2000
+ *  BNO055_ACCEL_RANGE_4G  |   +/-4000
+ *  BNO055_ACCEL_RANGE_8G  |   +/-8000
+ *  BNO055_ACCEL_RANGE_16G |   +/-16000
+ *
+ *  accel G range can be configured by using the
+ *  bno055_set_accel_range() API
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_write_accel_offset(
+        struct bno055_accel_offset_t *accel_offset) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data1_u8r = BNO055_INIT_VALUE;
+    u8 data2_u8r = BNO055_INIT_VALUE;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* write accel offset x value*/
+                com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_ACCEL_OFFSET_X_LSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (accel_offset->x
+                            & BNO055_SIC_HEX_0_0_F_F_DATA));
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_ACCEL_OFFSET_X_LSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_ACCEL_OFFSET_X_LSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_ACCEL_OFFSET_X_MSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (accel_offset->x >>
+                    BNO055_SHIFT_EIGHT_BITS) & BNO055_SIC_HEX_0_0_F_F_DATA);
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_ACCEL_OFFSET_X_MSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_ACCEL_OFFSET_X_MSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                /* write accel offset y value*/
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_ACCEL_OFFSET_Y_LSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (accel_offset->y
+                            & BNO055_SIC_HEX_0_0_F_F_DATA));
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_ACCEL_OFFSET_Y_LSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_ACCEL_OFFSET_Y_LSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_ACCEL_OFFSET_Y_MSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (accel_offset->y >>
+                    BNO055_SHIFT_EIGHT_BITS) & BNO055_SIC_HEX_0_0_F_F_DATA);
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_ACCEL_OFFSET_Y_MSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_ACCEL_OFFSET_Y_MSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+                /* write accel offset z value*/
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_ACCEL_OFFSET_Z_LSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (accel_offset->z
+                            & BNO055_SIC_HEX_0_0_F_F_DATA));
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_ACCEL_OFFSET_Z_LSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_ACCEL_OFFSET_Z_LSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_ACCEL_OFFSET_Z_MSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (accel_offset->z >>
+                    BNO055_SHIFT_EIGHT_BITS) & BNO055_SIC_HEX_0_0_F_F_DATA);
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_ACCEL_OFFSET_Z_MSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_ACCEL_OFFSET_Z_MSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                /*write accel radius value*/
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_ACCEL_RADIUS_LSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (accel_offset->r
+                            & BNO055_SIC_HEX_0_0_F_F_DATA));
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_ACCEL_RADIUS_LSB, data1_u8r);
+                    com_rslt = p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_ACCEL_RADIUS_LSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_ACCEL_RADIUS_MSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (accel_offset->r >>
+                    BNO055_SHIFT_EIGHT_BITS) & BNO055_SIC_HEX_0_0_F_F_DATA);
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_ACCEL_RADIUS_MSB, data1_u8r);
+                    com_rslt = p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_ACCEL_RADIUS_MSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode
+         of previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+
+/*!
+ *  @brief This API is used to read mag offset
+ *  offset form register 0x69 to 0x6A
+ *
+ *  @param mag_offset :  The value of mag offset and radius
+ *
+ *      bno055_mag_offset_t   |     result
+ *      ------------------- | ----------------
+ *               x          |  mag offset x
+ *               y          |  mag offset y
+ *               z          |  mag offset z
+ *               r          |  mag radius r
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note  The range of the magnetometer offset is +/-6400 in LSB
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_offset(
+        struct bno055_mag_offset_t *mag_offset) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the mag offset values
+     data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] - offset x->LSB
+     data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] - offset x->MSB
+     data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] - offset y->LSB
+     data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] - offset y->MSB
+     data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] - offset z->LSB
+     data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] - offset z->MSB
+     */
+    u8 data_u8[BNO055_MAG_OFFSET_ARRAY] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, mag offset is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read mag offset value it the six bytes of data */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_MAG_OFFSET_X_LSB_REG,
+                    data_u8, BNO055_MAG_OFFSET_ARRAY);
+            if (com_rslt == BNO055_SUCCESS) {
+                /* Read mag x offset value*/
+                data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB],
+                        BNO055_MAG_OFFSET_X_LSB);
+                data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB],
+                        BNO055_MAG_OFFSET_X_MSB);
+                mag_offset->x =
+                        (s16) ((((s32) (s8) (data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB]))
+                                << (BNO055_SHIFT_EIGHT_BITS))
+                                | (data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB]));
+
+                /* Read mag y offset value*/
+                data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB],
+                        BNO055_MAG_OFFSET_Y_LSB);
+                data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB],
+                        BNO055_MAG_OFFSET_Y_MSB);
+                mag_offset->y =
+                        (s16) ((((s32) (s8) (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB]))
+                                << (BNO055_SHIFT_EIGHT_BITS))
+                                | (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB]));
+
+                /* Read mag z offset value*/
+                data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB],
+                        BNO055_MAG_OFFSET_Z_LSB);
+                data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB],
+                        BNO055_MAG_OFFSET_Z_MSB);
+                mag_offset->z =
+                        (s16) ((((s32) (s8) (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB]))
+                                << (BNO055_SHIFT_EIGHT_BITS))
+                                | (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB]));
+
+                /* Read mag radius value
+                 it the two bytes of data */
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_MAG_RADIUS_LSB_REG,
+                        data_u8,
+                        BNO055_LSB_MSB_READ_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    /* Array holding the mag radius values
+                     data_u8[BNO055_OFFSET_RADIUS_LSB] -
+                     radius->LSB
+                     data_u8[BNO055_OFFSET_RADIUS_MSB] -
+                     radius->MSB
+                     */
+                    data_u8[BNO055_OFFSET_RADIUS_LSB] = BNO055_GET_BITSLICE(
+                            data_u8[BNO055_OFFSET_RADIUS_LSB],
+                            BNO055_MAG_RADIUS_LSB);
+                    data_u8[BNO055_OFFSET_RADIUS_MSB] = BNO055_GET_BITSLICE(
+                            data_u8[BNO055_OFFSET_RADIUS_MSB],
+                            BNO055_MAG_RADIUS_MSB);
+                    mag_offset->r =
+                            (s16) ((((s32) (s8) (data_u8[BNO055_OFFSET_RADIUS_MSB]))
+                                    << (BNO055_SHIFT_EIGHT_BITS))
+                                    | (data_u8[BNO055_OFFSET_RADIUS_LSB]));
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+
+/*!
+ *  @brief This API is used to read mag offset
+ *  offset form register 0x69 to 0x6A
+ *
+ *  @param mag_offset :  The value of mag offset and radius
+ *
+ *      bno055_mag_offset_t |     result
+ *      ------------------- | ----------------
+ *               x          |  mag offset x
+ *               y          |  mag offset y
+ *               z          |  mag offset z
+ *               r          |  mag radius r
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note  The range of the magnetometer offset is +/-6400 in LSB
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_write_mag_offset(
+        struct bno055_mag_offset_t *mag_offset) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data1_u8r = BNO055_INIT_VALUE;
+    u8 data2_u8r = BNO055_INIT_VALUE;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* write Mag offset x value*/
+                com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_MAG_OFFSET_X_LSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (mag_offset->x
+                            & BNO055_SIC_HEX_0_0_F_F_DATA));
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_MAG_OFFSET_X_LSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_MAG_OFFSET_X_LSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_MAG_OFFSET_X_MSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (mag_offset->x >>
+                    BNO055_SHIFT_EIGHT_BITS) & BNO055_SIC_HEX_0_0_F_F_DATA);
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_MAG_OFFSET_X_MSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_MAG_OFFSET_X_MSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                /* write Mag offset y value*/
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_MAG_OFFSET_Y_LSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (mag_offset->y &
+                    BNO055_SIC_HEX_0_0_F_F_DATA));
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_MAG_OFFSET_Y_LSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_MAG_OFFSET_Y_LSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_MAG_OFFSET_Y_MSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (mag_offset->y >>
+                    BNO055_SHIFT_EIGHT_BITS) & BNO055_SIC_HEX_0_0_F_F_DATA);
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_MAG_OFFSET_Y_MSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_MAG_OFFSET_Y_MSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+                /* write Mag offset z value*/
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_MAG_OFFSET_Z_LSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (mag_offset->z &
+                    BNO055_SIC_HEX_0_0_F_F_DATA));
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_MAG_OFFSET_Z_LSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_MAG_OFFSET_Z_LSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_MAG_OFFSET_Z_MSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (mag_offset->z >>
+                    BNO055_SHIFT_EIGHT_BITS) & BNO055_SIC_HEX_0_0_F_F_DATA);
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_MAG_OFFSET_Z_MSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_MAG_OFFSET_Z_MSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                /* write Mag radius value*/
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_MAG_RADIUS_LSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (mag_offset->r &
+                    BNO055_SIC_HEX_0_0_F_F_DATA));
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_MAG_RADIUS_LSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_MAG_RADIUS_LSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_MAG_RADIUS_MSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (mag_offset->r >>
+                    BNO055_SHIFT_EIGHT_BITS) & BNO055_SIC_HEX_0_0_F_F_DATA);
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_MAG_RADIUS_MSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_MAG_RADIUS_MSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode
+         of previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to read gyro offset
+ *  offset form register 0x61 to 0x66
+ *
+ *  @param gyro_offset : The value of gyro offset
+ *
+ *      bno055_gyro_offset_t  |     result
+ *      ------------------- | ----------------
+ *               x          |  gyro offset x
+ *               y          |  gyro offset y
+ *               z          |  gyro offset z
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note  The range of the gyro offset varies based on
+ *  the range of gyro sensor
+ *
+ *  gyro G range         | offset range
+ * --------------------  | ------------
+ *  BNO055_GYRO_RANGE_2000DPS   | +/-32000
+ *  BNO055_GYRO_RANGE_1000DPS   | +/-16000
+ *  BNO055_GYRO_RANGE_500DPS    | +/-8000
+ *  BNO055_GYRO_RANGE_250DPS    | +/-4000
+ *  BNO055_GYRO_RANGE_125DPS    | +/-2000
+ *
+ *  Gyro range can be configured by using the
+ *  bno055_set_gyro_range() API
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_offset(
+        struct bno055_gyro_offset_t *gyro_offset) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    /* Array holding the gyro offset values
+     data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] - offset x->LSB
+     data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] - offset x->MSB
+     data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] - offset y->LSB
+     data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] - offset y->MSB
+     data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] - offset z->LSB
+     data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] - offset z->MSB
+     */
+    u8 data_u8[BNO055_GYRO_OFFSET_ARRAY] = {
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+    BNO055_INIT_VALUE, BNO055_INIT_VALUE };
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro offset is
+         available in the page zero*/
+        if (p_bno055->page_id != BNO055_PAGE_ZERO)
+            /* Write the page zero*/
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+            /* Read gyro offset value it the six bytes of data*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_OFFSET_X_LSB_REG,
+                    data_u8, BNO055_GYRO_OFFSET_ARRAY);
+            if (com_rslt == BNO055_SUCCESS) {
+                /* Read gyro x offset value*/
+                data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB],
+                        BNO055_GYRO_OFFSET_X_LSB);
+                data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB],
+                        BNO055_GYRO_OFFSET_X_MSB);
+                gyro_offset->x =
+                        (s16) ((((s32) (s8) (data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB]))
+                                << (BNO055_SHIFT_EIGHT_BITS))
+                                | (data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB]));
+
+                /* Read gyro y offset value*/
+                data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB],
+                        BNO055_GYRO_OFFSET_Y_LSB);
+                data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB],
+                        BNO055_GYRO_OFFSET_Y_MSB);
+                gyro_offset->y =
+                        (s16) ((((s32) (s8) (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB]))
+                                << (BNO055_SHIFT_EIGHT_BITS))
+                                | (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB]));
+
+                /* Read gyro z offset value*/
+                data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB],
+                        BNO055_GYRO_OFFSET_Z_LSB);
+                data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] = BNO055_GET_BITSLICE(
+                        data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB],
+                        BNO055_GYRO_OFFSET_Z_MSB);
+                gyro_offset->z =
+                        (s16) ((((s32) (s8) (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB]))
+                                << (BNO055_SHIFT_EIGHT_BITS))
+                                | (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB]));
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API is used to read gyro offset
+ *  offset form register 0x61 to 0x66
+ *
+ *  @param gyro_offset : The value of gyro offset
+ *
+ *      bno055_gyro_offset_t  |     result
+ *      ------------------- | ----------------
+ *               x          |  gyro offset x
+ *               y          |  gyro offset y
+ *               z          |  gyro offset z
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note  The range of the gyro offset varies based on
+ *  the range of gyro sensor
+ *
+ *  gyro G range         | offset range
+ * --------------------  | ------------
+ *  BNO055_GYRO_RANGE_2000DPS   | +/-32000
+ *  BNO055_GYRO_RANGE_1000DPS   | +/-16000
+ *  BNO055_GYRO_RANGE_500DPS    | +/-8000
+ *  BNO055_GYRO_RANGE_250DPS    | +/-4000
+ *  BNO055_GYRO_RANGE_125DPS    | +/-2000
+ *
+ *  Gyro range can be configured by using the
+ *  bno055_set_gyro_range() API
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_write_gyro_offset(
+        struct bno055_gyro_offset_t *gyro_offset) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data1_u8r = BNO055_INIT_VALUE;
+    u8 data2_u8r = BNO055_INIT_VALUE;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* write gryo offset x value*/
+                com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_GYRO_OFFSET_X_LSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (gyro_offset->x
+                            & BNO055_SIC_HEX_0_0_F_F_DATA));
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_GYRO_OFFSET_X_LSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_OFFSET_X_LSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_GYRO_OFFSET_X_MSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (gyro_offset->x >>
+                    BNO055_SHIFT_EIGHT_BITS) & BNO055_SIC_HEX_0_0_F_F_DATA);
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_GYRO_OFFSET_X_MSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_OFFSET_X_MSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                /* write gryo offset y value*/
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_GYRO_OFFSET_Y_LSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (gyro_offset->y
+                            & BNO055_SIC_HEX_0_0_F_F_DATA));
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_GYRO_OFFSET_Y_LSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_OFFSET_Y_LSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_GYRO_OFFSET_Y_MSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (gyro_offset->y >>
+                    BNO055_SHIFT_EIGHT_BITS) & BNO055_SIC_HEX_0_0_F_F_DATA);
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_GYRO_OFFSET_Y_MSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_OFFSET_Y_MSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+                /* write gryo offset z value*/
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_GYRO_OFFSET_Z_LSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (gyro_offset->z
+                            & BNO055_SIC_HEX_0_0_F_F_DATA));
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_GYRO_OFFSET_Z_LSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_OFFSET_Z_LSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+
+                com_rslt += p_bno055->BNO055_BUS_READ_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_GYRO_OFFSET_Z_MSB_REG,
+                        &data2_u8r,
+                        BNO055_GEN_READ_WRITE_LENGTH);
+                if (com_rslt == BNO055_SUCCESS) {
+                    data1_u8r = ((s8) (gyro_offset->z >>
+                    BNO055_SHIFT_EIGHT_BITS) & BNO055_SIC_HEX_0_0_F_F_DATA);
+                    data2_u8r = BNO055_SET_BITSLICE(data2_u8r,
+                            BNO055_GYRO_OFFSET_Z_MSB, data1_u8r);
+                    com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_OFFSET_Z_MSB_REG,
+                            &data2_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode
+         of previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/********************************************************/
+/************** PAGE1 Functions *********************/
+/********************************************************/
+/*!
