amiro-lld / include / BNO055 / bno055_reg.h @ 5d67f4db
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/** \mainpage
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*
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****************************************************************************
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* Copyright (C) 2015 - 2016 Bosch Sensortec GmbH
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*
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* File : bno055.h
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*
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* Date : 2016/03/14
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*
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* Revision : 2.0.3 $
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*
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* Usage: Sensor Driver file for BNO055 sensor
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*
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****************************************************************************
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* \section License
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* Neither the name of the copyright holder nor the names of the
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
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* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
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* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER
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* OR CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
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* OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
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*
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* The information provided is believed to be accurate and reliable.
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* The copyright holder assumes no responsibility
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* for the consequences of use
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* of such information nor for any infringement of patents or
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* other rights of third parties which may result from its use.
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* No license is granted by implication or otherwise under any patent or
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* patent rights of the copyright holder.
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**************************************************************************/
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/*! \file bno055.h
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\brief BNO055 Sensor Driver Support Header File */
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#ifndef __BNO055_H__
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#define __BNO055_H__
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#define MACHINE_16_BIT
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/****************************************************************/
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/**\name DATA TYPES INCLUDES */
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/************************************************************/
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/*!
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* @brief The following definition uses for define the data types
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*
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* @note While porting the API please consider the following
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* @note Please check the version of C standard
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* @note Are you using Linux platform
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*/
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/*!
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* @brief For the Linux platform support
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* Please use the types.h for your data types definitions
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*/
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#ifdef __KERNEL__
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#include <linux/types.h> |
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/* singed integer type*/
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typedef int8_t s8;/**< used for signed 8bit */ |
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typedef int16_t s16;/**< used for signed 16bit */ |
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typedef int32_t s32;/**< used for signed 32bit */ |
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typedef int64_t s64;/**< used for signed 64bit */ |
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typedef u_int8_t u8;/**< used for unsigned 8bit */ |
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typedef u_int16_t u16;/**< used for unsigned 16bit */ |
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typedef u_int32_t u32;/**< used for unsigned 32bit */ |
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typedef u_int64_t u64;/**< used for unsigned 64bit */ |
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#else /* ! __KERNEL__ */ |
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/**********************************************************
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* These definition uses for define the C
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* standard version data types
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***********************************************************/
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# if !defined(__STDC_VERSION__)
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/************************************************
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* compiler is C11 C standard
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************************************************/
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#if (__STDC_VERSION__ == 201112L) |
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/************************************************/
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#include <stdint.h> |
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/************************************************/
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/*unsigned integer types*/
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typedef uint8_t u8;/**< used for unsigned 8bit */ |
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typedef uint16_t u16;/**< used for unsigned 16bit */ |
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typedef uint32_t u32;/**< used for unsigned 32bit */ |
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typedef uint64_t u64;/**< used for unsigned 64bit */ |
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/*signed integer types*/
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typedef int8_t s8;/**< used for signed 8bit */ |
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typedef int16_t s16;/**< used for signed 16bit */ |
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typedef int32_t s32;/**< used for signed 32bit */ |
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typedef int64_t s64;/**< used for signed 64bit */ |
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/************************************************
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* compiler is C99 C standard
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************************************************/
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#elif (__STDC_VERSION__ == 199901L) |
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/* stdint.h is a C99 supported c library.
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which is used to fixed the integer size*/
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/************************************************/
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#include <stdint.h> |
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/************************************************/
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/*unsigned integer types*/
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typedef uint8_t u8;/**< used for unsigned 8bit */ |
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typedef uint16_t u16;/**< used for unsigned 16bit */ |
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typedef uint32_t u32;/**< used for unsigned 32bit */ |
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typedef uint64_t u64;/**< used for unsigned 64bit */ |
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/*signed integer types*/
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typedef int8_t s8;/**< used for signed 8bit */ |
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typedef int16_t s16;/**< used for signed 16bit */ |
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typedef int32_t s32;/**< used for signed 32bit */ |
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typedef int64_t s64;/**< used for signed 64bit */ |
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/************************************************
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* compiler is C89 or other C standard
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************************************************/
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#else /* !defined(__STDC_VERSION__) */ |
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/*!
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* @brief By default it is defined as 32 bit machine configuration
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* define your data types based on your
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* machine/compiler/controller configuration
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*/
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#define MACHINE_32_BIT
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/*! @brief
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* If your machine support 16 bit
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* define the MACHINE_16_BIT
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*/
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#ifdef MACHINE_16_BIT
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#include <limits.h> |
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/*signed integer types*/
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typedef signed char s8;/**< used for signed 8bit */ |
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typedef signed short int s16;/**< used for signed 16bit */ |
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typedef signed long int s32;/**< used for signed 32bit */ |
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#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL |
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typedef long int s64;/**< used for signed 64bit */ |
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typedef unsigned long int u64;/**< used for unsigned 64bit */ |
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#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL) |
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typedef long long int s64;/**< used for signed 64bit */ |
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typedef unsigned long long int u64;/**< used for unsigned 64bit */ |
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#else
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#warning Either the correct data type for signed 64 bit integer \ |
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could not be found, or 64 bit integers are not supported in your environment.
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#warning If 64 bit integers are supported on your platform, \ |
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please set s64 manually. |
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#endif
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/*unsigned integer types*/
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typedef unsigned char u8;/**< used for unsigned 8bit */ |
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typedef unsigned short int u16;/**< used for unsigned 16bit */ |
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typedef unsigned long int u32;/**< used for unsigned 32bit */ |
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/* If your machine support 32 bit
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define the MACHINE_32_BIT*/
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#elif defined MACHINE_32_BIT
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/*signed integer types*/
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typedef signed char s8;/**< used for signed 8bit */ |
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typedef signed short int s16;/**< used for signed 16bit */ |
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typedef signed int s32;/**< used for signed 32bit */ |
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typedef signed long long int s64;/**< used for signed 64bit */ |
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/*unsigned integer types*/
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typedef unsigned char u8;/**< used for unsigned 8bit */ |
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typedef unsigned short int u16;/**< used for unsigned 16bit */ |
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typedef unsigned int u32;/**< used for unsigned 32bit */ |
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typedef unsigned long long int u64;/**< used for unsigned 64bit */ |
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/* If your machine support 64 bit
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define the MACHINE_64_BIT*/
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#elif defined MACHINE_64_BIT
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/*signed integer types*/
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typedef signed char s8;/**< used for signed 8bit */ |
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typedef signed short int s16;/**< used for signed 16bit */ |
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typedef signed int s32;/**< used for signed 32bit */ |
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typedef signed long int s64;/**< used for signed 64bit */ |
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/*unsigned integer types*/
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typedef unsigned char u8;/**< used for unsigned 8bit */ |
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typedef unsigned short int u16;/**< used for unsigned 16bit */ |
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typedef unsigned int u32;/**< used for unsigned 32bit */ |
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typedef unsigned long int u64;/**< used for unsigned 64bit */ |
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#else
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#warning The data types defined above which not supported \
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define the data types manually |
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#endif
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#endif
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/*** This else will execute for the compilers
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* which are not supported the C standards
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* Like C89/C99/C11***/
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#else
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/*!
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* @brief By default it is defined as 32 bit machine configuration
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* define your data types based on your
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* machine/compiler/controller configuration
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*/
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#define MACHINE_32_BIT
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/* If your machine support 16 bit
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define the MACHINE_16_BIT*/
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#ifdef MACHINE_16_BIT
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#include <limits.h> |
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/*signed integer types*/
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typedef signed char s8;/**< used for signed 8bit */ |
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typedef signed short int s16;/**< used for signed 16bit */ |
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typedef signed long int s32;/**< used for signed 32bit */ |
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#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL |
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typedef long int s64;/**< used for signed 64bit */ |
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typedef unsigned long int u64;/**< used for unsigned 64bit */ |
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#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL) |
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typedef long long int s64;/**< used for signed 64bit */ |
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typedef unsigned long long int u64;/**< used for unsigned 64bit */ |
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#else
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#warning Either the correct data type for signed 64 bit integer \ |
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could not be found, or 64 bit integers are not supported in your environment.
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#warning If 64 bit integers are supported on your platform, \ |
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please set s64 manually. |
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#endif
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/*unsigned integer types*/
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typedef unsigned char u8;/**< used for unsigned 8bit */ |
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typedef unsigned short int u16;/**< used for unsigned 16bit */ |
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typedef unsigned long int u32;/**< used for unsigned 32bit */ |
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/*! @brief If your machine support 32 bit
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define the MACHINE_32_BIT*/
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#elif defined MACHINE_32_BIT
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/*signed integer types*/
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typedef signed char s8;/**< used for signed 8bit */ |
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typedef signed short int s16;/**< used for signed 16bit */ |
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typedef signed int s32;/**< used for signed 32bit */ |
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typedef signed long long int s64;/**< used for signed 64bit */ |
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/*unsigned integer types*/
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typedef unsigned char u8;/**< used for unsigned 8bit */ |
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typedef unsigned short int u16;/**< used for unsigned 16bit */ |
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typedef unsigned int u32;/**< used for unsigned 32bit */ |
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typedef unsigned long long int u64;/**< used for unsigned 64bit */ |
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/* If your machine support 64 bit
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define the MACHINE_64_BIT*/
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#elif defined MACHINE_64_BIT
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/*signed integer types*/
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typedef signed char s8;/**< used for signed 8bit */ |
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typedef signed short int s16;/**< used for signed 16bit */ |
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typedef signed int s32;/**< used for signed 32bit */ |
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typedef signed long int s64;/**< used for signed 64bit */ |
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/*unsigned integer types*/
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typedef unsigned char u8;/**< used for unsigned 8bit */ |
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typedef unsigned short int u16;/**< used for unsigned 16bit */ |
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typedef unsigned int u32;/**< used for unsigned 32bit */ |
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typedef unsigned long int u64;/**< used for unsigned 64bit */ |
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#else
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#warning The data types defined above which not supported \
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define the data types manually |
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#endif
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#endif
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#endif
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/***************************************************************/
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/**\name BUS READ AND WRITE FUNCTIONS */
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/***************************************************************/
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#define BNO055_WR_FUNC_PTR s8 (*bus_write)\
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(u8, u8, u8 *, u8) |
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#define BNO055_BUS_WRITE_FUNC(dev_addr, reg_addr, reg_data, wr_len)\
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bus_write(dev_addr, reg_addr, reg_data, wr_len) |
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#define BNO055_RD_FUNC_PTR s8 \
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(*bus_read)(u8, u8, u8 *, u8) |
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#define BNO055_BUS_READ_FUNC(dev_addr, reg_addr, reg_data, r_len)\
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bus_read(dev_addr, reg_addr, reg_data, r_len) |
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#define BNO055_DELAY_RETURN_TYPE void |
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#define BNO055_DELAY_PARAM_TYPES u32
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#define BNO055_DELAY_FUNC(delay_in_msec)\
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delay_func(delay_in_msec) |
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/********************************************************/
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/**\name I2C ADDRESS DEFINITION FOR BNO055 */
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/********************************************************/
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/* bno055 I2C Address */
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#define BNO055_I2C_ADDR1 (0x28) |
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#define BNO055_I2C_ADDR2 (0x29) |
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/***************************************************/