+ *  @brief This API used to read the accel range
+ *  from page one register from 0x08 bit 0 and 1
+ *
+ *  @param accel_range_u8 : The value of accel range
+ *        accel_range_u8 |   result
+ *       ----------------- | --------------
+ *              0x00       | BNO055_ACCEL_RANGE_2G
+ *              0x01       | BNO055_ACCEL_RANGE_4G
+ *              0x02       | BNO055_ACCEL_RANGE_8G
+ *              0x03       | BNO055_ACCEL_RANGE_16G
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_range(u8 *accel_range_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel range is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of accel g range */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_RANGE_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *accel_range_u8 = BNO055_GET_BITSLICE(data_u8r, BNO055_ACCEL_RANGE);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the accel range
+ *  from page one register from 0x08 bit 0 and 1
+ *
+ *  @param accel_range_u8 : The value of accel range
+ *
+ *        accel_range_u8 |   result
+ *       ----------------- | --------------
+ *              0x00       | BNO055_ACCEL_RANGE_2G
+ *              0x01       | BNO055_ACCEL_RANGE_4G
+ *              0x02       | BNO055_ACCEL_RANGE_8G
+ *              0x03       | BNO055_ACCEL_RANGE_16G
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_range(u8 accel_range_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    if (accel_range_u8 < BNO055_ACCEL_RANGE) {
+                        /* Write the value of accel range*/
+                        com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_ACCEL_RANGE_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                        if (com_rslt == BNO055_SUCCESS) {
+                            data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                    BNO055_ACCEL_RANGE, accel_range_u8);
+                            com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_ACCEL_RANGE_REG,
+                                    &data_u8r,
+                                    BNO055_GEN_READ_WRITE_LENGTH);
+                        }
+                    } else {
+                        com_rslt = BNO055_OUT_OF_RANGE;
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the accel bandwidth
+ *  from page one register from 0x08 bit 2 to 4
+ *
+ *  @param accel_bw_u8 : The value of accel bandwidth
+ *
+ *           accel_bw_u8 |     result
+ *       ----------------- | ---------------
+ *              0x00       | BNO055_ACCEL_BW_7_81HZ
+ *              0x01       | BNO055_ACCEL_BW_15_63HZ
+ *              0x02       | BNO055_ACCEL_BW_31_25HZ
+ *              0x03       | BNO055_ACCEL_BW_62_5HZ
+ *              0x04       | BNO055_ACCEL_BW_125HZ
+ *              0x05       | BNO055_ACCEL_BW_250HZ
+ *              0x06       | BNO055_ACCEL_BW_500HZ
+ *              0x07       | BNO055_ACCEL_BW_1000HZ
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_bw(u8 *accel_bw_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel bandwidth is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of accel bandwidth */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_BW_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *accel_bw_u8 = BNO055_GET_BITSLICE(data_u8r, BNO055_ACCEL_BW);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the accel bandwidth
+ *  from page one register from 0x08 bit 2 to 4
+ *
+ *  @param accel_bw_u8 : The value of accel bandwidth
+ *
+ *           accel_bw_u8 |     result
+ *       ----------------- | ---------------
+ *              0x00       | BNO055_ACCEL_BW_7_81HZ
+ *              0x01       | BNO055_ACCEL_BW_15_63HZ
+ *              0x02       | BNO055_ACCEL_BW_31_25HZ
+ *              0x03       | BNO055_ACCEL_BW_62_5HZ
+ *              0x04       | BNO055_ACCEL_BW_125HZ
+ *              0x05       | BNO055_ACCEL_BW_250HZ
+ *              0x06       | BNO055_ACCEL_BW_500HZ
+ *              0x07       | BNO055_ACCEL_BW_1000HZ
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_bw(u8 accel_bw_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    if (accel_bw_u8 <
+                    BNO055_ACCEL_GYRO_BW_RANGE) {
+                        /* Write the accel */
+                        com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_ACCEL_BW_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                        if (com_rslt == BNO055_SUCCESS) {
+                            data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                    BNO055_ACCEL_BW, accel_bw_u8);
+                            com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_ACCEL_BW_REG,
+                                    &data_u8r,
+                                    BNO055_GEN_READ_WRITE_LENGTH);
+                        }
+                    } else {
+                        com_rslt = BNO055_OUT_OF_RANGE;
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the accel power mode
+ *  from page one register from 0x08 bit 5 to 7
+ *
+ *  @param accel_power_mode_u8 : The value of accel power mode
+ * accel_power_mode_u8 |   result
+ *   -----------------   | -------------
+ *              0x00     | BNO055_ACCEL_NORMAL
+ *              0x01     | BNO055_ACCEL_SUSPEND
+ *              0x02     | BNO055_ACCEL_LOWPOWER_1
+ *              0x03     | BNO055_ACCEL_STANDBY
+ *              0x04     | BNO055_ACCEL_LOWPOWER_2
+ *              0x05     | BNO055_ACCEL_DEEPSUSPEND
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_power_mode(u8 *accel_power_mode_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel power mode is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of accel bandwidth */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_POWER_MODE_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *accel_power_mode_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_ACCEL_POWER_MODE);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the accel power mode
+ *  from page one register from 0x08 bit 5 to 7
+ *
+ *  @param accel_power_mode_u8 : The value of accel power mode
+ * accel_power_mode_u8 |   result
+ *   -----------------   | -------------
+ *              0x00     | BNO055_ACCEL_NORMAL
+ *              0x01     | BNO055_ACCEL_SUSPEND
+ *              0x02     | BNO055_ACCEL_LOWPOWER_1
+ *              0x03     | BNO055_ACCEL_STANDBY
+ *              0x04     | BNO055_ACCEL_LOWPOWER_2
+ *              0x05     | BNO055_ACCEL_DEEPSUSPEND
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_power_mode(u8 accel_power_mode_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    if (accel_power_mode_u8 <
+                    BNO055_ACCEL_POWER_MODE_RANGE) {
+                        /* Write the value of accel bandwidth*/
+                        com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_ACCEL_POWER_MODE_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                        if (com_rslt == BNO055_SUCCESS) {
+                            data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                    BNO055_ACCEL_POWER_MODE,
+                                    accel_power_mode_u8);
+                            com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_ACCEL_POWER_MODE_REG,
+                                    &data_u8r,
+                                    BNO055_GEN_READ_WRITE_LENGTH);
+                        }
+                    } else {
+                        com_rslt = BNO055_OUT_OF_RANGE;
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the mag output data rate
+ *  from page one register from 0x09 bit 0 to 2
+ *
+ *  @param mag_data_output_rate_u8 : The value of mag output data rate
+ *
+ *  mag_data_output_rate_u8 |   result
+ *  ----------------------    |----------------------
+ *     0x00                   | MAG_DATA_OUTPUT_RATE_2HZ
+ *     0x01                   | MAG_DATA_OUTPUT_RATE_6HZ
+ *     0x02                   | MAG_DATA_OUTPUT_RATE_8HZ
+ *     0x03                   | MAG_DATA_OUTPUT_RATE_10HZ
+ *     0x04                   | MAG_DATA_OUTPUT_RATE_15HZ
+ *     0x05                   | MAG_DATA_OUTPUT_RATE_20HZ
+ *     0x06                   | MAG_DATA_OUTPUT_RATE_25HZ
+ *     0x07                   | MAG_DATA_OUTPUT_RATE_30HZ
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_data_output_rate(
+        u8 *mag_data_output_rate_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, output data rate
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the mag output data rate*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_MAG_DATA_OUTPUT_RATE_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *mag_data_output_rate_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_MAG_DATA_OUTPUT_RATE);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the mag output data rate
+ *  from page one register from 0x09 bit 0 to 2
+ *
+ *  @param mag_data_output_rate_u8 : The value of mag output data rate
+ *
+ *  mag_data_output_rate_u8 |   result
+ *  ----------------------    |----------------------
+ *     0x00                   | MAG_DATA_OUTPUT_RATE_2HZ
+ *     0x01                   | MAG_DATA_OUTPUT_RATE_6HZ
+ *     0x02                   | MAG_DATA_OUTPUT_RATE_8HZ
+ *     0x03                   | MAG_DATA_OUTPUT_RATE_10HZ
+ *     0x04                   | MAG_DATA_OUTPUT_RATE_15HZ
+ *     0x05                   | MAG_DATA_OUTPUT_RATE_20HZ
+ *     0x06                   | MAG_DATA_OUTPUT_RATE_25HZ
+ *     0x07                   | MAG_DATA_OUTPUT_RATE_30HZ
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_data_output_rate(
+        u8 mag_data_output_rate_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    if (mag_data_output_rate_u8 < BNO055_MAG_OUTPUT_RANGE) {
+                        /* Write the value of
+                         mag output data rate*/
+                        com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_MAG_DATA_OUTPUT_RATE_REG,
+                                &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                        if (com_rslt == BNO055_SUCCESS) {
+                            data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                    BNO055_MAG_DATA_OUTPUT_RATE,
+                                    mag_data_output_rate_u8);
+                            com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_MAG_DATA_OUTPUT_RATE_REG,
+                                    &data_u8r,
+                                    BNO055_GEN_READ_WRITE_LENGTH);
+                        }
+                    } else {
+                        com_rslt = BNO055_OUT_OF_RANGE;
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the mag operation mode
+ *  from page one register from 0x09 bit 3 to 4
+ *
+ *  @param mag_operation_mode_u8 : The value of mag operation mode
+ *
+ *  mag_operation_mode_u8  |      result
+ * ------------------------- |--------------------------
+ *     0x00                  | MAG_OPR_MODE_LOWPOWER
+ *     0x01                  | MAG_OPR_MODE_REGULAR
+ *     0x02                  | MAG_OPR_MODE_ENHANCED_REGULAR
+ *     0x03                  | MAG_OPR_MODE_HIGH_ACCURACY
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_operation_mode(
+        u8 *mag_operation_mode_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, mag operation mode is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of mag operation mode*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_MAG_OPERATION_MODE_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *mag_operation_mode_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_MAG_OPERATION_MODE);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the mag operation mode
+ *  from page one register from 0x09 bit 3 to 4
+ *
+ *  @param mag_operation_mode_u8 : The value of mag operation mode
+ *
+ *  mag_operation_mode_u8  |      result
+ * ------------------------- |--------------------------
+ *     0x00                  | MAG_OPR_MODE_LOWPOWER
+ *     0x01                  | MAG_OPR_MODE_REGULAR
+ *     0x02                  | MAG_OPR_MODE_ENHANCED_REGULAR
+ *     0x03                  | MAG_OPR_MODE_HIGH_ACCURACY
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_operation_mode(
+        u8 mag_operation_mode_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    if (mag_operation_mode_u8 < BNO055_MAG_OPR_MODE_RANGE) {
+                        /* Write the value
+                         of mag operation mode*/
+                        com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_MAG_OPERATION_MODE_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                        if (com_rslt == BNO055_SUCCESS) {
+                            data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                    BNO055_MAG_OPERATION_MODE,
+                                    mag_operation_mode_u8);
+                            com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_MAG_OPERATION_MODE_REG,
+                                    &data_u8r,
+                                    BNO055_GEN_READ_WRITE_LENGTH);
+                        }
+                    } else {
+                        com_rslt = BNO055_OUT_OF_RANGE;
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the mag power mode
+ *  from page one register from 0x09 bit 4 to 6
+ *
+ *  @param mag_power_mode_u8 : The value of mag power mode
+ *
+ * mag_power_mode_u8 |   result
+ * --------------------|-----------------
+ *     0x00            | BNO055_MAG_POWER_MODE_NORMAL
+ *     0x01            | BNO055_MAG_POWER_MODE_SLEEP
+ *     0x02            | BNO055_MAG_POWER_MODE_SUSPEND
+ *     0x03            | BNO055_MAG_POWER_MODE_FORCE_MODE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_power_mode(u8 *mag_power_mode_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, mag power mode is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of mag power mode */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_MAG_POWER_MODE_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *mag_power_mode_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_MAG_POWER_MODE);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the mag power mode
+ *  from page one register from 0x09 bit 4 to 6
+ *
+ *  @param mag_power_mode_u8 : The value of mag power mode
+ *
+ * mag_power_mode_u8 |   result
+ * --------------------|-----------------
+ *     0x00            | BNO055_MAG_POWER_MODE_NORMAL
+ *     0x01            | BNO055_MAG_POWER_MODE_SLEEP
+ *     0x02            | BNO055_MAG_POWER_MODE_SUSPEND
+ *     0x03            | BNO055_MAG_POWER_MODE_FORCE_MODE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_power_mode(u8 mag_power_mode_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    if (mag_power_mode_u8 <
+                    BNO055_MAG_POWER_MODE_RANGE) {
+                        /* Write the value of mag power mode*/
+                        com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_MAG_POWER_MODE_REG,
+                                &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                        if (com_rslt == BNO055_SUCCESS) {
+                            data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                    BNO055_MAG_POWER_MODE, mag_power_mode_u8);
+                            com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_MAG_POWER_MODE_REG,
+                                    &data_u8r,
+                                    BNO055_GEN_READ_WRITE_LENGTH);
+                        }
+                    } else {
+                        com_rslt = BNO055_OUT_OF_RANGE;
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the gyro range
+ *  from page one register from 0x0A bit 0 to 3
+ *
+ *  @param gyro_range_u8 : The value of gyro range
+ *
+ *     gyro_range_u8 |   result
+ * --------------------|-----------------
+ *     0x00            | BNO055_GYRO_RANGE_2000DPS
+ *     0x01            | BNO055_GYRO_RANGE_1000DPS
+ *     0x02            | BNO055_GYRO_RANGE_500DPS
+ *     0x03            | BNO055_GYRO_RANGE_250DPS
+ *     0x04            | BNO055_GYRO_RANGE_125DPS
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_range(u8 *gyro_range_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro range is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of gyro range */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_RANGE_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_range_u8 = BNO055_GET_BITSLICE(data_u8r, BNO055_GYRO_RANGE);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the gyro range
+ *  from page one register from 0x0A bit 0 to 3
+ *
+ *  @param gyro_range_u8 : The value of gyro range
+ *
+ *     gyro_range_u8 |   result
+ * --------------------|-----------------
+ *     0x00            | BNO055_GYRO_RANGE_2000DPS
+ *     0x01            | BNO055_GYRO_RANGE_1000DPS
+ *     0x02            | BNO055_GYRO_RANGE_500DPS
+ *     0x03            | BNO055_GYRO_RANGE_250DPS
+ *     0x04            | BNO055_GYRO_RANGE_125DPS
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_range(u8 gyro_range_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    if (gyro_range_u8 < BNO055_GYRO_RANGE) {
+                        /* Write the value of gyro range*/
+                        com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_GYRO_RANGE_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                        if (com_rslt == BNO055_SUCCESS) {
+                            data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                    BNO055_GYRO_RANGE, gyro_range_u8);
+                            com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_GYRO_RANGE_REG,
+                                    &data_u8r,
+                                    BNO055_GEN_READ_WRITE_LENGTH);
+                        }
+                    } else {
+                        com_rslt = BNO055_OUT_OF_RANGE;
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the gyro bandwidth
+ *  from page one register from 0x0A bit 3 to 5
+ *
+ *  @param gyro_bw_u8 : The value of gyro bandwidth
+ *
+ *     gyro_bw_u8    |   result
+ * --------------------|-----------------
+ *     0x00            | BNO055_GYRO_BW_523HZ
+ *     0x01            | BNO055_GYRO_BW_230HZ
+ *     0x02            | BNO055_GYRO_BW_116HZ
+ *     0x03            | BNO055_GYRO_BW_47HZ
+ *     0x04            | BNO055_GYRO_BW_23HZ
+ *     0x05            | BNO055_GYRO_BW_12HZ
+ *     0x06            | BNO055_GYRO_BW_64HZ
+ *     0x07            | BNO055_GYRO_BW_32HZ
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_bw(u8 *gyro_bw_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro bandwidth is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_BW_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_bw_u8 = BNO055_GET_BITSLICE(data_u8r, BNO055_GYRO_BW);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the gyro bandwidth
+ *  from page one register from 0x0A bit 3 to 5
+ *
+ *  @param gyro_bw_u8 : The value of gyro bandwidth
+ *
+ *     gyro_bw_u8    |   result
+ * --------------------|-----------------
+ *     0x00            | BNO055_GYRO_BW_523HZ
+ *     0x01            | BNO055_GYRO_BW_230HZ
+ *     0x02            | BNO055_GYRO_BW_116HZ
+ *     0x03            | BNO055_GYRO_BW_47HZ
+ *     0x04            | BNO055_GYRO_BW_23HZ