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/**\name REGISTER ADDRESS DEFINITION */
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/***************************************************/
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/* Page id register definition*/
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#define BNO055_PAGE_ID_ADDR (0X07) |
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/* PAGE0 REGISTER DEFINITION START*/
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#define BNO055_CHIP_ID_ADDR (0x00) |
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#define BNO055_ACCEL_REV_ID_ADDR (0x01) |
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#define BNO055_MAG_REV_ID_ADDR (0x02) |
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#define BNO055_GYRO_REV_ID_ADDR (0x03) |
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#define BNO055_SW_REV_ID_LSB_ADDR (0x04) |
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#define BNO055_SW_REV_ID_MSB_ADDR (0x05) |
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#define BNO055_BL_REV_ID_ADDR (0X06) |
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/* Accel data register*/
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#define BNO055_ACCEL_DATA_X_LSB_ADDR (0X08) |
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#define BNO055_ACCEL_DATA_X_MSB_ADDR (0X09) |
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#define BNO055_ACCEL_DATA_Y_LSB_ADDR (0X0A) |
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#define BNO055_ACCEL_DATA_Y_MSB_ADDR (0X0B) |
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#define BNO055_ACCEL_DATA_Z_LSB_ADDR (0X0C) |
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#define BNO055_ACCEL_DATA_Z_MSB_ADDR (0X0D) |
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/*Mag data register*/
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#define BNO055_MAG_DATA_X_LSB_ADDR (0X0E) |
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#define BNO055_MAG_DATA_X_MSB_ADDR (0X0F) |
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#define BNO055_MAG_DATA_Y_LSB_ADDR (0X10) |
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#define BNO055_MAG_DATA_Y_MSB_ADDR (0X11) |
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#define BNO055_MAG_DATA_Z_LSB_ADDR (0X12) |
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#define BNO055_MAG_DATA_Z_MSB_ADDR (0X13) |
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/*Gyro data registers*/
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#define BNO055_GYRO_DATA_X_LSB_ADDR (0X14) |
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#define BNO055_GYRO_DATA_X_MSB_ADDR (0X15) |
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#define BNO055_GYRO_DATA_Y_LSB_ADDR (0X16) |
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#define BNO055_GYRO_DATA_Y_MSB_ADDR (0X17) |
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#define BNO055_GYRO_DATA_Z_LSB_ADDR (0X18) |
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#define BNO055_GYRO_DATA_Z_MSB_ADDR (0X19) |
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/*Euler data registers*/
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#define BNO055_EULER_H_LSB_ADDR (0X1A) |
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#define BNO055_EULER_H_MSB_ADDR (0X1B) |
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|
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#define BNO055_EULER_R_LSB_ADDR (0X1C) |
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#define BNO055_EULER_R_MSB_ADDR (0X1D) |
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#define BNO055_EULER_P_LSB_ADDR (0X1E) |
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#define BNO055_EULER_P_MSB_ADDR (0X1F) |
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/*Quaternion data registers*/
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#define BNO055_QUATERNION_DATA_W_LSB_ADDR (0X20) |
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#define BNO055_QUATERNION_DATA_W_MSB_ADDR (0X21) |
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#define BNO055_QUATERNION_DATA_X_LSB_ADDR (0X22) |
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#define BNO055_QUATERNION_DATA_X_MSB_ADDR (0X23) |
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#define BNO055_QUATERNION_DATA_Y_LSB_ADDR (0X24) |
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#define BNO055_QUATERNION_DATA_Y_MSB_ADDR (0X25) |
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#define BNO055_QUATERNION_DATA_Z_LSB_ADDR (0X26) |
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#define BNO055_QUATERNION_DATA_Z_MSB_ADDR (0X27) |
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/* Linear acceleration data registers*/
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#define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR (0X28) |
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#define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR (0X29) |
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#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR (0X2A) |
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#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR (0X2B) |
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#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR (0X2C) |
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#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR (0X2D) |
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/*Gravity data registers*/
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#define BNO055_GRAVITY_DATA_X_LSB_ADDR (0X2E) |
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#define BNO055_GRAVITY_DATA_X_MSB_ADDR (0X2F) |
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#define BNO055_GRAVITY_DATA_Y_LSB_ADDR (0X30) |
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#define BNO055_GRAVITY_DATA_Y_MSB_ADDR (0X31) |
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#define BNO055_GRAVITY_DATA_Z_LSB_ADDR (0X32) |
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#define BNO055_GRAVITY_DATA_Z_MSB_ADDR (0X33) |
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|
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/* Temperature data register*/
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#define BNO055_TEMP_ADDR (0X34) |
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/* Status registers*/
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#define BNO055_CALIB_STAT_ADDR (0X35) |
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#define BNO055_SELFTEST_RESULT_ADDR (0X36) |
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#define BNO055_INTR_STAT_ADDR (0X37) |
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#define BNO055_SYS_CLK_STAT_ADDR (0X38) |
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#define BNO055_SYS_STAT_ADDR (0X39) |
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#define BNO055_SYS_ERR_ADDR (0X3A) |
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|
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/* Unit selection register*/
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#define BNO055_UNIT_SEL_ADDR (0X3B) |
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#define BNO055_DATA_SELECT_ADDR (0X3C) |
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|
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/* Mode registers*/
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#define BNO055_OPR_MODE_ADDR (0X3D) |
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#define BNO055_PWR_MODE_ADDR (0X3E) |
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|
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#define BNO055_SYS_TRIGGER_ADDR (0X3F) |
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#define BNO055_TEMP_SOURCE_ADDR (0X40) |
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/* Axis remap registers*/
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#define BNO055_AXIS_MAP_CONFIG_ADDR (0X41) |
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#define BNO055_AXIS_MAP_SIGN_ADDR (0X42) |
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|
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/* SIC registers*/
|
| 422 |
#define BNO055_SIC_MATRIX_0_LSB_ADDR (0X43) |
| 423 |
#define BNO055_SIC_MATRIX_0_MSB_ADDR (0X44) |
| 424 |
#define BNO055_SIC_MATRIX_1_LSB_ADDR (0X45) |
| 425 |
#define BNO055_SIC_MATRIX_1_MSB_ADDR (0X46) |
| 426 |
#define BNO055_SIC_MATRIX_2_LSB_ADDR (0X47) |
| 427 |
#define BNO055_SIC_MATRIX_2_MSB_ADDR (0X48) |
| 428 |
#define BNO055_SIC_MATRIX_3_LSB_ADDR (0X49) |
| 429 |
#define BNO055_SIC_MATRIX_3_MSB_ADDR (0X4A) |
| 430 |
#define BNO055_SIC_MATRIX_4_LSB_ADDR (0X4B) |
| 431 |
#define BNO055_SIC_MATRIX_4_MSB_ADDR (0X4C) |
| 432 |
#define BNO055_SIC_MATRIX_5_LSB_ADDR (0X4D) |
| 433 |
#define BNO055_SIC_MATRIX_5_MSB_ADDR (0X4E) |
| 434 |
#define BNO055_SIC_MATRIX_6_LSB_ADDR (0X4F) |
| 435 |
#define BNO055_SIC_MATRIX_6_MSB_ADDR (0X50) |
| 436 |
#define BNO055_SIC_MATRIX_7_LSB_ADDR (0X51) |
| 437 |
#define BNO055_SIC_MATRIX_7_MSB_ADDR (0X52) |
| 438 |
#define BNO055_SIC_MATRIX_8_LSB_ADDR (0X53) |
| 439 |
#define BNO055_SIC_MATRIX_8_MSB_ADDR (0X54) |
| 440 |
|
| 441 |
/* Accelerometer Offset registers*/
|
| 442 |
#define BNO055_ACCEL_OFFSET_X_LSB_ADDR (0X55) |
| 443 |
#define BNO055_ACCEL_OFFSET_X_MSB_ADDR (0X56) |
| 444 |
#define BNO055_ACCEL_OFFSET_Y_LSB_ADDR (0X57) |
| 445 |
#define BNO055_ACCEL_OFFSET_Y_MSB_ADDR (0X58) |
| 446 |
#define BNO055_ACCEL_OFFSET_Z_LSB_ADDR (0X59) |
| 447 |
#define BNO055_ACCEL_OFFSET_Z_MSB_ADDR (0X5A) |
| 448 |
|
| 449 |
/* Magnetometer Offset registers*/
|
| 450 |
#define BNO055_MAG_OFFSET_X_LSB_ADDR (0X5B) |
| 451 |
#define BNO055_MAG_OFFSET_X_MSB_ADDR (0X5C) |
| 452 |
#define BNO055_MAG_OFFSET_Y_LSB_ADDR (0X5D) |
| 453 |
#define BNO055_MAG_OFFSET_Y_MSB_ADDR (0X5E) |
| 454 |
#define BNO055_MAG_OFFSET_Z_LSB_ADDR (0X5F) |
| 455 |
#define BNO055_MAG_OFFSET_Z_MSB_ADDR (0X60) |
| 456 |
|
| 457 |
/* Gyroscope Offset registers*/
|
| 458 |
#define BNO055_GYRO_OFFSET_X_LSB_ADDR (0X61) |
| 459 |
#define BNO055_GYRO_OFFSET_X_MSB_ADDR (0X62) |
| 460 |
#define BNO055_GYRO_OFFSET_Y_LSB_ADDR (0X63) |
| 461 |
#define BNO055_GYRO_OFFSET_Y_MSB_ADDR (0X64) |
| 462 |
#define BNO055_GYRO_OFFSET_Z_LSB_ADDR (0X65) |
| 463 |
#define BNO055_GYRO_OFFSET_Z_MSB_ADDR (0X66) |
| 464 |
|
| 465 |
/* Radius registers*/
|
| 466 |
#define BNO055_ACCEL_RADIUS_LSB_ADDR (0X67) |
| 467 |
#define BNO055_ACCEL_RADIUS_MSB_ADDR (0X68) |
| 468 |
#define BNO055_MAG_RADIUS_LSB_ADDR (0X69) |
| 469 |
#define BNO055_MAG_RADIUS_MSB_ADDR (0X6A) |
| 470 |
/* PAGE0 REGISTERS DEFINITION END*/
|
| 471 |
|
| 472 |
/* PAGE1 REGISTERS DEFINITION START*/
|
| 473 |
/* Configuration registers*/
|
| 474 |
#define BNO055_ACCEL_CONFIG_ADDR (0X08) |
| 475 |
#define BNO055_MAG_CONFIG_ADDR (0X09) |
| 476 |
#define BNO055_GYRO_CONFIG_ADDR (0X0A) |
| 477 |
#define BNO055_GYRO_MODE_CONFIG_ADDR (0X0B) |
| 478 |
#define BNO055_ACCEL_SLEEP_CONFIG_ADDR (0X0C) |
| 479 |
#define BNO055_GYRO_SLEEP_CONFIG_ADDR (0X0D) |
| 480 |
#define BNO055_MAG_SLEEP_CONFIG_ADDR (0x0E) |
| 481 |
|
| 482 |
/* Interrupt registers*/
|
| 483 |
#define BNO055_INT_MASK_ADDR (0X0F) |
| 484 |
#define BNO055_INT_ADDR (0X10) |
| 485 |
#define BNO055_ACCEL_ANY_MOTION_THRES_ADDR (0X11) |
| 486 |
#define BNO055_ACCEL_INTR_SETTINGS_ADDR (0X12) |
| 487 |
#define BNO055_ACCEL_HIGH_G_DURN_ADDR (0X13) |
| 488 |
#define BNO055_ACCEL_HIGH_G_THRES_ADDR (0X14) |
| 489 |
#define BNO055_ACCEL_NO_MOTION_THRES_ADDR (0X15) |
| 490 |
#define BNO055_ACCEL_NO_MOTION_SET_ADDR (0X16) |
| 491 |
#define BNO055_GYRO_INTR_SETING_ADDR (0X17) |
| 492 |
#define BNO055_GYRO_HIGHRATE_X_SET_ADDR (0X18) |
| 493 |
#define BNO055_GYRO_DURN_X_ADDR (0X19) |
| 494 |
#define BNO055_GYRO_HIGHRATE_Y_SET_ADDR (0X1A) |
| 495 |
#define BNO055_GYRO_DURN_Y_ADDR (0X1B) |
| 496 |
#define BNO055_GYRO_HIGHRATE_Z_SET_ADDR (0X1C) |
| 497 |
#define BNO055_GYRO_DURN_Z_ADDR (0X1D) |
| 498 |
#define BNO055_GYRO_ANY_MOTION_THRES_ADDR (0X1E) |
| 499 |
#define BNO055_GYRO_ANY_MOTION_SET_ADDR (0X1F) |
| 500 |
/* PAGE1 REGISTERS DEFINITION END*/
|
| 501 |
|
| 502 |
#define BNO055_MDELAY_DATA_TYPE u32
|
| 503 |
|
| 504 |
/*< This refers BNO055 return type as s8 */
|
| 505 |
#define BNO055_RETURN_FUNCTION_TYPE s8
|
| 506 |
|
| 507 |
/* Compile switch definition for Float and double*/
|
| 508 |
#define BNO055_FLOAT_ENABLE
|
| 509 |
#define BNO055_DOUBLE_ENABLE
|
| 510 |
/**************************************************************/
|
| 511 |
/**\name STRUCTURE DEFINITIONS */
|
| 512 |
/**************************************************************/
|
| 513 |
/*!
|
| 514 |
* @brief bno055 struct
|
| 515 |
*/
|
| 516 |
struct bno055_t {
|
| 517 |
u8 chip_id;/**< chip_id of bno055 */
|
| 518 |
u16 sw_rev_id;/**< software revision id of bno055 */
|
| 519 |
u8 page_id;/**< page_id of bno055 */
|
| 520 |
u8 accel_rev_id;/**< accel revision id of bno055 */
|
| 521 |
u8 mag_rev_id;/**< mag revision id of bno055 */
|
| 522 |
u8 gyro_rev_id;/**< gyro revision id of bno055 */
|
| 523 |
u8 bl_rev_id;/**< boot loader revision id of bno055 */
|
| 524 |
u8 dev_addr;/**< i2c device address of bno055 */
|
| 525 |
BNO055_WR_FUNC_PTR;/**< bus write function pointer */
|
| 526 |
BNO055_RD_FUNC_PTR;/**<bus read function pointer */
|
| 527 |
void (*delay_msec)(BNO055_MDELAY_DATA_TYPE);/**< delay function pointer */ |
| 528 |
}; |
| 529 |
/*!
|
| 530 |
* @brief struct for accel data read from registers
|
| 531 |
*/
|
| 532 |
struct bno055_accel_t {
|
| 533 |
s16 x;/**< accel x data */
|
| 534 |
s16 y;/**< accel y data */
|
| 535 |
s16 z;/**< accel z data */
|
| 536 |
}; |
| 537 |
/*!
|
| 538 |
* @brief struct for Mag data read from registers
|
| 539 |
*/
|
| 540 |
struct bno055_mag_t {
|
| 541 |
s16 x;/**< mag x data */
|
| 542 |
s16 y;/**< mag y data */
|
| 543 |
s16 z;/**< mag z data */
|
| 544 |
}; |
| 545 |
/*!
|
| 546 |
* @brief struct for Gyro data read from registers
|
| 547 |
*/
|
| 548 |
struct bno055_gyro_t {
|
| 549 |
s16 x;/**< gyro x data */
|
| 550 |
s16 y;/**< gyro y data */
|
| 551 |
s16 z;/**< gyro z data */
|
| 552 |
}; |
| 553 |
/*!
|
| 554 |
* @brief struct for Euler data read from registers
|
| 555 |
*/
|
| 556 |
struct bno055_euler_t {
|
| 557 |
s16 h;/**< Euler h data */
|
| 558 |
s16 r;/**< Euler r data */
|
| 559 |
s16 p;/**< Euler p data */
|
| 560 |
}; |
| 561 |
/*!
|
| 562 |
* @brief struct for Quaternion data read from registers
|
| 563 |
*/
|
| 564 |
struct bno055_quaternion_t {
|
| 565 |
s16 w;/**< Quaternion w data */
|
| 566 |
s16 x;/**< Quaternion x data */
|
| 567 |
s16 y;/**< Quaternion y data */
|
| 568 |
s16 z;/**< Quaternion z data */
|
| 569 |
}; |
| 570 |
/*!
|
| 571 |
* @brief struct for Linear Accel data read from registers
|
| 572 |
*/
|
| 573 |
struct bno055_linear_accel_t {
|
| 574 |
s16 x; /**< Linear Accel x data */
|
| 575 |
s16 y; /**< Linear Accel y data */
|
| 576 |
s16 z; /**< Linear Accel z data */
|
| 577 |
}; |
| 578 |
/*!
|
| 579 |
* @brief struct for Gravity data read from registers
|
| 580 |
*/
|
| 581 |
struct bno055_gravity_t {
|
| 582 |
s16 x;/**< Gravity x data */
|
| 583 |
s16 y;/**< Gravity y data */
|
| 584 |
s16 z;/**< Gravity z data */
|
| 585 |
}; |
| 586 |
#ifdef BNO055_DOUBLE_ENABLE
|
| 587 |
/*!
|
| 588 |
* @brief struct for Accel-output data of precision double
|
| 589 |
*/
|
| 590 |
struct bno055_accel_double_t {
|
| 591 |
double x;/**< Accel x double data */ |
| 592 |
double y;/**< Accel y double data */ |
| 593 |
double z;/**< Accel z double data */ |
| 594 |
}; |
| 595 |
/*!
|
| 596 |
* @brief struct for Mag-output data of precision double
|
| 597 |
*/
|
| 598 |
struct bno055_mag_double_t {
|
| 599 |
double x;/**< Mag x double data */ |
| 600 |
double y;/**< Mag y double data */ |
| 601 |
double z;/**< Mag z double data */ |
| 602 |
}; |
| 603 |
/*!
|
| 604 |
* @brief struct for Gyro-output data of precision double
|
| 605 |
*/
|
| 606 |
struct bno055_gyro_double_t {
|
| 607 |
double x;/**< Gyro x double data */ |
| 608 |
double y;/**< Gyro y double data */ |
| 609 |
double z;/**< Gyro z double data */ |
| 610 |
}; |
| 611 |
/*!