+ *     0x05            | BNO055_GYRO_BW_12HZ
+ *     0x06            | BNO055_GYRO_BW_64HZ
+ *     0x07            | BNO055_GYRO_BW_32HZ
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_bw(u8 gyro_bw_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 gyro_opmode = BNO055_INIT_VALUE;
+    u8 gyro_auto_sleep_durn = BNO055_INIT_VALUE;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    /* Write the value of gyro bandwidth */
+                    if ((gyro_bw_u8 == BNO055_INIT_VALUE
+                            || gyro_bw_u8 > BNO055_INIT_VALUE)
+                            && gyro_bw_u8 < BNO055_ACCEL_GYRO_BW_RANGE) {
+                        switch (gyro_bw_u8) {
+                            case BNO055_GYRO_BW_523HZ:
+                                gyro_bw_u8 = BNO055_GYRO_BW_523HZ;
+                                break;
+                            case BNO055_GYRO_BW_230HZ:
+                                gyro_bw_u8 = BNO055_GYRO_BW_230HZ;
+                                break;
+                            case BNO055_GYRO_BW_116HZ:
+                                gyro_bw_u8 = BNO055_GYRO_BW_116HZ;
+                                break;
+                            case BNO055_GYRO_BW_47HZ:
+                                gyro_bw_u8 = BNO055_GYRO_BW_47HZ;
+                                break;
+                            case BNO055_GYRO_BW_23HZ:
+                                gyro_bw_u8 = BNO055_GYRO_BW_23HZ;
+                                break;
+                            case BNO055_GYRO_BW_12HZ:
+                                gyro_bw_u8 = BNO055_GYRO_BW_12HZ;
+                                break;
+                            case BNO055_GYRO_BW_64HZ:
+                                gyro_bw_u8 = BNO055_GYRO_BW_64HZ;
+                                break;
+                            case BNO055_GYRO_BW_32HZ:
+                                gyro_bw_u8 = BNO055_GYRO_BW_32HZ;
+                                break;
+                            default:
+                                break;
+                        }
+                        com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_GYRO_BW_REG,
+                                &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                        if (com_rslt == BNO055_SUCCESS) {
+                            data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                    BNO055_GYRO_BW, gyro_bw_u8);
+                            com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_GYRO_BW_REG,
+                                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                        }
+                        com_rslt = bno055_get_gyro_power_mode(&gyro_opmode);
+                        if (com_rslt == BNO055_SUCCESS) {
+                            if (gyro_opmode ==
+                            BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE) {
+                                com_rslt += bno055_get_gyro_auto_sleep_durn(
+                                        &gyro_auto_sleep_durn);
+                                if (com_rslt == BNO055_SUCCESS) {
+                                    com_rslt += bno055_gyro_set_auto_sleep_durn(
+                                            gyro_auto_sleep_durn, gyro_bw_u8);
+                                }
+                            }
+                        }
+                    } else {
+                        com_rslt = BNO055_OUT_OF_RANGE;
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the gyro power mode
+ *  from page one register from 0x0B bit 0 to 2
+ *
+ *  @param gyro_power_mode_u8 : The value of gyro power mode
+ *
+ *  gyro_power_mode_u8 |          result
+ * ----------------------|----------------------------
+ *     0x00              | GYRO_OPR_MODE_NORMAL
+ *     0x01              | GYRO_OPR_MODE_FASTPOWERUP
+ *     0x02              | GYRO_OPR_MODE_DEEPSUSPEND
+ *     0x03              | GYRO_OPR_MODE_SUSPEND
+ *     0x04              | GYRO_OPR_MODE_ADVANCE_POWERSAVE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_power_mode(u8 *gyro_power_mode_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro power mode is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Write the value of gyro power mode*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_POWER_MODE_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_power_mode_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_GYRO_POWER_MODE);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the gyro power mode
+ *  from page one register from 0x0B bit 0 to 2
+ *
+ *  @param gyro_power_mode_u8 : The value of gyro power mode
+ *
+ *  gyro_power_mode_u8 |          result
+ * ----------------------|----------------------------
+ *     0x00              | GYRO_OPR_MODE_NORMAL
+ *     0x01              | GYRO_OPR_MODE_FASTPOWERUP
+ *     0x02              | GYRO_OPR_MODE_DEEPSUSPEND
+ *     0x03              | GYRO_OPR_MODE_SUSPEND
+ *     0x04              | GYRO_OPR_MODE_ADVANCE_POWERSAVE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_power_mode(u8 gyro_power_mode_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 gyro_auto_sleep_durn = BNO055_INIT_VALUE;
+    u8 gyro_bw_u8 = BNO055_INIT_VALUE;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    /* Write the value of power mode*/
+                    if ((gyro_power_mode_u8 == BNO055_INIT_VALUE
+                            || gyro_power_mode_u8 > BNO055_INIT_VALUE)
+                            && gyro_power_mode_u8 < BNO055_GYRO_RANGE) {
+                        switch (gyro_power_mode_u8) {
+                            case BNO055_GYRO_POWER_MODE_NORMAL:
+                                gyro_power_mode_u8 =
+                                BNO055_GYRO_POWER_MODE_NORMAL;
+                                break;
+                            case BNO055_GYRO_POWER_MODE_FASTPOWERUP:
+                                gyro_power_mode_u8 =
+                                BNO055_GYRO_POWER_MODE_FASTPOWERUP;
+                                break;
+                            case BNO055_GYRO_POWER_MODE_DEEPSUSPEND:
+                                gyro_power_mode_u8 =
+                                BNO055_GYRO_POWER_MODE_DEEPSUSPEND;
+                                break;
+                            case BNO055_GYRO_POWER_MODE_SUSPEND:
+                                gyro_power_mode_u8 =
+                                BNO055_GYRO_POWER_MODE_SUSPEND;
+                                break;
+                            case BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE:
+                                com_rslt = bno055_get_gyro_bw(&gyro_bw_u8);
+                                com_rslt += bno055_get_gyro_auto_sleep_durn(
+                                        &gyro_auto_sleep_durn);
+                                if (com_rslt == BNO055_SUCCESS)
+                                    bno055_gyro_set_auto_sleep_durn(
+                                            gyro_auto_sleep_durn, gyro_bw_u8);
+                                com_rslt += bno055_write_page_id(
+                                BNO055_PAGE_ONE);
+                                gyro_power_mode_u8 =
+                                BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE;
+                                break;
+                            default:
+                                break;
+                        }
+                        com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_GYRO_POWER_MODE_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                        if (com_rslt == BNO055_SUCCESS) {
+                            data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                    BNO055_GYRO_POWER_MODE, gyro_power_mode_u8);
+                            com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_GYRO_POWER_MODE_REG,
+                                    &data_u8r,
+                                    BNO055_GEN_READ_WRITE_LENGTH);
+                        }
+                    } else {
+                        com_rslt = BNO055_OUT_OF_RANGE;
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the accel sleep mode
+ *  from page one register from 0x0C bit 0
+ *
+ *  @param sleep_tmr_u8 : The value of accel sleep mode
+ *
+ *  sleep_tmr_u8   |   result
+ * ----------------- |------------------------------------
+ *     0x00          | enable EventDrivenSampling(EDT)
+ *     0x01          | enable Equidistant sampling mode(EST)
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_tmr_mode(u8 *sleep_tmr_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel sleep mode is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* read the value of accel sleep mode */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_SLEEP_MODE_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *sleep_tmr_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_ACCEL_SLEEP_MODE);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the accel sleep mode
+ *  from page one register from 0x0C bit 0
+ *
+ *  @param sleep_tmr_u8 : The value of accel sleep mode
+ *
+ *  sleep_tmr_u8   |   result
+ * ----------------- |------------------------------------
+ *     0x00          | enable EventDrivenSampling(EDT)
+ *     0x01          | enable Equidistant sampling mode(EST)
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_tmr_mode(u8 sleep_tmr_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(
+                BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    if (sleep_tmr_u8 <
+                    BNO055_ACCEL_SLEEP_MODE_RANGE) {
+                        /*Write the value
+                         of accel sleep mode*/
+                        com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_ACCEL_SLEEP_MODE_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                        if (com_rslt == BNO055_SUCCESS) {
+                            data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                    BNO055_ACCEL_SLEEP_MODE, sleep_tmr_u8);
+                            com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_ACCEL_SLEEP_MODE_REG,
+                                    &data_u8r,
+                                    BNO055_GEN_READ_WRITE_LENGTH);
+                        }
+                    } else {
+                        com_rslt = BNO055_OUT_OF_RANGE;
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the accel sleep duration
+ *  from page one register from 0x0C bit 1 to 4
+ *
+ *  @param sleep_durn_u8 : The value of accel sleep duration
+ *
+ * sleep_durn_u8  |      result
+ * ---------------- |-----------------------------
+ *     0x05         | BNO055_ACCEL_SLEEP_DURN_0_5MS
+ *     0x06         | BNO055_ACCEL_SLEEP_DURN_1MS
+ *     0x07         | BNO055_ACCEL_SLEEP_DURN_2MS
+ *     0x08         | BNO055_ACCEL_SLEEP_DURN_4MS
+ *     0x09         | BNO055_ACCEL_SLEEP_DURN_6MS
+ *     0x0A         | BNO055_ACCEL_SLEEP_DURN_10MS
+ *     0x0B         | BNO055_ACCEL_SLEEP_DURN_25MS
+ *     0x0C         | BNO055_ACCEL_SLEEP_DURN_50MS
+ *     0x0D         | BNO055_ACCEL_SLEEP_DURN_100MS
+ *     0x0E         | BNO055_ACCEL_SLEEP_DURN_500MS
+ *     0x0F         | BNO055_ACCEL_SLEEP_DURN_1S
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_durn(u8 *sleep_durn_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel sleep duration
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of accel sleep duration */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_SLEEP_DURN_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *sleep_durn_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_ACCEL_SLEEP_DURN);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the accel sleep duration
+ *  from page one register from 0x0C bit 1 to 4
+ *
+ *  @param sleep_durn_u8 : The value of accel sleep duration
+ *
+ * sleep_durn_u8  |      result
+ * ---------------|-----------------------------
+ *     0x05       | BNO055_ACCEL_SLEEP_DURN_0_5MS
+ *     0x06       | BNO055_ACCEL_SLEEP_DURN_1MS
+ *     0x07       | BNO055_ACCEL_SLEEP_DURN_2MS
+ *     0x08       | BNO055_ACCEL_SLEEP_DURN_4MS
+ *     0x09       | BNO055_ACCEL_SLEEP_DURN_6MS
+ *     0x0A       | BNO055_ACCEL_SLEEP_DURN_10MS
+ *     0x0B       | BNO055_ACCEL_SLEEP_DURN_25MS
+ *     0x0C       | BNO055_ACCEL_SLEEP_DURN_50MS
+ *     0x0D       | BNO055_ACCEL_SLEEP_DURN_100MS
+ *     0x0E       | BNO055_ACCEL_SLEEP_DURN_500MS
+ *     0x0F       | BNO055_ACCEL_SLEEP_DURN_1S
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_durn(u8 sleep_durn_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(
+                BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    if (sleep_durn_u8 <
+                    BNO055_ACCEL_SLEEP_DURATION_RANGE) {
+                        /* Write the accel
+                         sleep duration*/
+                        com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_ACCEL_SLEEP_DURN_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                        if (com_rslt == BNO055_SUCCESS) {
+                            data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                    BNO055_ACCEL_SLEEP_DURN, sleep_durn_u8);
+                            com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_ACCEL_SLEEP_DURN_REG,
+                                    &data_u8r,
+                                    BNO055_GEN_READ_WRITE_LENGTH);
+                        }
+                    } else {
+                        com_rslt = BNO055_OUT_OF_RANGE;
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the gyro sleep duration
+ *  from page one register from 0x0D bit 0 to 2
+ *
+ *  @param sleep_durn_u8 : The value of gyro sleep duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_sleep_durn(u8 *sleep_durn_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel range is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the gyro sleep duration */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_SLEEP_DURN_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *sleep_durn_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_GYRO_SLEEP_DURN);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the gyro sleep duration
+ *  from page one register from 0x0D bit 0 to 2
+ *
+ *  @param sleep_durn_u8 : The value of gyro sleep duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_sleep_durn(u8 sleep_durn_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    if (sleep_durn_u8 <
+                    BNO055_GYRO_AUTO_SLEEP_DURATION_RANGE) {
+                        com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_GYRO_SLEEP_DURN_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                        if (com_rslt == BNO055_SUCCESS) {
+                            /* Write the gyro
+                             sleep duration */
+                            data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                    BNO055_GYRO_SLEEP_DURN, sleep_durn_u8);
+                            com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_GYRO_SLEEP_DURN_REG,
+                                    &data_u8r,
+                                    BNO055_GEN_READ_WRITE_LENGTH);
+                        }
+                    } else {
+                        com_rslt = BNO055_OUT_OF_RANGE;
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the gyro auto sleep duration
+ *  from page one register from 0x0D bit 3 to 5
+ *
+ *  @param auto_sleep_durn_u8 : The value of gyro auto sleep duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_auto_sleep_durn(
+        u8 *auto_sleep_durn_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel range is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of gyro auto sleep duration */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_AUTO_SLEEP_DURN_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *auto_sleep_durn_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_GYRO_AUTO_SLEEP_DURN);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the gyro auto sleep duration
+ *  from page one register from 0x0D bit 3 to 5
+ *
+ *  @param auto_sleep_durn_u8 : The value of gyro auto sleep duration
+ *  @param bw : The value of gyro bandwidth
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_gyro_set_auto_sleep_durn(
+        u8 auto_sleep_durn_u8, u8 bw) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 auto_sleep_durn_u8r;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    /* Write the value of gyro sleep duration */
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_AUTO_SLEEP_DURN_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    if (auto_sleep_durn_u8 <
+                    BNO055_GYRO_AUTO_SLEEP_DURATION_RANGE) {
+                        switch (bw) {
+                            case BNO055_GYRO_BW_523HZ:
+                                if (auto_sleep_durn_u8 >
+                                BNO055_GYRO_4MS_AUTOSLPDUR)
+                                    auto_sleep_durn_u8r = auto_sleep_durn_u8;
+                                else
+                                    auto_sleep_durn_u8r =
+                                    BNO055_GYRO_4MS_AUTOSLPDUR;
+                                break;
+                            case BNO055_GYRO_BW_230HZ:
+                                if (auto_sleep_durn_u8 >
+                                BNO055_GYRO_4MS_AUTOSLPDUR)
+                                    auto_sleep_durn_u8r = auto_sleep_durn_u8;
+                                else
+                                    auto_sleep_durn_u8r =
+                                    BNO055_GYRO_4MS_AUTOSLPDUR;
+                                break;
+                            case BNO055_GYRO_BW_116HZ:
+                                if (auto_sleep_durn_u8 >
+                                BNO055_GYRO_4MS_AUTOSLPDUR)
+                                    auto_sleep_durn_u8r = auto_sleep_durn_u8;
+                                else
+                                    auto_sleep_durn_u8r =
+                                    BNO055_GYRO_4MS_AUTOSLPDUR;
+                                break;
+                            case BNO055_GYRO_BW_47HZ:
+                                if (auto_sleep_durn_u8 >
+                                BNO055_GYRO_5MS_AUTOSLPDUR)
+                                    auto_sleep_durn_u8r = auto_sleep_durn_u8;
+                                else
+                                    auto_sleep_durn_u8r =
+                                    BNO055_GYRO_5MS_AUTOSLPDUR;
+                                break;
+                            case BNO055_GYRO_BW_23HZ:
+                                if (auto_sleep_durn_u8 >
+                                BNO055_GYRO_10MS_AUTOSLPDUR)
+                                    auto_sleep_durn_u8r = auto_sleep_durn_u8;
+                                else
+                                    auto_sleep_durn_u8r =
+                                    BNO055_GYRO_10MS_AUTOSLPDUR;
+                                break;
+                            case BNO055_GYRO_BW_12HZ:
+                                if (auto_sleep_durn_u8 >
+                                BNO055_GYRO_20MS_AUTOSLPDUR)