|
| 612 |
* @brief struct for Euler-output data of precision double
|
| 613 |
*/
|
| 614 |
struct bno055_euler_double_t {
|
| 615 |
double h;/**< Euler h double data */ |
| 616 |
double r;/**< Euler r double data */ |
| 617 |
double p;/**< Euler p double data */ |
| 618 |
}; |
| 619 |
/*!
|
| 620 |
* @brief struct for Linear Accel-output data of precision double
|
| 621 |
*/
|
| 622 |
struct bno055_linear_accel_double_t {
|
| 623 |
double x;/**< linear accel x double data */ |
| 624 |
double y;/**< linear accel y double data */ |
| 625 |
double z;/**< linear accel z double data */ |
| 626 |
}; |
| 627 |
/*!
|
| 628 |
* @brief struct for Gravity-output data of precision double
|
| 629 |
*/
|
| 630 |
struct bno055_gravity_double_t {
|
| 631 |
double x;/**< Gravity x double data */ |
| 632 |
double y;/**< Gravity y double data */ |
| 633 |
double z;/**< Gravity z double data */ |
| 634 |
}; |
| 635 |
#endif
|
| 636 |
#ifdef BNO055_FLOAT_ENABLE
|
| 637 |
/*!
|
| 638 |
* @brief struct for Accel-output data of precision float
|
| 639 |
*/
|
| 640 |
struct bno055_accel_float_t {
|
| 641 |
float x;/**< accel x float data */ |
| 642 |
float y;/**< accel y float data */ |
| 643 |
float z;/**< accel z float data */ |
| 644 |
}; |
| 645 |
/*!
|
| 646 |
* @brief struct for Mag-output data of precision float
|
| 647 |
*/
|
| 648 |
struct bno055_mag_float_t {
|
| 649 |
float x;/**< Mag x float data */ |
| 650 |
float y;/**< Mag y float data */ |
| 651 |
float z;/**< Mag z float data */ |
| 652 |
}; |
| 653 |
/*!
|
| 654 |
* @brief struct for Gyro-output data of precision float
|
| 655 |
*/
|
| 656 |
struct bno055_gyro_float_t {
|
| 657 |
float x;/**< Gyro x float data */ |
| 658 |
float y;/**< Gyro y float data */ |
| 659 |
float z;/**< Gyro z float data */ |
| 660 |
}; |
| 661 |
/*!
|
| 662 |
* @brief struct for Euler-output data of precision float
|
| 663 |
*/
|
| 664 |
struct bno055_euler_float_t {
|
| 665 |
float h;/**< Euler h float data */ |
| 666 |
float r;/**< Euler r float data */ |
| 667 |
float p;/**< Euler p float data */ |
| 668 |
}; |
| 669 |
/*!
|
| 670 |
* @brief struct for Linear accel-output data of precision float
|
| 671 |
*/
|
| 672 |
struct bno055_linear_accel_float_t {
|
| 673 |
float x;/**< Linear accel x float data */ |
| 674 |
float y;/**< Linear accel y float data */ |
| 675 |
float z;/**< Linear accel z float data */ |
| 676 |
}; |
| 677 |
/*!
|
| 678 |
* @brief struct for Gravity-output data of precision float
|
| 679 |
*/
|
| 680 |
struct bno055_gravity_float_t {
|
| 681 |
float x;/**< Gravity x float data */ |
| 682 |
float y;/**< Gravity y float data */ |
| 683 |
float z;/**< Gravity z float data */ |
| 684 |
}; |
| 685 |
#endif
|
| 686 |
/*!
|
| 687 |
* @brief struct for Accel offset
|
| 688 |
*/
|
| 689 |
struct bno055_accel_offset_t {
|
| 690 |
s16 x;/**< Accel offset x data */
|
| 691 |
s16 y;/**< Accel offset y data */
|
| 692 |
s16 z;/**< Accel offset z data */
|
| 693 |
s16 r;/**< Accel radius r data */
|
| 694 |
}; |
| 695 |
/*!
|
| 696 |
* @brief struct for Gyro offset
|
| 697 |
*/
|
| 698 |
struct bno055_gyro_offset_t {
|
| 699 |
s16 x;/**< Gyro offset x data */
|
| 700 |
s16 y;/**< Gyro offset y data */
|
| 701 |
s16 z;/**< Gyro offset z data */
|
| 702 |
}; |
| 703 |
/*!
|
| 704 |
* @brief struct for Mag offset
|
| 705 |
*/
|
| 706 |
struct bno055_mag_offset_t {
|
| 707 |
s16 x;/**< Mag offset x data */
|
| 708 |
s16 y;/**< Mag offset y data */
|
| 709 |
s16 z;/**< Mag offset z data */
|
| 710 |
s16 r;/**< Mag radius x data */
|
| 711 |
}; |
| 712 |
/*!
|
| 713 |
* @brief struct for soft iron calibration matrix
|
| 714 |
*/
|
| 715 |
struct bno055_sic_matrix_t {
|
| 716 |
s16 sic_0;/**< soft iron calibration matrix 0 data */
|
| 717 |
s16 sic_1;/**< soft iron calibration matrix 1 data */
|
| 718 |
s16 sic_2;/**< soft iron calibration matrix 2 data */
|
| 719 |
s16 sic_3;/**< soft iron calibration matrix 3 data */
|
| 720 |
s16 sic_4;/**< soft iron calibration matrix 4 data */
|
| 721 |
s16 sic_5;/**< soft iron calibration matrix 5 data */
|
| 722 |
s16 sic_6;/**< soft iron calibration matrix 6 data */
|
| 723 |
s16 sic_7;/**< soft iron calibration matrix 7 data */
|
| 724 |
s16 sic_8;/**< soft iron calibration matrix 8 data */
|
| 725 |
}; |
| 726 |
/***************************************************/
|
| 727 |
/**\name CONSTANT DEFINITIONS */
|
| 728 |
/***************************************************/
|
| 729 |
#define BNO055_INIT_VALUE ((u8)0) |
| 730 |
#define BNO055_GEN_READ_WRITE_LENGTH ((u8)1) |
| 731 |
#define BNO055_LSB_MSB_READ_LENGTH ((u8)2) |
| 732 |
#define BNO055_MAG_POWER_MODE_RANGE ((u8)4) |
| 733 |
#define BNO055_MAG_OPR_MODE_RANGE ((u8)5) |
| 734 |
#define BNO055_ACCEL_POWER_MODE_RANGE ((u8)6) |
| 735 |
#define BNO055_ACCEL_SLEEP_DURATION_RANGE ((u8)16) |
| 736 |
#define BNO055_GYRO_AUTO_SLEEP_DURATION_RANGE ((u8)8) |
| 737 |
#define BNO055_ACCEL_GYRO_BW_RANGE ((u8)8) |
| 738 |
#define BNO055_MAG_OUTPUT_RANGE ((u8)8) |
| 739 |
#define BNO055_ACCEL_RANGE ((u8)5) |
| 740 |
#define BNO055_SHIFT_EIGHT_BITS ((u8)8) |
| 741 |
#define BNO055_GYRO_RANGE ((u8)5) |
| 742 |
#define BNO055_ACCEL_SLEEP_MODE_RANGE ((u8)2) |
| 743 |
/* BNO055 API BNO055_ERROR codes */
|
| 744 |
#define BNO055_E_NULL_PTR ((s8)-127) |
| 745 |
#define BNO055_OUT_OF_RANGE ((s8)-2) |
| 746 |
#define BNO055_SUCCESS ((u8)0) |
| 747 |
#define BNO055_ERROR ((s8)-1) |
| 748 |
|
| 749 |
/* Selection for bit enable and disable */
|
| 750 |
#define BNO055_BIT_ENABLE (0x01) |
| 751 |
#define BNO055_BIT_DISABLE (0x00) |
| 752 |
|
| 753 |
/* Page ID */
|
| 754 |
#define BNO055_PAGE_ZERO (0X00) |
| 755 |
#define BNO055_PAGE_ONE (0X01) |
| 756 |
|
| 757 |
/* Enable the temperature source */
|
| 758 |
#define BNO055_ACCEL_TEMP_EN (0x00) |
| 759 |
#define BNO055_GYRO_TEMP_EN (0x01) |
| 760 |
#define BNO055_MCU_TEMP_EN (0x03) |
| 761 |
|
| 762 |
/*Accel unit*/
|
| 763 |
#define BNO055_ACCEL_UNIT_MSQ (0x00) |
| 764 |
#define BNO055_ACCEL_UNIT_MG (0x01) |
| 765 |
|
| 766 |
/*Gyro unit*/
|
| 767 |
#define BNO055_GYRO_UNIT_DPS (0x00) |
| 768 |
#define BNO055_GYRO_UNIT_RPS (0x01) |
| 769 |
|
| 770 |
/* Euler unit*/
|
| 771 |
#define BNO055_EULER_UNIT_DEG (0x00) |
| 772 |
#define BNO055_EULER_UNIT_RAD (0x01) |
| 773 |
|
| 774 |
/*Temperature unit*/
|
| 775 |
#define BNO055_TEMP_UNIT_CELSIUS (0x00) |
| 776 |
#define BNO055_TEMP_UNIT_FAHRENHEIT (0x01) |
| 777 |
|
| 778 |
/*Accel division factor*/
|
| 779 |
#define BNO055_ACCEL_DIV_MSQ (100.0) |
| 780 |
#define BNO055_ACCEL_DIV_MG (1) |
| 781 |
|
| 782 |
/*Mag division factor*/
|
| 783 |
#define BNO055_MAG_DIV_UT (16.0) |
| 784 |
|
| 785 |
/*Gyro division factor*/
|
| 786 |
#define BNO055_GYRO_DIV_DPS (16.0) |
| 787 |
#define BNO055_GYRO_DIV_RPS (900.0) |
| 788 |
|
| 789 |
/*Euler division factor*/
|
| 790 |
#define BNO055_EULER_DIV_DEG (16.0) |
| 791 |
#define BNO055_EULER_DIV_RAD (900.0) |
| 792 |
|
| 793 |
/*Linear accel division factor*/
|
| 794 |
#define BNO055_LINEAR_ACCEL_DIV_MSQ (100.0) |
| 795 |
|
| 796 |
/*Gravity accel division factor*/
|
| 797 |
#define BNO055_GRAVITY_DIV_MSQ (100.0) |
| 798 |
|
| 799 |
/* Temperature division factor*/
|
| 800 |
#define BNO055_TEMP_DIV_FAHRENHEIT (0.5) |
| 801 |
#define BNO055_TEMP_DIV_CELSIUS (1) |
| 802 |
|
| 803 |
#define BNO055_MODE_SWITCHING_DELAY (600) |
| 804 |
#define BNO055_CONFIG_MODE_SWITCHING_DELAY ((u8)20) |
| 805 |
|
| 806 |
/* Operation mode settings*/
|
| 807 |
#define BNO055_OPERATION_MODE_CONFIG (0X00) |
| 808 |
#define BNO055_OPERATION_MODE_ACCONLY (0X01) |
| 809 |
#define BNO055_OPERATION_MODE_MAGONLY (0X02) |
| 810 |
#define BNO055_OPERATION_MODE_GYRONLY (0X03) |
| 811 |
#define BNO055_OPERATION_MODE_ACCMAG (0X04) |
| 812 |
#define BNO055_OPERATION_MODE_ACCGYRO (0X05) |
| 813 |
#define BNO055_OPERATION_MODE_MAGGYRO (0X06) |
| 814 |
#define BNO055_OPERATION_MODE_AMG (0X07) |
| 815 |
#define BNO055_OPERATION_MODE_IMUPLUS (0X08) |
| 816 |
#define BNO055_OPERATION_MODE_COMPASS (0X09) |
| 817 |
#define BNO055_OPERATION_MODE_M4G (0X0A) |
| 818 |
#define BNO055_OPERATION_MODE_NDOF_FMC_OFF (0X0B) |
| 819 |
#define BNO055_OPERATION_MODE_NDOF (0X0C) |
| 820 |
|
| 821 |
/* Power mode*/
|
| 822 |
#define BNO055_POWER_MODE_NORMAL (0X00) |
| 823 |
#define BNO055_POWER_MODE_LOWPOWER (0X01) |
| 824 |
#define BNO055_POWER_MODE_SUSPEND (0X02) |
| 825 |
|
| 826 |
/* PAGE-1 definitions*/
|
| 827 |
/* Accel Range */
|
| 828 |
|
| 829 |
#define BNO055_ACCEL_RANGE_2G (0X00) |
| 830 |
#define BNO055_ACCEL_RANGE_4G (0X01) |
| 831 |
#define BNO055_ACCEL_RANGE_8G (0X02) |
| 832 |
#define BNO055_ACCEL_RANGE_16G (0X03) |
| 833 |
|
| 834 |
/* Accel Bandwidth*/
|
| 835 |
#define BNO055_ACCEL_BW_7_81HZ (0x00) |
| 836 |
#define BNO055_ACCEL_BW_15_63HZ (0x01) |
| 837 |
#define BNO055_ACCEL_BW_31_25HZ (0x02) |
| 838 |
#define BNO055_ACCEL_BW_62_5HZ (0X03) |
| 839 |
#define BNO055_ACCEL_BW_125HZ (0X04) |
| 840 |
#define BNO055_ACCEL_BW_250HZ (0X05) |
| 841 |
#define BNO055_ACCEL_BW_500HZ (0X06) |
| 842 |
#define BNO055_ACCEL_BW_1000HZ (0X07) |
| 843 |
|
| 844 |
/* Accel Power mode*/
|
| 845 |
#define BNO055_ACCEL_NORMAL (0X00) |
| 846 |
#define BNO055_ACCEL_SUSPEND (0X01) |
| 847 |
#define BNO055_ACCEL_LOWPOWER_1 (0X02) |
| 848 |
#define BNO055_ACCEL_STANDBY (0X03) |
| 849 |
#define BNO055_ACCEL_LOWPOWER_2 (0X04) |
| 850 |
#define BNO055_ACCEL_DEEPSUSPEND (0X05) |
| 851 |
|
| 852 |
/* Mag data output rate*/
|
| 853 |
#define BNO055_MAG_DATA_OUTRATE_2HZ (0X00) |