+                                    auto_sleep_durn_u8r = auto_sleep_durn_u8;
+                                else
+                                    auto_sleep_durn_u8r =
+                                    BNO055_GYRO_20MS_AUTOSLPDUR;
+                                break;
+                            case BNO055_GYRO_BW_64HZ:
+                                if (auto_sleep_durn_u8 >
+                                BNO055_GYRO_10MS_AUTOSLPDUR)
+                                    auto_sleep_durn_u8r = auto_sleep_durn_u8;
+                                else
+                                    auto_sleep_durn_u8r =
+                                    BNO055_GYRO_10MS_AUTOSLPDUR;
+                                break;
+                            case BNO055_GYRO_BW_32HZ:
+                                if (auto_sleep_durn_u8 >
+                                BNO055_GYRO_20MS_AUTOSLPDUR)
+                                    auto_sleep_durn_u8r = auto_sleep_durn_u8;
+                                else
+                                    auto_sleep_durn_u8r =
+                                    BNO055_GYRO_20MS_AUTOSLPDUR;
+                                break;
+                            default:
+                                if (auto_sleep_durn_u8 >
+                                BNO055_GYRO_4MS_AUTOSLPDUR)
+                                    auto_sleep_durn_u8r = auto_sleep_durn_u8;
+                                else
+                                    auto_sleep_durn_u8r =
+                                    BNO055_GYRO_4MS_AUTOSLPDUR;
+                                break;
+                        }
+                        if (com_rslt == BNO055_SUCCESS) {
+                            data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                    BNO055_GYRO_AUTO_SLEEP_DURN,
+                                    auto_sleep_durn_u8r);
+                            com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_GYRO_AUTO_SLEEP_DURN_REG,
+                                    &data_u8r,
+                                    BNO055_GEN_READ_WRITE_LENGTH);
+                        }
+                    } else {
+                        com_rslt = BNO055_OUT_OF_RANGE;
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the mag sleep mode
+ *  from page one register from 0x0E bit 0
+ *
+ *  @param sleep_mode_u8 : The value of mag sleep mode
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_mode(u8 *sleep_mode_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page,mag sleep mode is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of mag sleep mode*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_MAG_SLEEP_MODE_REG,
+                    &data_u8r,
+                    BNO055_GEN_READ_WRITE_LENGTH);
+            *sleep_mode_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_MAG_SLEEP_MODE);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the mag sleep mode
+ *  from page one register from 0x0E bit 0
+ *
+ *  @param sleep_mode_u8 : The value of mag sleep mode
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_mode(u8 sleep_mode_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(
+                BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_MAG_SLEEP_MODE_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        /* Write the value
+                         of mag sleep mode*/
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_MAG_SLEEP_MODE, sleep_mode_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_MAG_SLEEP_MODE_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the mag sleep duration
+ *  from page one register from 0x0E bit 1 to 4
+ *
+ *  @param sleep_durn_u8 : The value of mag sleep duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_durn(u8 *sleep_durn_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page,mag sleep duration is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of mag sleep duration*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_MAG_SLEEP_DURN_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *sleep_durn_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_MAG_SLEEP_DURN);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the mag sleep duration
+ *  from page one register from 0x0E bit 1 to 4
+ *
+ *  @param sleep_durn_u8 : The value of mag sleep duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_durn(u8 sleep_durn_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(
+                BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_MAG_SLEEP_DURN_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        /* Write the value of
+                         mag sleep duration */
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_MAG_SLEEP_DURN, sleep_durn_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_MAG_SLEEP_DURN_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the gyro anymotion interrupt mask
+ *  from page one register from 0x0F bit 2
+ *
+ *  @param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask
+ *      gyro_any_motion_u8 |   result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the gyro anymotion interrupt
+ *  configure the following settings
+ *
+ *  Axis:
+ *  bno055_set_gyro_any_motion_axis_enable()
+ *
+ *  Filter setting:
+ *  bno055_set_gyro_any_motion_filter()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_gyro_any_motion_thres()
+ *
+ *  Slope samples :
+ *
+ *  bno055_set_gyro_any_motion_slope_samples()
+ *
+ *  Awake duration :
+ *
+ *  bno055_set_gyro_any_motion_awake_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_any_motion(
+        u8 *gyro_any_motion_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro anymotion interrupt mask is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of gyro anymotion interrupt mask*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_ANY_MOTION_INTR_MASK_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_any_motion_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_GYRO_ANY_MOTION_INTR_MASK);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the gyro anymotion interrupt mask
+ *  from page one register from 0x0F bit 2
+ *
+ *  @param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask
+ *      gyro_any_motion_u8 |   result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the gyro anymotion interrupt
+ *  configure the following settings
+ *
+ *  Axis:
+ *  bno055_set_gyro_any_motion_axis_enable()
+ *
+ *  Filter setting:
+ *  bno055_set_gyro_any_motion_filter()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_gyro_any_motion_thres()
+ *
+ *  Slope samples :
+ *
+ *  bno055_set_gyro_any_motion_slope_samples()
+ *
+ *  Awake duration :
+ *
+ *  bno055_set_gyro_any_motion_awake_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_any_motion(
+        u8 gyro_any_motion_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel range is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Write the value of gyro anymotion interrupt mask*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_ANY_MOTION_INTR_MASK_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            if (com_rslt == BNO055_SUCCESS) {
+                data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                        BNO055_GYRO_ANY_MOTION_INTR_MASK, gyro_any_motion_u8);
+                com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_GYRO_ANY_MOTION_INTR_MASK_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the gyro highrate interrupt mask
+ *  from page one register from 0x0F bit 3
+ *
+ *  @param gyro_highrate_u8 : The value of gyro highrate interrupt mask
+ *        gyro_highrate_u8 |  result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the gyro highrate interrupt
+ *  configure the below settings by using
+ *  the following API
+ *
+ *  Axis :
+ *
+ *  bno055_set_gyro_highrate_axis_enable()
+ *
+ *  Filter :
+ *
+ *  bno055_set_gyro_highrate_filter()
+ *
+ *  Threshold :
+ *
+ *  bno055_get_gyro_highrate_x_thres()
+ *
+ *  bno055_get_gyro_highrate_y_thres()
+ *
+ *  bno055_get_gyro_highrate_z_thres()
+ *
+ *  Hysteresis :
+ *
+ *  bno055_set_gyro_highrate_x_hyst()
+ *
+ *  bno055_set_gyro_highrate_y_hyst()
+ *
+ *  bno055_set_gyro_highrate_z_hyst()
+ *
+ *  Duration :
+ *
+ *  bno055_set_gyro_highrate_x_durn()
+ *
+ *  bno055_set_gyro_highrate_y_durn()
+ *
+ *  bno055_set_gyro_highrate_z_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_highrate(
+        u8 *gyro_highrate_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro highrate interrupt mask is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of gyro highrate interrupt mask*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_HIGHRATE_INTR_MASK_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_highrate_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_GYRO_HIGHRATE_INTR_MASK);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the gyro highrate interrupt mask
+ *  from page one register from 0x0F bit 3
+ *
+ *  @param gyro_highrate_u8 : The value of gyro highrate interrupt mask
+ *        gyro_highrate_u8 |  result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the gyro highrate interrupt
+ *  configure the below settings by using
+ *  the following APIs
+ *
+ *  Axis :
+ *
+ *  bno055_set_gyro_highrate_axis_enable()
+ *
+ *  Filter :
+ *
+ *  bno055_set_gyro_highrate_filter()
+ *
+ *  Threshold :
+ *
+ *  bno055_get_gyro_highrate_x_thres()
+ *
+ *  bno055_get_gyro_highrate_y_thres()
+ *
+ *  bno055_get_gyro_highrate_z_thres()
+ *
+ *  Hysteresis :
+ *
+ *  bno055_set_gyro_highrate_x_hyst()
+ *
+ *  bno055_set_gyro_highrate_y_hyst()
+ *
+ *  bno055_set_gyro_highrate_z_hyst()
+ *
+ *  Duration :
+ *
+ *  bno055_set_gyro_highrate_x_durn()
+ *
+ *  bno055_set_gyro_highrate_y_durn()
+ *
+ *  bno055_set_gyro_highrate_z_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_highrate(
+        u8 gyro_highrate_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro highrate interrupt mask is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_HIGHRATE_INTR_MASK_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            if (com_rslt == BNO055_SUCCESS) {
+                /* Write the value of gyro
+                 highrate interrupt mask*/
+                data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                        BNO055_GYRO_HIGHRATE_INTR_MASK, gyro_highrate_u8);
+                com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_GYRO_HIGHRATE_INTR_MASK_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the accel highg interrupt mask
+ *  from page one register from 0x0F bit 5
+ *
+ *  @param accel_high_g_u8 : The value of accel highg interrupt mask
+ *         accel_high_g_u8 |   result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the accel highg interrupt
+ *  configure the below settings by using
+ *  the following APIs
+ *
+ *  Axis :
+ *
+ *  bno055_set_accel_high_g_axis_enable()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_accel_high_g_thres()
+ *
+ *  Duration :
+ *
+ *  bno055_set_accel_high_g_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_high_g(
+        u8 *accel_high_g_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel highg interrupt mask is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of accel highg interrupt mask*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_HIGH_G_INTR_MASK_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *accel_high_g_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_ACCEL_HIGH_G_INTR_MASK);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the accel highg interrupt mask
+ *  from page one register from 0x0F bit 5
+ *
+ *  @param accel_high_g_u8 : The value of accel highg interrupt mask
+ *         accel_high_g_u8 |   result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the accel highg interrupt
+ *  configure the below settings by using
+ *  the following APIs
+ *
+ *  Axis :
+ *
+ *  bno055_set_accel_high_g_axis_enable()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_accel_high_g_thres()
+ *
+ *  Duration :
+ *
+ *  bno055_set_accel_high_g_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_high_g(
+        u8 accel_high_g_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel highg interrupt mask is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_HIGH_G_INTR_MASK_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            if (com_rslt == BNO055_SUCCESS) {
+                /* Write the value of accel
+                 highg interrupt mask*/
+                data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                        BNO055_ACCEL_HIGH_G_INTR_MASK, accel_high_g_u8);
+                com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_ACCEL_HIGH_G_INTR_MASK_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the accel anymotion interrupt mask
+ *  from page one register from 0x0F bit 6
+ *
+ *  @param accel_any_motion_u8 : The value of accel anymotion interrupt mask
+ *     accel_any_motion_u8 | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the accel highg interrupt
+ *  configure the below settings by using
+ *  the following APIs
+ *
+ *  Axis :
+ *
+ *  bno055_set_accel_high_g_axis_enable()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_accel_high_g_thres()
+ *
+ *  Duration :
+ *
+ *  bno055_set_accel_high_g_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_any_motion(
+        u8 *accel_any_motion_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel anymotion interrupt mask is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* The value of accel anymotion interrupt mask*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *accel_any_motion_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_ACCEL_ANY_MOTION_INTR_MASK);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the accel anymotion interrupt mask
+ *  from page one register from 0x0F bit 6
+ *
+ *  @param accel_any_motion_u8 : The value of accel anymotion interrupt mask
+ *     accel_any_motion_u8 | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the accel anymotion interrupt
+ *  configure the following settings
+ *
+ *  Axis:
+ *
+ *  bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ *  Duration:
+ *
+ *  bno055_set_accel_any_motion_durn()
+ *
+ * Threshold:
+ *
+ *  bno055_set_accel_any_motion_thres()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_any_motion(
+        u8 accel_any_motion_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel anymotion interrupt mask is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Write the value of accel anymotion interrupt mask*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            if (com_rslt == BNO055_SUCCESS) {
+                data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                        BNO055_ACCEL_ANY_MOTION_INTR_MASK, accel_any_motion_u8);
+                com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the accel nomotion interrupt mask
+ *  from page one register from 0x0F bit 7
+ *
+ *  @param accel_nomotion_u8 : The value of accel nomotion interrupt mask
+ *     accel_nomotion_u8   | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *
+ *  @note While enabling the accel anymotion interrupt
+ *  configure the following settings
+ *
+ *  Axis:
+ *
+ *  bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ *  Duration:
+ *
+ *  bno055_set_accel_any_motion_durn()
+ *
+ * Threshold:
+ *
+ *  bno055_set_accel_any_motion_thres())
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_no_motion(
+        u8 *accel_nomotion_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel nomotion interrupt mask is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of accel nomotion interrupt mask*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_NO_MOTION_INTR_MASK_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *accel_nomotion_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_ACCEL_NO_MOTION_INTR_MASK);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the accel nomotion interrupt mask
+ *  from page one register from 0x0F bit 7
+ *
+ *  @param accel_nomotion_u8 : The value of accel nomotion interrupt mask
+ *     accel_nomotion_u8   | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the accel nomotion interrupt
+ *  configure the following settings
+ *
+ *  Axis:
+ *
+ *  bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_accel_slow_no_motion_thres()
+ *
+ *  Duration :
+ *
+ *  bno055_set_accel_slow_no_motion_durn()
+ *
+ *  Slow/no motion enable:
+ *
+ *  bno055_set_accel_slow_no_motion_enable()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_no_motion(
+        u8 accel_nomotion_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel
+         nomotion interrupt mask is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_NO_MOTION_INTR_MASK_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            if (com_rslt == BNO055_SUCCESS) {
+                /* Write the value of accel
+                 nomotion interrupt mask*/
+                data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                        BNO055_ACCEL_NO_MOTION_INTR_MASK, accel_nomotion_u8);
+                com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_ACCEL_NO_MOTION_INTR_MASK_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the gyro anymotion interrupt
+ *  from page one register from 0x10 bit 2
+ *
+ *  @param gyro_any_motion_u8 : The value of gyro anymotion interrupt
+ *      gyro_any_motion_u8 | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the gyro anymotion interrupt
+ *  configure the following settings
+ *
+ *  Axis:
+ *  bno055_set_gyro_any_motion_axis_enable()
+ *
+ *  Filter setting:
+ *  bno055_set_gyro_any_motion_filter()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_gyro_any_motion_thres()
+ *
+ *  Slope samples :
+ *
+ *  bno055_set_gyro_any_motion_slope_samples()
+ *
+ *  Awake duration :
+ *
+ *  bno055_set_gyro_any_motion_awake_durn()
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_any_motion(
+        u8 *gyro_any_motion_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro anymotion interrupt  is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of gyro anymotion interrupt */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_ANY_MOTION_INTR_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_any_motion_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_GYRO_ANY_MOTION_INTR);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the gyro anymotion interrupt
+ *  from page one register from 0x10 bit 2
+ *
+ *  @param gyro_any_motion_u8 : The value of gyro anymotion interrupt
+ *    gyro_any_motion_u8   | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the gyro anymotion interrupt
+ *  configure the following settings
+ *
+ *  Axis:
+ *  bno055_set_gyro_any_motion_axis_enable()
+ *
+ *  Filter setting:
+ *  bno055_set_gyro_any_motion_filter()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_gyro_any_motion_thres()
+ *
+ *  Slope samples :
+ *
+ *  bno055_set_gyro_any_motion_slope_samples()
+ *
+ *  Awake duration :
+ *
+ *  bno055_set_gyro_any_motion_awake_durn()
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_any_motion(