| 854 |
#define BNO055_MAG_DATA_OUTRATE_6HZ (0X01) |
| 855 |
#define BNO055_MAG_DATA_OUTRATE_8HZ (0X02) |
| 856 |
#define BNO055_MAG_DATA_OUTRATE_10HZ (0X03) |
| 857 |
#define BNO055_MAG_DATA_OUTRATE_15HZ (0X04) |
| 858 |
#define BNO055_MAG_DATA_OUTRATE_20HZ (0X05) |
| 859 |
#define BNO055_MAG_DATA_OUTRATE_25HZ (0X06) |
| 860 |
#define BNO055_MAG_DATA_OUTRATE_30HZ (0X07) |
| 861 |
|
| 862 |
/* Mag Operation mode*/
|
| 863 |
#define BNO055_MAG_OPERATION_MODE_LOWPOWER (0X00) |
| 864 |
#define BNO055_MAG_OPERATION_MODE_REGULAR (0X01) |
| 865 |
#define BNO055_MAG_OPERATION_MODE_ENHANCED_REGULAR (0X02) |
| 866 |
#define BNO055_MAG_OPERATION_MODE_HIGH_ACCURACY (0X03) |
| 867 |
|
| 868 |
/* Mag power mode*/
|
| 869 |
#define BNO055_MAG_POWER_MODE_NORMAL (0X00) |
| 870 |
#define BNO055_MAG_POWER_MODE_SLEEP (0X01) |
| 871 |
#define BNO055_MAG_POWER_MODE_SUSPEND (0X02) |
| 872 |
#define BNO055_MAG_POWER_MODE_FORCE_MODE (0X03) |
| 873 |
|
| 874 |
/* Gyro range*/
|
| 875 |
#define BNO055_GYRO_RANGE_2000DPS (0x00) |
| 876 |
#define BNO055_GYRO_RANGE_1000DPS (0x01) |
| 877 |
#define BNO055_GYRO_RANGE_500DPS (0x02) |
| 878 |
#define BNO055_GYRO_RANGE_250DPS (0x03) |
| 879 |
#define BNO055_GYRO_RANGE_125DPS (0x04) |
| 880 |
|
| 881 |
/* Gyro Bandwidth*/
|
| 882 |
#define BNO055_GYRO_BW_523HZ (0x00) |
| 883 |
#define BNO055_GYRO_BW_230HZ (0x01) |
| 884 |
#define BNO055_GYRO_BW_116HZ (0x02) |
| 885 |
#define BNO055_GYRO_BW_47HZ (0x03) |
| 886 |
#define BNO055_GYRO_BW_23HZ (0x04) |
| 887 |
#define BNO055_GYRO_BW_12HZ (0x05) |
| 888 |
#define BNO055_GYRO_BW_64HZ (0x06) |
| 889 |
#define BNO055_GYRO_BW_32HZ (0x07) |
| 890 |
|
| 891 |
/* Gyro power mode*/
|
| 892 |
#define BNO055_GYRO_POWER_MODE_NORMAL (0X00) |
| 893 |
#define BNO055_GYRO_POWER_MODE_FASTPOWERUP (0X01) |
| 894 |
#define BNO055_GYRO_POWER_MODE_DEEPSUSPEND (0X02) |
| 895 |
#define BNO055_GYRO_POWER_MODE_SUSPEND (0X03) |
| 896 |
#define BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE (0X04) |
| 897 |
|
| 898 |
/* Accel Sleep Duration */
|
| 899 |
#define BNO055_ACCEL_SLEEP_DURN_0_5MS (0x05) |
| 900 |
/* sets sleep duration to 0.5 ms */
|
| 901 |
#define BNO055_ACCEL_SLEEP_DURN_1MS (0x06) |
| 902 |
/* sets sleep duration to 1 ms */
|
| 903 |
#define BNO055_ACCEL_SLEEP_DURN_2MS (0x07) |
| 904 |
/* sets sleep duration to 2 ms */
|
| 905 |
#define BNO055_ACCEL_SLEEP_DURN_4MS (0x08) |
| 906 |
/* sets sleep duration to 4 ms */
|
| 907 |
#define BNO055_ACCEL_SLEEP_DURN_6MS (0x09) |
| 908 |
/* sets sleep duration to 6 ms*/
|
| 909 |
#define BNO055_ACCEL_SLEEP_DURN_10MS (0x0A) |
| 910 |
/* sets sleep duration to 10 ms */
|
| 911 |
#define BNO055_ACCEL_SLEEP_DURN_25MS (0x0B) |
| 912 |
/* sets sleep duration to 25 ms */
|
| 913 |
#define BNO055_ACCEL_SLEEP_DURN_50MS (0x0C) |
| 914 |
/* sets sleep duration to 50 ms */
|
| 915 |
#define BNO055_ACCEL_SLEEP_DURN_100MS (0x0D) |
| 916 |
/* sets sleep duration to 100 ms */
|
| 917 |
#define BNO055_ACCEL_SLEEP_DURN_500MS (0x0E) |
| 918 |
/* sets sleep duration to 500 ms */
|
| 919 |
#define BNO055_ACCEL_SLEEP_DURN_1S (0x0F) |
| 920 |
/* sets sleep duration to 1 s */
|
| 921 |
|
| 922 |
/* Gyro Auto sleep duration*/
|
| 923 |
#define BNO055_GYRO_No_AUTOSLPDUR (0x00) |
| 924 |
#define BNO055_GYRO_4MS_AUTOSLPDUR (0x01) |
| 925 |
#define BNO055_GYRO_5MS_AUTOSLPDUR (0x02) |
| 926 |
#define BNO055_GYRO_8MS_AUTOSLPDUR (0x03) |
| 927 |
#define BNO055_GYRO_10MS_AUTOSLPDUR (0x04) |
| 928 |
#define BNO055_GYRO_15MS_AUTOSLPDUR (0x05) |
| 929 |
#define BNO055_GYRO_20MS_AUTOSLPDUR (0x06) |
| 930 |
#define BNO055_GYRO_40MS_AUTOSLPDUR (0x07) |
| 931 |
|
| 932 |
/* Accel Any/No motion axis selection*/
|
| 933 |
#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS (0) |
| 934 |
#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS (1) |
| 935 |
#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS (2) |
| 936 |
|
| 937 |
/* Accel High g axis selection*/
|
| 938 |
#define BNO055_ACCEL_HIGH_G_X_AXIS (0) |
| 939 |
#define BNO055_ACCEL_HIGH_G_Y_AXIS (1) |
| 940 |
#define BNO055_ACCEL_HIGH_G_Z_AXIS (2) |
| 941 |
|
| 942 |
/* Gyro Any motion axis selection*/
|
| 943 |
#define BNO055_GYRO_ANY_MOTION_X_AXIS (0) |
| 944 |
#define BNO055_GYRO_ANY_MOTION_Y_AXIS (1) |
| 945 |
#define BNO055_GYRO_ANY_MOTION_Z_AXIS (2) |
| 946 |
|
| 947 |
/* Gyro High rate axis selection*/
|
| 948 |
#define BNO055_GYRO_HIGHRATE_X_AXIS (0) |
| 949 |
#define BNO055_GYRO_HIGHRATE_Y_AXIS (1) |
| 950 |
#define BNO055_GYRO_HIGHRATE_Z_AXIS (2) |
| 951 |
|
| 952 |
/* Axis remap values*/
|
| 953 |
#define BNO055_REMAP_X_Y (0X21) |
| 954 |
#define BNO055_REMAP_Y_Z (0X18) |
| 955 |
#define BNO055_REMAP_Z_X (0X06) |
| 956 |
#define BNO055_REMAP_X_Y_Z_TYPE0 (0X12) |