+        u8 gyro_any_motion_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro anymotion interrupt  is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Write the value of gyro anymotion interrupt */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_ANY_MOTION_INTR_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            if (com_rslt == BNO055_SUCCESS) {
+                data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                        BNO055_GYRO_ANY_MOTION_INTR, gyro_any_motion_u8);
+                com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_GYRO_ANY_MOTION_INTR_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the gyro highrate interrupt
+ *  from page one register from 0x10 bit 3
+ *
+ *  @param gyro_highrate_u8 : The value of gyro highrate interrupt
+ *      gyro_highrate_u8   | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the gyro highrate interrupt
+ *  configure the below settings by using
+ *  the following APIs
+ *
+ *  Axis :
+ *
+ *  bno055_set_gyro_highrate_axis_enable()
+ *
+ *  Filter :
+ *
+ *  bno055_set_gyro_highrate_filter()
+ *
+ *  Threshold :
+ *
+ *  bno055_get_gyro_highrate_x_thres()
+ *
+ *  bno055_get_gyro_highrate_y_thres()
+ *
+ *  bno055_get_gyro_highrate_z_thres()
+ *
+ *  Hysteresis :
+ *
+ *  bno055_set_gyro_highrate_x_hyst()
+ *
+ *  bno055_set_gyro_highrate_y_hyst()
+ *
+ *  bno055_set_gyro_highrate_z_hyst()
+ *
+ *  Duration :
+ *
+ *  bno055_set_gyro_highrate_x_durn()
+ *
+ *  bno055_set_gyro_highrate_y_durn()
+ *
+ *  bno055_set_gyro_highrate_z_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_highrate(u8 *gyro_highrate_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro highrate interrupt is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of gyro highrate interrupt */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_HIGHRATE_INTR_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_highrate_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_GYRO_HIGHRATE_INTR);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the gyro highrate interrupt
+ *  from page one register from 0x10 bit 3
+ *
+ *  @param gyro_highrate_u8 : The value of gyro highrate interrupt
+ *      gyro_highrate_u8   | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the gyro highrate interrupt
+ *  configure the below settings by using
+ *  the following APIs
+ *
+ *  Axis :
+ *
+ *  bno055_set_gyro_highrate_axis_enable()
+ *
+ *  Filter :
+ *
+ *  bno055_set_gyro_highrate_filter()
+ *
+ *  Threshold :
+ *
+ *  bno055_get_gyro_highrate_x_thres()
+ *
+ *  bno055_get_gyro_highrate_y_thres()
+ *
+ *  bno055_get_gyro_highrate_z_thres()
+ *
+ *  Hysteresis :
+ *
+ *  bno055_set_gyro_highrate_x_hyst()
+ *
+ *  bno055_set_gyro_highrate_y_hyst()
+ *
+ *  bno055_set_gyro_highrate_z_hyst()
+ *
+ *  Duration :
+ *
+ *  bno055_set_gyro_highrate_x_durn()
+ *
+ *  bno055_set_gyro_highrate_y_durn()
+ *
+ *  bno055_set_gyro_highrate_z_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_highrate(u8 gyro_highrate_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro highrate interrupt is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_HIGHRATE_INTR_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            if (com_rslt == BNO055_SUCCESS) {
+                /* Write the value of gyro highrate interrupt */
+                data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                        BNO055_GYRO_HIGHRATE_INTR, gyro_highrate_u8);
+                com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_GYRO_HIGHRATE_INTR_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the accel highg interrupt
+ *  from page one register from 0x10 bit 5
+ *
+ *  @param accel_high_g_u8 : The value of accel highg interrupt
+ *      accel_high_g_u8    | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the accel highg interrupt
+ *  configure the below settings by using
+ *  the following APIs
+ *
+ *  Axis :
+ *
+ *  bno055_set_accel_high_g_axis_enable()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_accel_high_g_thres()
+ *
+ *  Duration :
+ *
+ *  bno055_set_accel_high_g_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_high_g(u8 *accel_high_g_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel highg interrupt  is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of accel highg interrupt*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_HIGH_G_INTR_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *accel_high_g_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_ACCEL_HIGH_G_INTR);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the accel highg interrupt
+ *  from page one register from 0x10 bit 5
+ *
+ *  @param accel_high_g_u8 : The value of accel highg interrupt
+ *      accel_high_g_u8    | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the accel highg interrupt
+ *  configure the below settings by using
+ *  the following APIs
+ *
+ *  Axis :
+ *
+ *  bno055_set_accel_high_g_axis_enable()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_accel_high_g_thres()
+ *
+ *  Duration :
+ *
+ *  bno055_set_accel_high_g_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_high_g(u8 accel_high_g_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel highg interrupt is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_HIGH_G_INTR_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            if (com_rslt == BNO055_SUCCESS) {
+                /* Write the value of accel highg interrupt*/
+                data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                        BNO055_ACCEL_HIGH_G_INTR, accel_high_g_u8);
+                com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_ACCEL_HIGH_G_INTR_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the accel anymotion interrupt
+ *  from page one register from 0x10 bit 6
+ *
+ *  @param accel_any_motion_u8 : The value of accel anymotion interrupt
+ *  accel_any_motion_u8    | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the accel anymotion interrupt
+ *  configure the following settings
+ *
+ *  Axis:
+ *
+ *  bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ *  Duration:
+ *
+ *  bno055_set_accel_any_motion_durn()
+ *
+ * Threshold:
+ *
+ *  bno055_set_accel_any_motion_thres()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_any_motion(
+        u8 *accel_any_motion_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel anymotion interrupt  is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of accel anymotion interrupt */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_ANY_MOTION_INTR_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *accel_any_motion_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_ACCEL_ANY_MOTION_INTR);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the accel anymotion interrupt
+ *  from page one register from 0x10 bit 6
+ *
+ *  @param accel_any_motion_u8 : The value of accel anymotion interrupt
+ *  accel_any_motion_u8    | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the accel anymotion interrupt
+ *  configure the following settings
+ *
+ *  Axis:
+ *
+ *  bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ *  Duration:
+ *
+ *  bno055_set_accel_any_motion_durn()
+ *
+ *  Threshold:
+ *
+ *  bno055_set_accel_any_motion_thres()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_any_motion(
+        u8 accel_any_motion_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel range is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Write the value of accel anymotion interrupt */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_ANY_MOTION_INTR_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            if (com_rslt == BNO055_SUCCESS) {
+                data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                        BNO055_ACCEL_ANY_MOTION_INTR, accel_any_motion_u8);
+                com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_ACCEL_ANY_MOTION_INTR_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the accel nomotion interrupt
+ *  from page one register from 0x10 bit 6
+ *
+ *  @param accel_nomotion_u8 : The value of accel nomotion interrupt
+ *    accel_nomotion_u8    | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the accel nomotion interrupt
+ *  configure the following settings
+ *
+ *  Axis:
+ *
+ *  bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_accel_slow_no_motion_thres()
+ *
+ *  Duration :
+ *
+ *  bno055_set_accel_slow_no_motion_durn()
+ *
+ *  Slow/no motion enable:
+ *
+ *  bno055_set_accel_slow_no_motion_enable()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_no_motion(
+        u8 *accel_nomotion_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel nomotion interrupt is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of accel nomotion interrupt*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_NO_MOTION_INTR_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *accel_nomotion_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_ACCEL_NO_MOTION_INTR);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the accel nomotion interrupt
+ *  from page one register from 0x10 bit 6
+ *
+ *  @param accel_nomotion_u8 : The value of accel nomotion interrupt
+ *    accel_nomotion_u8    | result
+ *     --------------------  |------------
+ *              0x01         | BNO055_BIT_ENABLE
+ *              0x00         | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note While enabling the accel nomotion interrupt
+ *  configure the following settings
+ *
+ *  Axis:
+ *
+ *  bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ *  Threshold :
+ *
+ *  bno055_set_accel_slow_no_motion_thres()
+ *
+ *  Duration :
+ *
+ *  bno055_set_accel_slow_no_motion_durn()
+ *
+ *  Slow/no motion enable:
+ *
+ *  bno055_set_accel_slow_no_motion_enable()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_no_motion(
+        u8 accel_nomotion_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page,
+         accel nomotion interrupt is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_NO_MOTION_INTR_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            if (com_rslt == BNO055_SUCCESS) {
+                /* Write the value of
+                 accel nomotion interrupt */
+                data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                        BNO055_ACCEL_NO_MOTION_INTR, accel_nomotion_u8);
+                com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                (p_bno055->dev_addr,
+                        BNO055_ACCEL_NO_MOTION_INTR_REG,
+                        &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the accel any motion threshold
+ *  from page one register from 0x11 bit 0 to 7
+ *
+ *  @param accel_any_motion_thres_u8 : The value of any motion threshold
+ *  accel_any_motion_thres_u8 | result
+ *  ------------------------    | -------------
+ *              0x01            | BNO055_BIT_ENABLE
+ *              0x00            | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Accel anymotion threshold dependent on the
+ *  range values
+ *
+ *  accel_range_u8 |    threshold | LSB
+ * ------------- | ------------- | ---------
+ *     2g        |    3.19mg     |   1LSB
+ *     4g        |    7.81mg     |   1LSB
+ *     8g        |    15.63mg    |   1LSB
+ *     16g       |    31.25mg    |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_thres(
+        u8 *accel_any_motion_thres_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel any motion threshold  is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of accel any motion threshold */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_ANY_MOTION_THRES_REG,
+                    &data_u8r,
+                    BNO055_GEN_READ_WRITE_LENGTH);
+            *accel_any_motion_thres_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_ACCEL_ANY_MOTION_THRES);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the accel any motion threshold
+ *  from page one register from 0x11 bit 0 to 7
+ *
+ *  @param accel_any_motion_thres_u8 : The value of any motion threshold
+ *  accel_any_motion_thres_u8 | result
+ *  ------------------------    | -------------
+ *              0x01            | BNO055_BIT_ENABLE
+ *              0x00            | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Accel anymotion threshold dependent on the
+ *  range values
+ *
+ *  accel_range_u8   |  threshold    |  LSB
+ * ------------- | ------------- | ---------
+ *     2g        |    3.19mg     |   1LSB
+ *     4g        |    7.81mg     |   1LSB
+ *     8g        |    15.63mg    |   1LSB
+ *     16g       |    31.25mg    |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_thres(
+        u8 accel_any_motion_thres_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_ACCEL_ANY_MOTION_THRES_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        /* Write the value of
+                         accel any motion threshold*/
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_ACCEL_ANY_MOTION_THRES,
+                                accel_any_motion_thres_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_ACCEL_ANY_MOTION_THRES_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the accel anymotion duration
+ *  from page one register from 0x12 bit 0 to 1
+ *
+ *  @param accel_any_motion_durn_u8 : The value of accel anymotion duration
+ * accel_any_motion_durn_u8  | result
+ *  -------------------------  | -------------
+ *              0x01           | BNO055_BIT_ENABLE
+ *              0x00           | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_durn(
+        u8 *accel_any_motion_durn_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel anymotion duration  is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of accel anymotion duration */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_ANY_MOTION_DURN_SET_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *accel_any_motion_durn_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_ACCEL_ANY_MOTION_DURN_SET);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the accel anymotion duration
+ *  from page one register from 0x12 bit 0 to 1
+ *
+ *  @param accel_any_motion_durn_u8 : The value of accel anymotion duration
+ *
+ * accel_any_motion_durn_u8  | result
+ *  -------------------------  | -------------
+ *              0x01           | BNO055_BIT_ENABLE
+ *              0x00           | BNO055_BIT_DISABLE
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_durn(
+        u8 accel_any_motion_durn_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_ACCEL_ANY_MOTION_DURN_SET_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        /* Write the value of
+                         accel anymotion duration*/
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_ACCEL_ANY_MOTION_DURN_SET,
+                                accel_any_motion_durn_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_ACCEL_ANY_MOTION_DURN_SET_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the accel anymotion enable
+ *  from page one register from 0x12 bit 2 to 4
+ *
+ *  @param data_u8 : The value of accel anymotion enable
+ *     data_u8 | result
+ *  ------------ | -------------
+ *      0x01     | BNO055_BIT_ENABLE
+ *      0x00     | BNO055_BIT_DISABLE
+ *  @param channel_u8 : The value of accel anymotion axis selection
+ *           channel_u8                        | value
+ *     --------------------------                | ----------
+ *     BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS  |   0
+ *     BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS  |   1
+ *     BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS  |   2
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_no_motion_axis_enable(
+        u8 channel_u8, u8 *data_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel anymotion enable is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            switch (channel_u8) {
+                case BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS:
+                    /* Read the value of accel anymotion x enable*/
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_ACCEL_ANY_MOTION_X_AXIS_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    *data_u8 = BNO055_GET_BITSLICE(data_u8r,
+                            BNO055_ACCEL_ANY_MOTION_X_AXIS);
+                    break;
+                case BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS:
+                    /* Read the value of accel anymotion y enable*/
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    *data_u8 = BNO055_GET_BITSLICE(data_u8r,
+                            BNO055_ACCEL_ANY_MOTION_Y_AXIS);
+                    break;
+                case BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS:
+                    /* Read the value of accel anymotion z enable*/
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    *data_u8 = BNO055_GET_BITSLICE(data_u8r,
+                            BNO055_ACCEL_ANY_MOTION_Z_AXIS);
+                    break;
+                default:
+                    com_rslt = BNO055_OUT_OF_RANGE;
+                    break;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the accel anymotion enable
+ *  from page one register from 0x12 bit 2 to 4
+ *
+ *  @param data_u8 : The value of accel anymotion enable
+ *     data_u8 | result
+ *  ------------ | -------------
+ *      0x01     | BNO055_BIT_ENABLE
+ *      0x00     | BNO055_BIT_DISABLE
+ *  @param channel_u8 : The value of accel anymotion axis selection
+ *           channel_u8                        | value
+ *     --------------------------                | ----------
+ *     BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS  |   0
+ *     BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS  |   1
+ *     BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS  |   2
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_no_motion_axis_enable(
+        u8 channel_u8, u8 data_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    switch (channel_u8) {
+                        case BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS:
+                            /* Write the value of
+                             accel anymotion x enable*/
+                            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_ACCEL_ANY_MOTION_X_AXIS_REG,
+                                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                            if (com_rslt == BNO055_SUCCESS) {
+                                data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                        BNO055_ACCEL_ANY_MOTION_X_AXIS,
+                                        data_u8);
+                                com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                                (p_bno055->dev_addr,
+                                        BNO055_ACCEL_ANY_MOTION_X_AXIS_REG,
+                                        &data_u8r,
+                                        BNO055_GEN_READ_WRITE_LENGTH);
+                            }
+                            break;
+                        case BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS:
+                            /* Write the value of
+                             accel anymotion y enable*/
+                            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG,
+                                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                            if (com_rslt == BNO055_SUCCESS) {
+                                data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                        BNO055_ACCEL_ANY_MOTION_Y_AXIS,
+                                        data_u8);
+                                com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                                (p_bno055->dev_addr,
+                                        BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG,
+                                        &data_u8r,
+                                        BNO055_GEN_READ_WRITE_LENGTH);
+                            }
+                            break;
+                        case BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS:
+                            /* Write the value of
+                             accel anymotion z enable*/
+                            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG,
+                                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                            if (com_rslt == BNO055_SUCCESS) {
+                                data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                        BNO055_ACCEL_ANY_MOTION_Z_AXIS,
+                                        data_u8);
+                                com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                                (p_bno055->dev_addr,
+                                        BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG,
+                                        &data_u8r,
+                                        BNO055_GEN_READ_WRITE_LENGTH);
+                            }
+                            break;
+                        default:
+                            com_rslt = BNO055_OUT_OF_RANGE;
+                            break;
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the accel highg enable
+ *  from page one register from 0x12 bit 5 to 7
+ *
+ *  @param data_u8 : The value of accel highg enable
+ *      data_u8| result
+ *  ------------ | -------------
+ *      0x01     | BNO055_BIT_ENABLE
+ *      0x00     | BNO055_BIT_DISABLE
+ *  @param channel_u8 : The value of accel highg axis selection
+ *               channel_u8     | value
+ *     -------------------------- | ----------
+ *     BNO055_ACCEL_HIGH_G_X_AXIS |   0
+ *     BNO055_ACCEL_HIGH_G_Y_AXIS |   1
+ *     BNO055_ACCEL_HIGH_G_Z_AXIS |   2
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_axis_enable(u8 channel_u8,
+        u8 *data_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel highg enable is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            switch (channel_u8) {
+                case BNO055_ACCEL_HIGH_G_X_AXIS:
+                    /* Read the value of accel x highg enable*/
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_ACCEL_HIGH_G_X_AXIS_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    *data_u8 = BNO055_GET_BITSLICE(data_u8r,
+                            BNO055_ACCEL_HIGH_G_X_AXIS);
+                    break;
+                case BNO055_ACCEL_HIGH_G_Y_AXIS:
+                    /* Read the value of accel y highg enable*/
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_ACCEL_HIGH_G_Y_AXIS_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    *data_u8 = BNO055_GET_BITSLICE(data_u8r,
+                            BNO055_ACCEL_HIGH_G_Y_AXIS);
+                    break;
+                case BNO055_ACCEL_HIGH_G_Z_AXIS:
+                    /* Read the value of accel z highg enable*/
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_ACCEL_HIGH_G_Z_AXIS_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    *data_u8 = BNO055_GET_BITSLICE(data_u8r,
+                            BNO055_ACCEL_HIGH_G_Z_AXIS);
+                    break;
+                default:
+                    com_rslt = BNO055_OUT_OF_RANGE;
+                    break;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the accel highg enable
+ *  from page one register from 0x12 bit 5 to 7
+ *
+ *  @param data_u8 : The value of accel highg enable
+ *      data_u8| result
+ *  ------------ | -------------
+ *      0x01     | BNO055_BIT_ENABLE
+ *      0x00     | BNO055_BIT_DISABLE
+ *  @param channel_u8 : The value of accel highg axis selection
+ *               channel_u8     | value
+ *     -------------------------- | ----------
+ *     BNO055_ACCEL_HIGH_G_X_AXIS |   0
+ *     BNO055_ACCEL_HIGH_G_Y_AXIS |   1
+ *     BNO055_ACCEL_HIGH_G_Z_AXIS |   2
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_axis_enable(u8 channel_u8,
+        u8 data_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    switch (channel_u8) {
+                        case BNO055_ACCEL_HIGH_G_X_AXIS:
+                            /* Write the value of
+                             accel x highg enable*/
+                            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_ACCEL_HIGH_G_X_AXIS_REG,
+                                    &data_u8r,
+                                    BNO055_GEN_READ_WRITE_LENGTH);
+                            if (com_rslt == BNO055_SUCCESS) {
+                                data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                        BNO055_ACCEL_HIGH_G_X_AXIS, data_u8);
+                                com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                                (p_bno055->dev_addr,
+                                        BNO055_ACCEL_HIGH_G_X_AXIS_REG,
+                                        &data_u8r,
+                                        BNO055_GEN_READ_WRITE_LENGTH);
+                            }
+                            break;
+                        case BNO055_ACCEL_HIGH_G_Y_AXIS:
+                            /* Write the value of
+                             accel y highg enable*/
+                            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_ACCEL_HIGH_G_Y_AXIS_REG,
+                                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                            if (com_rslt == BNO055_SUCCESS) {
+                                data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                        BNO055_ACCEL_HIGH_G_Y_AXIS, data_u8);
+                                com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                                (p_bno055->dev_addr,
+                                        BNO055_ACCEL_HIGH_G_Y_AXIS_REG,
+                                        &data_u8r,
+                                        BNO055_GEN_READ_WRITE_LENGTH);
+                            }
+                            break;
+                        case BNO055_ACCEL_HIGH_G_Z_AXIS:
+                            /* Write the value of
+                             accel z highg enable*/
+                            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_ACCEL_HIGH_G_Z_AXIS_REG,
+                                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                            if (com_rslt == BNO055_SUCCESS) {
+                                data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                        BNO055_ACCEL_HIGH_G_Z_AXIS, data_u8);
+                                com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                                (p_bno055->dev_addr,
+                                        BNO055_ACCEL_HIGH_G_Z_AXIS_REG,
+                                        &data_u8r,
+                                        BNO055_GEN_READ_WRITE_LENGTH);
+                            }
+                            break;
+                        default:
+                            com_rslt = BNO055_OUT_OF_RANGE;
+                            break;
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the accel highg duration
+ *  from page one register from 0x13 bit 0 to 7
+ *
+ *  @param accel_high_g_durn_u8 : The value of accel highg duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note The high-g interrupt trigger delay according
+ *  to [highg duration  + 1] * 2 ms
+ *
+ *  in a range from 2 ms to 512 ms
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_durn(
+        u8 *accel_high_g_durn_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel highg duration is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of accel highg duration*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_HIGH_G_DURN_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *accel_high_g_durn_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_ACCEL_HIGH_G_DURN);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the accel highg duration
+ *  from page one register from 0x13 bit 0 to 7
+ *
+ *  @param accel_high_g_durn_u8 : The value of accel highg duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note The high-g interrupt trigger delay according
+ *  to [highg duration  + 1] * 2 ms
+ *
+ *  in a range from 2 ms to 512 ms
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_durn(
+        u8 accel_high_g_durn_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(
+                BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_ACCEL_HIGH_G_DURN_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        /* Write the value of
+                         accel highg duration*/
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_ACCEL_HIGH_G_DURN, accel_high_g_durn_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_ACCEL_HIGH_G_DURN_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the accel highg threshold
+ *  from page one register from 0x14 bit 0 to 7
+ *
+ *  @param accel_high_g_thres_u8 : The value of accel highg threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Accel highg interrupt threshold dependent
+ *  for accel g range
+ *
+ *  accel_range_u8   |  threshold    |  LSB
+ * ------------- | ------------- | ---------
+ *     2g        |    7.81mg     |   1LSB
+ *     4g        |    15.63mg    |   1LSB
+ *     8g        |    31.25mg    |   1LSB
+ *     16g       |    62.5mg     |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_thres(
+        u8 *accel_high_g_thres_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, highg threshold is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of highg threshold */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_HIGH_G_THRES_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *accel_high_g_thres_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_ACCEL_HIGH_G_THRES);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the accel highg threshold
+ *  from page one register from 0x14 bit 0 to 7
+ *
+ *  @param accel_high_g_thres_u8 : The value of accel highg threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Accel highg interrupt threshold dependent
+ *  for accel g range
+ *
+ *  accel_range_u8   |  threshold    |  LSB
+ * ------------- | ------------- | ---------
+ *     2g        |    7.81mg     |   1LSB
+ *     4g        |    15.63mg    |   1LSB
+ *     8g        |    31.25mg    |   1LSB
+ *     16g       |    62.5mg     |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_thres(
+        u8 accel_high_g_thres_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(
+                BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_ACCEL_HIGH_G_THRES_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        /* Write the value of
+                         accel highg threshold */
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_ACCEL_HIGH_G_THRES,
+                                accel_high_g_thres_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_ACCEL_HIGH_G_THRES_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the accel slownomotion threshold
+ *  from page one register from 0x15 bit 0 to 7
+ *
+ *  @param accel_slow_no_motion_thres_u8 :
+ *  The value of accel slownomotion threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Accel slow no motion interrupt threshold dependent
+ *  for accel g range
+ *
+ *  accel_range_u8   |  threshold    |  LSB
+ * ------------- | ------------- | ---------
+ *     2g        |    3.19mg     |   1LSB
+ *     4g        |    7.81mg     |   1LSB
+ *     8g        |    15.63mg    |   1LSB
+ *     16g       |    31.25mg    |   1LSB
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_thres(
+        u8 *accel_slow_no_motion_thres_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel slownomotion threshold is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of slownomotion threshold */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *accel_slow_no_motion_thres_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_ACCEL_SLOW_NO_MOTION_THRES);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the accel slownomotion threshold
+ *  from page one register from 0x15 bit 0 to 7
+ *
+ *  @param accel_slow_no_motion_thres_u8 :
+ *  The value of accel slownomotion threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Accel slow no motion interrupt threshold dependent
+ *  for accel g range
+ *
+ *  accel_range_u8   |  threshold    |  LSB
+ * ------------- | ------------- | ---------
+ *     2g        |    3.19mg     |   1LSB
+ *     4g        |    7.81mg     |   1LSB
+ *     8g        |    15.63mg    |   1LSB
+ *     16g       |    31.25mg    |   1LSB
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_thres(
+        u8 accel_slow_no_motion_thres_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    /* Write the value of
+                     slownomotion threshold */
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_ACCEL_SLOW_NO_MOTION_THRES,
+                                accel_slow_no_motion_thres_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read accel slownomotion enable
+ *  from page one register from 0x16 bit 0
+ *
+ *  @param accel_slow_no_motion_en_u8 : The value of accel slownomotion enable
+ *    accel_slow_no_motion_en_u8   | result
+ *     ------------------------      | --------
+ *              0x01                 | Slow motion
+ *              0x00                 | No motion
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_enable(
+        u8 *accel_slow_no_motion_en_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel slownomotion enable is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of accel slownomotion enable */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *accel_slow_no_motion_en_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_ACCEL_SLOW_NO_MOTION_ENABLE);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write accel slownomotion enable
+ *  from page one register from 0x16 bit 0
+ *
+ *  @param accel_slow_no_motion_en_u8 : The value of accel slownomotion enable
+ *    accel_slow_no_motion_en_u8   | result
+ *     ------------------------      | --------
+ *              0x01                 | Slow motion
+ *              0x00                 | No motion
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_enable(
+        u8 accel_slow_no_motion_en_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        /* Read the value of
+                         accel slownomotion enable */
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_ACCEL_SLOW_NO_MOTION_ENABLE,
+                                accel_slow_no_motion_en_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read accel slownomotion duration
+ *  from page one register from 0x16 bit 1 to 6
+ *
+ *  @param accel_slow_no_motion_durn_u8 :
+ *  The value of accel slownomotion duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_durn(
+        u8 *accel_slow_no_motion_durn_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, accel slownomotion duration is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /*read value of accel slownomotion duration*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *accel_slow_no_motion_durn_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_ACCEL_SLOW_NO_MOTION_DURN);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write accel slownomotion duration
+ *  from page one register from 0x16 bit 1 to 6
+ *
+ *  @param accel_slow_no_motion_durn_u8 :
+ *  The value of accel slownomotion duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_durn(
+        u8 accel_slow_no_motion_durn_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        /*Write the value of accel
+                         slownomotion duration*/
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_ACCEL_SLOW_NO_MOTION_DURN,
+                                accel_slow_no_motion_durn_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the gyro anymotion enable
+ *  from page one register from 0x17 bit 0 to 2
+ *
+ *  @param data_u8 : The value of gyro anymotion enable
+ *      data_u8     | result
+ *  ----------------- |-------------
+ *      0x01          | BNO055_BIT_ENABLE
+ *      0x00          | BNO055_BIT_DISABLE
+ *  @param channel_u8 : The value of gyro anymotion axis selection
+ *               channel_u8         | value
+ *     ---------------------------    | ----------
+ *     BNO055_GYRO_ANY_MOTIONX_AXIS   |   0
+ *     BNO055_GYRO_ANY_MOTIONY_AXIS   |   1
+ *     BNO055_GYRO_ANY_MOTIONZ_AXIS   |   2
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_axis_enable(
+        u8 channel_u8, u8 *data_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro anymotion axis is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            switch (channel_u8) {
+                case BNO055_GYRO_ANY_MOTION_X_AXIS:
+                    /* Read the gyro anymotion x enable*/
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_ANY_MOTION_X_AXIS_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    *data_u8 = BNO055_GET_BITSLICE(data_u8r,
+                            BNO055_GYRO_ANY_MOTION_X_AXIS);
+                    break;
+                case BNO055_GYRO_ANY_MOTION_Y_AXIS:
+                    /* Read the gyro anymotion y enable*/
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_ANY_MOTION_Y_AXIS_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    *data_u8 = BNO055_GET_BITSLICE(data_u8r,
+                            BNO055_GYRO_ANY_MOTION_Y_AXIS);
+                    break;
+                case BNO055_GYRO_ANY_MOTION_Z_AXIS:
+                    /* Read the gyro anymotion z enable*/
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_ANY_MOTION_Z_AXIS_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    *data_u8 = BNO055_GET_BITSLICE(data_u8r,
+                            BNO055_GYRO_ANY_MOTION_Z_AXIS);
+                    break;
+                default:
+                    com_rslt = BNO055_OUT_OF_RANGE;
+                    break;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the gyro anymotion enable
+ *  from page one register from 0x17 bit 0 to 2
+ *
+ *  @param data_u8 : The value of gyro anymotion enable
+ *      data_u8     | result
+ *  ----------------- |-------------
+ *      0x01          | BNO055_BIT_ENABLE
+ *      0x00          | BNO055_BIT_DISABLE
+ *  @param channel_u8 : The value of gyro anymotion axis selection
+ *               channel_u8         | value
+ *     ---------------------------    | ----------
+ *     BNO055_GYRO_ANY_MOTIONX_AXIS   |   0
+ *     BNO055_GYRO_ANY_MOTIONY_AXIS   |   1
+ *     BNO055_GYRO_ANY_MOTIONZ_AXIS   |   2
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_axis_enable(
+        u8 channel_u8, u8 data_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    switch (channel_u8) {
+                        case BNO055_GYRO_ANY_MOTION_X_AXIS:
+                            /* Write the gyro
+                             anymotion x enable*/
+                            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_GYRO_ANY_MOTION_X_AXIS_REG,
+                                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                            if (com_rslt == BNO055_SUCCESS) {
+                                data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                        BNO055_GYRO_ANY_MOTION_X_AXIS, data_u8);
+                                com_rslt +=
+                                        p_bno055->BNO055_BUS_WRITE_FUNC
+                                        (p_bno055->dev_addr,
+                                                BNO055_GYRO_ANY_MOTION_X_AXIS_REG,
+                                                &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                            }
+                            break;
+                        case BNO055_GYRO_ANY_MOTION_Y_AXIS:
+                            /* Write the gyro
+                             anymotion y enable*/
+                            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_GYRO_ANY_MOTION_Y_AXIS_REG,
+                                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                            if (com_rslt == BNO055_SUCCESS) {
+                                data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                        BNO055_GYRO_ANY_MOTION_Y_AXIS, data_u8);
+                                com_rslt +=
+                                        p_bno055->BNO055_BUS_WRITE_FUNC
+                                        (p_bno055->dev_addr,
+                                                BNO055_GYRO_ANY_MOTION_Y_AXIS_REG,
+                                                &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                            }
+                            break;
+                        case BNO055_GYRO_ANY_MOTION_Z_AXIS:
+                            /* Write the gyro
+                             anymotion z enable*/
+                            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_GYRO_ANY_MOTION_Z_AXIS_REG,
+                                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                            if (com_rslt == BNO055_SUCCESS) {
+                                data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                        BNO055_GYRO_ANY_MOTION_Z_AXIS, data_u8);
+                                com_rslt +=
+                                        p_bno055->BNO055_BUS_WRITE_FUNC
+                                        (p_bno055->dev_addr,
+                                                BNO055_GYRO_ANY_MOTION_Z_AXIS_REG,
+                                                &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                            }
+                            break;
+                        default:
+                            com_rslt = BNO055_OUT_OF_RANGE;
+                            break;
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read the gyro highrate enable
+ *  from page one register from 0x17 bit 3 to 5
+ *
+ *  @param data_u8 : The value of gyro highrate enable
+ *      data_u8     | result
+ *  ----------------  |-------------
+ *      0x01          | BNO055_BIT_ENABLE
+ *      0x00          | BNO055_BIT_DISABLE
+ *  @param channel_u8 : The value of gyro highrate axis selection
+ *               channel_u8         | value
+ *     ------------------------       | ----------
+ *     BNO055_GYRO_HIGHRATE_X_AXIS    |   0
+ *     BNO055_GYRO_HIGHRATE_Y_AXIS    |   1
+ *     BNO055_GYRO_HIGHRATE_Z_AXIS    |   2
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_axis_enable(u8 channel_u8,
+        u8 *data_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro highrate enable is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            switch (channel_u8) {
+                case BNO055_GYRO_HIGHRATE_X_AXIS:
+                    /* Read the gyro highrate x enable */
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_HIGHRATE_X_AXIS_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    *data_u8 = BNO055_GET_BITSLICE(data_u8r,
+                            BNO055_GYRO_HIGHRATE_X_AXIS);
+                    break;
+                case BNO055_GYRO_HIGHRATE_Y_AXIS:
+                    /* Read the gyro highrate y enable */
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_HIGHRATE_Y_AXIS_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    *data_u8 = BNO055_GET_BITSLICE(data_u8r,
+                            BNO055_GYRO_HIGHRATE_Y_AXIS);
+                    break;
+                case BNO055_GYRO_HIGHRATE_Z_AXIS:
+                    /* Read the gyro highrate z enable */
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_HIGHRATE_Z_AXIS_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    *data_u8 = BNO055_GET_BITSLICE(data_u8r,
+                            BNO055_GYRO_HIGHRATE_Z_AXIS);
+                    break;
+                default:
+                    com_rslt = BNO055_OUT_OF_RANGE;
+                    break;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write the gyro highrate enable
+ *  from page one register from 0x17 bit 3 to 5
+ *
+ *  @param data_u8 : The value of gyro highrate enable
+ *      data_u8     | result
+ *  ----------------  |-------------
+ *      0x01          | BNO055_BIT_ENABLE
+ *      0x00          | BNO055_BIT_DISABLE
+ *  @param channel_u8 : The value of gyro highrate axis selection
+ *               channel_u8         | value
+ *     ------------------------       | ----------
+ *     BNO055_GYRO_HIGHRATE_X_AXIS    |   0
+ *     BNO055_GYRO_HIGHRATE_Y_AXIS    |   1
+ *     BNO055_GYRO_HIGHRATE_Z_AXIS    |   2
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_axis_enable(u8 channel_u8,
+        u8 data_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    switch (channel_u8) {
+                        case BNO055_GYRO_HIGHRATE_X_AXIS:
+                            /* Write the value of
+                             gyro highrate x enable*/
+                            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_GYRO_HIGHRATE_X_AXIS_REG,
+                                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                            if (com_rslt == BNO055_SUCCESS) {
+                                data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                        BNO055_GYRO_HIGHRATE_X_AXIS, data_u8);
+                                com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                                (p_bno055->dev_addr,
+                                        BNO055_GYRO_HIGHRATE_X_AXIS_REG,
+                                        &data_u8r,
+                                        BNO055_GEN_READ_WRITE_LENGTH);
+                            }
+                            break;
+                        case BNO055_GYRO_HIGHRATE_Y_AXIS:
+                            /* Write the value of
+                             gyro highrate y enable*/
+                            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_GYRO_HIGHRATE_Y_AXIS_REG,
+                                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                            if (com_rslt == BNO055_SUCCESS) {
+                                data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                        BNO055_GYRO_HIGHRATE_Y_AXIS, data_u8);
+                                com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                                (p_bno055->dev_addr,
+                                        BNO055_GYRO_HIGHRATE_Y_AXIS_REG,
+                                        &data_u8r,
+                                        BNO055_GEN_READ_WRITE_LENGTH);
+                            }
+                            break;
+                        case BNO055_GYRO_HIGHRATE_Z_AXIS:
+                            /* Write the value of
+                             gyro highrate z enable*/
+                            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                            (p_bno055->dev_addr,
+                                    BNO055_GYRO_HIGHRATE_Z_AXIS_REG,
+                                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                            if (com_rslt == BNO055_SUCCESS) {
+                                data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                        BNO055_GYRO_HIGHRATE_Z_AXIS, data_u8);
+                                com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                                (p_bno055->dev_addr,
+                                        BNO055_GYRO_HIGHRATE_Z_AXIS_REG,
+                                        &data_u8r,
+                                        BNO055_GEN_READ_WRITE_LENGTH);
+                            }
+                            break;
+                        default:
+                            com_rslt = BNO055_OUT_OF_RANGE;
+                            break;
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read gyro anymotion filter
+ *  from page one register from 0x17 bit 6
+ *
+ *  @param gyro_any_motion_filter_u8 : The value of gyro anymotion filter
+ *   gyro_any_motion_filter_u8  | result
+ *  ---------------------------   |------------
+ *      0x00                      | BNO055_GYRO_FILTERED_CONFIG
+ *      0x01                      | BNO055_GYRO_UNFILTERED_CONFIG
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_filter(
+        u8 *gyro_any_motion_filter_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro anymotion filter is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of gyro anymotion filter*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_ANY_MOTION_FILTER_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_any_motion_filter_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_GYRO_ANY_MOTION_FILTER);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write gyro anymotion filter
+ *  from page one register from 0x17 bit 6
+ *
+ *  @param gyro_any_motion_filter_u8 : The value of gyro anymotion filter
+ *   gyro_any_motion_filter_u8  | result
+ *  ---------------------------   |------------
+ *      0x00                      | BNO055_GYRO_FILTERED_CONFIG
+ *      0x01                      | BNO055_GYRO_UNFILTERED_CONFIG
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_filter(
+        u8 gyro_any_motion_filter_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    /* Write the value of
+                     gyro anymotion filter*/
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_ANY_MOTION_FILTER_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_GYRO_ANY_MOTION_FILTER,
+                                gyro_any_motion_filter_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_GYRO_ANY_MOTION_FILTER_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read gyro highrate filter
+ *  from page one register from 0x17 bit 7
+ *
+ *  @param gyro_highrate_filter_u8 : The value of gyro highrate filter
+ *   gyro_highrate_filter_u8  | result
+ *  --------------------------- |------------
+ *         0x00                 | BNO055_GYRO_FILTERED_CONFIG
+ *         0x01                 | BNO055_GYRO_UNFILTERED_CONFIG
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_filter(
+        u8 *gyro_highrate_filter_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro highrate filter is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of gyro highrate filter */
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_HIGHRATE_FILTER_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_highrate_filter_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_GYRO_HIGHRATE_FILTER);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write gyro highrate filter
+ *  from page one register from 0x17 bit 7
+ *
+ *  @param gyro_highrate_filter_u8 : The value of gyro highrate filter
+ *   gyro_highrate_filter_u8  | result
+ *  --------------------------- |------------
+ *         0x00                 | BNO055_GYRO_FILTERED_CONFIG
+ *         0x01                 | BNO055_GYRO_UNFILTERED_CONFIG
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_filter(
+        u8 gyro_highrate_filter_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    /* Write the value of
+                     gyro highrate filter*/
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_HIGHRATE_FILTER_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_GYRO_HIGHRATE_FILTER,
+                                gyro_highrate_filter_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_GYRO_HIGHRATE_FILTER_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read gyro highrate x threshold
+ *  from page one register from 0x18 bit 0 to 4
+ *
+ *  @param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate threshold dependent on the
+ *  selection of gyro range
+ *
+ *  gyro_range_u8     | threshold       |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.5dps      |   1LSB
+ *     1000           |    31.25dps     |   1LSB
+ *     500            |    15.625dps    |   1LSB
+ *     125            |    7.8125dps    |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_thres(
+        u8 *gyro_highrate_x_thres_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro highrate x threshold is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of gyro highrate threshold*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_HIGHRATE_X_THRES_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_highrate_x_thres_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_GYRO_HIGHRATE_X_THRES);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write gyro highrate x threshold
+ *  from page one register from 0x18 bit 0 to 4
+ *
+ *  @param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate threshold dependent on the
+ *  selection of gyro range
+ *
+ *  gyro_range_u8     | threshold       |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.5dps      |   1LSB
+ *     1000           |    31.25dps     |   1LSB
+ *     500            |    15.625dps    |   1LSB
+ *     125            |    7.8125dps    |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_thres(
+        u8 gyro_highrate_x_thres_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    /* Write the value of
+                     gyro highrate x threshold*/
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_HIGHRATE_X_THRES_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_GYRO_HIGHRATE_X_THRES,
+                                gyro_highrate_x_thres_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_GYRO_HIGHRATE_X_THRES_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read gyro highrate x hysteresis
+ *  from page one register from 0x18 bit 5 to 6
+ *
+ *  @param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro high rate hysteresis calculated by
+ *
+ *  using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB
+ *
+ *  The high rate value scales with the range setting
+ *
+ *  gyro_range_u8     | hysteresis      |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.26dps     |   1LSB
+ *     1000           |    31.13dps     |   1LSB
+ *     500            |    15.56dps     |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_hyst(
+        u8 *gyro_highrate_x_hyst_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page,gyro highrate x hysteresis is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of gyro highrate x hysteresis*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_HIGHRATE_X_HYST_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_highrate_x_hyst_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_GYRO_HIGHRATE_X_HYST);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write gyro highrate x hysteresis
+ *  from page one register from 0x18 bit 5 to 6
+ *
+ *  @param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro high rate hysteresis calculated by
+ *
+ *  using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB
+ *
+ *  The high rate value scales with the range setting
+ *
+ *  gyro_range_u8     | hysteresis      |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.26dps     |   1LSB
+ *     1000           |    31.13dps     |   1LSB
+ *     500            |    15.56dps     |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_hyst(
+        u8 gyro_highrate_x_hyst_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    /*Write the value of
+                     gyro highrate x hysteresis*/
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_HIGHRATE_X_HYST_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_GYRO_HIGHRATE_X_HYST,
+                                gyro_highrate_x_hyst_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_GYRO_HIGHRATE_X_HYST_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read gyro highrate x duration
+ *  from page one register from 0x19 bit 0 to 7
+ *
+ *  @param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate duration calculate by using the formula
+ *
+ *  (1 + gyro_highrate_x_durn_u8)*2.5ms
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_durn(
+        u8 *gyro_highrate_x_durn_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro highrate x duration is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of gyro highrate x duration*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_HIGHRATE_X_DURN_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_highrate_x_durn_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_GYRO_HIGHRATE_X_DURN);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write gyro highrate x duration
+ *  from page one register from 0x19 bit 0 to 7
+ *
+ *  @param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate duration calculate by using the formula
+ *
+ *  (1 + gyro_highrate_x_durn_u8)*2.5ms
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_durn(
+        u8 gyro_highrate_x_durn_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    /* Write the value
+                     of gyro highrate x duration*/
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_HIGHRATE_X_DURN_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_GYRO_HIGHRATE_X_DURN,
+                                gyro_highrate_x_durn_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_GYRO_HIGHRATE_X_DURN_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read gyro highrate y threshold
+ *  from page one register from 0x1A bit 0 to 4
+ *
+ *  @param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate threshold dependent on the
+ *  selection of gyro range
+ *
+ *  gyro_range_u8     | threshold       |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.5dps      |   1LSB
+ *     1000           |    31.25dps     |   1LSB
+ *     500            |    15.625dps    |   1LSB
+ *     125            |    7.8125dps    |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_thres(
+        u8 *gyro_highrate_y_thres_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro highrate y threshold is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of gyro highrate y threshold*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_HIGHRATE_Y_THRES_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_highrate_y_thres_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_GYRO_HIGHRATE_Y_THRES);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write gyro highrate y threshold
+ *  from page one register from 0x1A bit 0 to 4
+ *
+ *  @param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate threshold dependent on the
+ *  selection of gyro range
+ *
+ *  gyro_range_u8     | threshold       |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.5dps      |   1LSB
+ *     1000           |    31.25dps     |   1LSB
+ *     500            |    15.625dps    |   1LSB
+ *     125            |    7.8125dps    |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_thres(
+        u8 gyro_highrate_y_thres_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    /* Write the value
+                     of gyro highrate y threshold*/
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_HIGHRATE_Y_THRES_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_GYRO_HIGHRATE_Y_THRES,
+                                gyro_highrate_y_thres_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_GYRO_HIGHRATE_Y_THRES_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read gyro highrate y hysteresis
+ *  from page one register from 0x1A bit 5 to 6
+ *
+ *  @param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro high rate hysteresis calculated by
+ *
+ *  using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB
+ *
+ *  The high rate value scales with the range setting
+ *
+ *  gyro_range_u8     | hysteresis      |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.26dps     |   1LSB
+ *     1000           |    31.13dps     |   1LSB
+ *     500            |    15.56dps     |   1LSB
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_hyst(
+        u8 *gyro_highrate_y_hyst_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro highrate y hysteresis is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of gyro highrate y hysteresis*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_HIGHRATE_Y_HYST_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_highrate_y_hyst_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_GYRO_HIGHRATE_Y_HYST);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write gyro highrate y hysteresis
+ *  from page one register from 0x1A bit 5 to 6
+ *
+ *  @param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro high rate hysteresis calculated by
+ *
+ *  using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB
+ *
+ *  The high rate value scales with the range setting
+ *
+ *  gyro_range_u8     | hysteresis      |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.26dps     |   1LSB
+ *     1000           |    31.13dps     |   1LSB
+ *     500            |    15.56dps     |   1LSB
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_hyst(
+        u8 gyro_highrate_y_hyst_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    /* Write the value of
+                     gyro highrate y hysteresis*/
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_HIGHRATE_Y_HYST_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_GYRO_HIGHRATE_Y_HYST,
+                                gyro_highrate_y_hyst_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_GYRO_HIGHRATE_Y_HYST_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read gyro highrate y duration
+ *  from page one register from 0x1B bit 0 to 7
+ *
+ *  @param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate duration calculate by using the formula
+ *
+ *  (1 + gyro_highrate_y_durn_u8)*2.5ms
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_durn(
+        u8 *gyro_highrate_y_durn_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro highrate y duration is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of gyro highrate y duration*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_HIGHRATE_Y_DURN_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_highrate_y_durn_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_GYRO_HIGHRATE_Y_DURN);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write gyro highrate y duration
+ *  from page one register from 0x1B bit 0 to 7
+ *
+ *  @param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate duration calculate by using the formula
+ *
+ *  (1 + gyro_highrate_y_durn_u8)*2.5ms
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_durn(
+        u8 gyro_highrate_y_durn_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    /* Write the value
+                     of gyro highrate y duration*/
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_HIGHRATE_Y_DURN_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_GYRO_HIGHRATE_Y_DURN,
+                                gyro_highrate_y_durn_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_GYRO_HIGHRATE_Y_DURN_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read gyro highrate z threshold
+ *  from page one register from 0x1C bit 0 to 4
+ *
+ *  @param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate threshold dependent on the
+ *  selection of gyro range
+ *
+ *  gyro_range_u8     | threshold       |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.5dps      |   1LSB
+ *     1000           |    31.25dps     |   1LSB
+ *     500            |    15.625dps    |   1LSB
+ *     125            |    7.8125dps    |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_thres(
+        u8 *gyro_highrate_z_thres_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro highrate z threshold is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of gyro highrate z threshold*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_HIGHRATE_Z_THRES_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_highrate_z_thres_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_GYRO_HIGHRATE_Z_THRES);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write gyro highrate z threshold
+ *  from page one register from 0x1C bit 0 to 4
+ *
+ *  @param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate threshold dependent on the
+ *  selection of gyro range
+ *
+ *  gyro_range_u8     | threshold       |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.5dps      |   1LSB
+ *     1000           |    31.25dps     |   1LSB
+ *     500            |    15.625dps    |   1LSB
+ *     125            |    7.8125dps    |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_thres(
+        u8 gyro_highrate_z_thres_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    /* Write the value
+                     of gyro highrate z threshold*/
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_HIGHRATE_Z_THRES_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_GYRO_HIGHRATE_Z_THRES,
+                                gyro_highrate_z_thres_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_GYRO_HIGHRATE_Z_THRES_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read gyro highrate z hysteresis
+ *  from page one register from 0x1C bit 5 to 6
+ *
+ *  @param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro high rate hysteresis calculated by
+ *
+ *  using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB
+ *
+ *  The high rate value scales with the range setting
+ *
+ *  gyro_range_u8     |  hysteresis     |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.26dps     |   1LSB
+ *     1000           |    31.13dps     |   1LSB
+ *     500            |    15.56dps     |   1LSB
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_hyst(
+        u8 *gyro_highrate_z_hyst_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro highrate z hysteresis is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of gyro highrate z hysteresis*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_HIGHRATE_Z_HYST_REG,
+                    &data_u8r,
+                    BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_highrate_z_hyst_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_GYRO_HIGHRATE_Z_HYST);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write gyro highrate z hysteresis
+ *  from page one register from 0x1C bit 5 to 6
+ *
+ *  @param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro high rate hysteresis calculated by
+ *
+ *  using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB
+ *
+ *  The high rate value scales with the range setting
+ *
+ *  gyro_range_u8     |  hysteresis     |     LSB
+ * -----------------  | -------------   | ---------
+ *     2000           |    62.26dps     |   1LSB
+ *     1000           |    31.13dps     |   1LSB
+ *     500            |    15.56dps     |   1LSB
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_hyst(
+        u8 gyro_highrate_z_hyst_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    /* Write the value
+                     of gyro highrate z hysteresis*/
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_HIGHRATE_Z_HYST_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_GYRO_HIGHRATE_Z_HYST,
+                                gyro_highrate_z_hyst_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_GYRO_HIGHRATE_Z_HYST_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read gyro highrate z duration
+ *  from page one register from 0x1D bit 0 to 7
+ *
+ *  @param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate duration calculate by using the formula
+ *
+ *  (1 + gyro_highrate_z_durn_u8)*2.5ms
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_durn(
+        u8 *gyro_highrate_z_durn_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro highrate z duration is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of gyro highrate z duration*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_HIGHRATE_Z_DURN_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_highrate_z_durn_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_GYRO_HIGHRATE_Z_DURN);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write gyro highrate z duration
+ *  from page one register from 0x1D bit 0 to 7
+ *
+ *  @param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro highrate duration calculate by using the formula
+ *
+ *  (1 + gyro_highrate_z_durn_u8)*2.5ms
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_durn(
+        u8 gyro_highrate_z_durn_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    /* Write the value of
+                     gyro highrate z duration*/
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_HIGHRATE_Z_DURN_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_GYRO_HIGHRATE_Z_DURN,
+                                gyro_highrate_z_durn_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_GYRO_HIGHRATE_Z_DURN_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read gyro anymotion threshold
+ *  from page one register from 0x1E bit 0 to 6
+ *
+ *  @param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro anymotion interrupt threshold dependent
+ *  on the selection of gyro range
+ *
+ *  gyro_range_u8     | threshold     |    LSB
+ * -----------------  | ------------- | ---------
+ *     2000           |    1dps       |   1LSB
+ *     1000           |    0.5dps     |   1LSB
+ *     500            |    0.25dps    |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_thres(
+        u8 *gyro_any_motion_thres_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page,gyro anymotion threshold is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of gyro anymotion threshold*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_ANY_MOTION_THRES_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_any_motion_thres_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_GYRO_ANY_MOTION_THRES);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write gyro anymotion threshold
+ *  from page one register from 0x1E bit 0 to 6
+ *
+ *  @param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ *  @note Gyro anymotion interrupt threshold dependent
+ *  on the selection of gyro range
+ *
+ *  gyro_range_u8     | threshold     |    LSB
+ * -----------------  | ------------- | ---------
+ *     2000           |    1dps       |   1LSB
+ *     1000           |    0.5dps     |   1LSB
+ *     500            |    0.25dps    |   1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_thres(
+        u8 gyro_any_motion_thres_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    /* Write the value
+                     of gyro anymotion threshold*/
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_ANY_MOTION_THRES_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_GYRO_ANY_MOTION_THRES,
+                                gyro_any_motion_thres_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_GYRO_ANY_MOTION_THRES_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read gyro anymotion slope samples
+ *  from page one register from 0x1F bit 0 to 1
+ *
+ *  @param gyro_any_motion_slope_samples_u8 :
+ *  The value of gyro anymotion slope samples
+ *  gyro_any_motion_slope_samples_u8   |   result
+ *  ----------------------------------   | -----------
+ *            0                          |    8 samples
+ *            1                          |    16 samples
+ *            2                          |    32 samples
+ *            3                          |    64 samples
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_slope_samples(
+        u8 *gyro_any_motion_slope_samples_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro anymotion slope samples is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /*Read the value of gyro anymotion slope samples*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_SLOPE_SAMPLES_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_any_motion_slope_samples_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_GYRO_SLOPE_SAMPLES);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write gyro anymotion slope samples
+ *  from page one register from 0x1F bit 0 to 1
+ *
+ *  @param gyro_any_motion_slope_samples_u8 :
+ *  The value of gyro anymotion slope samples
+ *  gyro_any_motion_slope_samples_u8   |   result
+ *  ----------------------------------   | -----------
+ *            0                          |    8 samples
+ *            1                          |    16 samples
+ *            2                          |    32 samples
+ *            3                          |    64 samples
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_slope_samples(
+        u8 gyro_any_motion_slope_samples_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    /* Write the value of
+                     gyro anymotion slope samples*/
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_SLOPE_SAMPLES_REG,
+                            &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_GYRO_SLOPE_SAMPLES,
+                                gyro_any_motion_slope_samples_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_GYRO_SLOPE_SAMPLES_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode of
+         previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to read gyro anymotion awake duration
+ *  from page one register from 0x1F bit 2 to 3
+ *
+ *  @param gyro_awake_durn_u8 : The value of gyro anymotion awake duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_awake_durn(
+        u8 *gyro_awake_durn_u8) {
+    /* Variable used to return value of
+     communication routine*/
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /*condition check for page, gyro anymotion awake duration is
+         available in the page one*/
+        if (p_bno055->page_id != BNO055_PAGE_ONE)
+            /* Write page as one */
+            stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+        if ((stat_s8 == BNO055_SUCCESS)
+                || (p_bno055->page_id == BNO055_PAGE_ONE)) {
+            /* Read the value of gyro anymotion awake duration*/
+            com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+            (p_bno055->dev_addr,
+                    BNO055_GYRO_AWAKE_DURN_REG,
+                    &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+            *gyro_awake_durn_u8 = BNO055_GET_BITSLICE(data_u8r,
+                    BNO055_GYRO_AWAKE_DURN);
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    return com_rslt;
+}
+/*!
+ *  @brief This API used to write gyro anymotion awake duration
+ *  from page one register from 0x1F bit 2 to 3
+ *
+ *  @param gyro_awake_durn_u8 : The value of gyro anymotion awake duration
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> BNO055_SUCCESS
+ *  @retval 1 -> BNO055_ERROR
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_awake_durn(
+        u8 gyro_awake_durn_u8) {
+    BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+    u8 data_u8r = BNO055_INIT_VALUE;
+    s8 stat_s8 = BNO055_ERROR;
+    s8 pg_stat_s8 = BNO055_ERROR;
+    u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+    /* Check the struct p_bno055 is empty */
+    if (p_bno055 == BNO055_INIT_VALUE) {
+        return BNO055_E_NULL_PTR;
+    } else {
+        /* The write operation effective only if the operation
+         mode is in config mode, this part of code is checking the
+         current operation mode and set the config mode */
+        stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+        if (stat_s8 == BNO055_SUCCESS) {
+            if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+                stat_s8 += bno055_set_operation_mode(
+                        BNO055_OPERATION_MODE_CONFIG);
+            if (stat_s8 == BNO055_SUCCESS) {
+                /* Write page as one */
+                pg_stat_s8 = bno055_write_page_id(
+                BNO055_PAGE_ONE);
+                if (pg_stat_s8 == BNO055_SUCCESS) {
+                    /* Write the value of gyro
+                     anymotion awake duration*/
+                    com_rslt = p_bno055->BNO055_BUS_READ_FUNC
+                    (p_bno055->dev_addr,
+                            BNO055_GYRO_AWAKE_DURN_REG,
+                            &data_u8r,
+                            BNO055_GEN_READ_WRITE_LENGTH);
+                    if (com_rslt == BNO055_SUCCESS) {
+                        data_u8r = BNO055_SET_BITSLICE(data_u8r,
+                                BNO055_GYRO_AWAKE_DURN, gyro_awake_durn_u8);
+                        com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
+                        (p_bno055->dev_addr,
+                                BNO055_GYRO_AWAKE_DURN_REG,
+                                &data_u8r,
+                                BNO055_GEN_READ_WRITE_LENGTH);
+                    }
+                } else {
+                    com_rslt = BNO055_ERROR;
+                }
+            } else {
+                com_rslt = BNO055_ERROR;
+            }
+        } else {
+            com_rslt = BNO055_ERROR;
+        }
+    }
+    if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+        /* set the operation mode
+         of previous operation mode*/
+        com_rslt += bno055_set_operation_mode(prev_opmode_u8);
+    return com_rslt;
+}