| 957 |
#define BNO055_REMAP_X_Y_Z_TYPE1 (0X09) |
| 958 |
#define BNO055_DEFAULT_AXIS (0X24) |
| 959 |
|
| 960 |
/* Axis remap sign */
|
| 961 |
#define BNO055_REMAP_AXIS_POSITIVE (0X00) |
| 962 |
#define BNO055_REMAP_AXIS_NEGATIVE (0X01) |
| 963 |
|
| 964 |
/* Gyro anymotion and high rate filter configuration */
|
| 965 |
#define BNO055_GYRO_FILTERED_CONFIG (0x00) |
| 966 |
#define BNO055_GYRO_UNFILTERED_CONFIG (0x01) |
| 967 |
|
| 968 |
/* mask definitions*/
|
| 969 |
#define BNO055_SIC_HEX_0_0_F_F_DATA (0x00FF) |
| 970 |
/****************************************************/
|
| 971 |
/**\name ARRAY SIZE DEFINITIONS */
|
| 972 |
/***************************************************/
|
| 973 |
#define BNO055_REV_ID_SIZE (2) |
| 974 |
#define BNO055_ACCEL_DATA_SIZE (2) |
| 975 |
#define BNO055_ACCEL_XYZ_DATA_SIZE (6) |
| 976 |
#define BNO055_MAG_DATA_SIZE (2) |
| 977 |
#define BNO055_MAG_XYZ_DATA_SIZE (6) |
| 978 |
#define BNO055_GYRO_DATA_SIZE (2) |
| 979 |
#define BNO055_GYRO_XYZ_DATA_SIZE (6) |
| 980 |
#define BNO055_EULER_DATA_SIZE (2) |
| 981 |
#define BNO055_EULER_HRP_DATA_SIZE (6) |
| 982 |
#define BNO055_QUATERNION_DATA_SIZE (2) |
| 983 |
#define BNO055_QUATERNION_WXYZ_DATA_SIZE (8) |
| 984 |
#define BNO055_GRAVITY_DATA_SIZE (2) |
| 985 |
#define BNO055_GRAVITY_XYZ_DATA_SIZE (6) |
| 986 |
#define BNO055_ACCEL_OFFSET_ARRAY (6) |
| 987 |
#define BNO055_MAG_OFFSET_ARRAY (6) |
| 988 |
#define BNO055_GYRO_OFFSET_ARRAY (6) |
| 989 |
#define BNO055_SOFT_IRON_CALIBRATION_MATRIX_SIZE (18) |
| 990 |
|
| 991 |
/*ARRAY INDEX DEFINITIONS*/
|
| 992 |
#define BNO055_SW_ID_LSB (0) |
| 993 |
#define BNO055_SW_ID_MSB (1) |
| 994 |
#define BNO055_SENSOR_DATA_LSB (0) |
| 995 |
#define BNO055_SENSOR_DATA_MSB (1) |
| 996 |
#define BNO055_SENSOR_DATA_EULER_LSB (0) |
| 997 |
#define BNO055_SENSOR_DATA_EULER_MSB (1) |
| 998 |
#define BNO055_SENSOR_DATA_QUATERNION_LSB (0) |
| 999 |
#define BNO055_SENSOR_DATA_QUATERNION_MSB (1) |
| 1000 |
|
| 1001 |
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB (0) |
| 1002 |
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB (1) |
| 1003 |
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB (2) |
| 1004 |
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB (3) |
| 1005 |
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB (4) |
| 1006 |
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB (5) |
| 1007 |
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB (6) |
| 1008 |
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB (7) |
| 1009 |
|
| 1010 |
#define BNO055_SENSOR_DATA_XYZ_X_LSB (0) |
| 1011 |
#define BNO055_SENSOR_DATA_XYZ_X_MSB (1) |
| 1012 |
#define BNO055_SENSOR_DATA_XYZ_Y_LSB (2) |
| 1013 |
#define BNO055_SENSOR_DATA_XYZ_Y_MSB (3) |
| 1014 |
#define BNO055_SENSOR_DATA_XYZ_Z_LSB (4) |
| 1015 |
#define BNO055_SENSOR_DATA_XYZ_Z_MSB (5) |
| 1016 |
|
| 1017 |
#define BNO055_SENSOR_DATA_EULER_HRP_H_LSB (0) |
| 1018 |
#define BNO055_SENSOR_DATA_EULER_HRP_H_MSB (1) |
| 1019 |
#define BNO055_SENSOR_DATA_EULER_HRP_R_LSB (2) |
| 1020 |
#define BNO055_SENSOR_DATA_EULER_HRP_R_MSB (3) |
| 1021 |
#define BNO055_SENSOR_DATA_EULER_HRP_P_LSB (4) |
| 1022 |
#define BNO055_SENSOR_DATA_EULER_HRP_P_MSB (5) |
| 1023 |
|
| 1024 |
#define BNO055_SOFT_IRON_CALIB_0_LSB (0) |
| 1025 |
#define BNO055_SOFT_IRON_CALIB_0_MSB (1) |
| 1026 |
#define BNO055_SOFT_IRON_CALIB_1_LSB (2) |
| 1027 |
#define BNO055_SOFT_IRON_CALIB_1_MSB (3) |
| 1028 |
#define BNO055_SOFT_IRON_CALIB_2_LSB (4) |
| 1029 |
#define BNO055_SOFT_IRON_CALIB_2_MSB (5) |
| 1030 |
#define BNO055_SOFT_IRON_CALIB_3_LSB (6) |
| 1031 |
#define BNO055_SOFT_IRON_CALIB_3_MSB (7) |
| 1032 |
#define BNO055_SOFT_IRON_CALIB_4_LSB (8) |
| 1033 |
#define BNO055_SOFT_IRON_CALIB_4_MSB (9) |
| 1034 |
#define BNO055_SOFT_IRON_CALIB_5_LSB (10) |
| 1035 |
#define BNO055_SOFT_IRON_CALIB_5_MSB (11) |
| 1036 |
#define BNO055_SOFT_IRON_CALIB_6_LSB (12) |
| 1037 |
#define BNO055_SOFT_IRON_CALIB_6_MSB (13) |
| 1038 |
#define BNO055_SOFT_IRON_CALIB_7_LSB (14) |
| 1039 |
#define BNO055_SOFT_IRON_CALIB_7_MSB (15) |
| 1040 |
#define BNO055_SOFT_IRON_CALIB_8_LSB (16) |
| 1041 |
#define BNO055_SOFT_IRON_CALIB_8_MSB (17) |
| 1042 |
|
| 1043 |
#define BNO055_SENSOR_OFFSET_DATA_X_LSB (0) |
| 1044 |
#define BNO055_SENSOR_OFFSET_DATA_X_MSB (1) |
| 1045 |
#define BNO055_SENSOR_OFFSET_DATA_Y_LSB (2) |
| 1046 |
#define BNO055_SENSOR_OFFSET_DATA_Y_MSB (3) |
| 1047 |
#define BNO055_SENSOR_OFFSET_DATA_Z_LSB (4) |
| 1048 |
#define BNO055_SENSOR_OFFSET_DATA_Z_MSB (5) |
| 1049 |
|
| 1050 |
#define BNO055_OFFSET_RADIUS_LSB (0) |
| 1051 |
#define BNO055_OFFSET_RADIUS_MSB (1) |
| 1052 |
/*********************************************************/
|
| 1053 |
/**\name PAGE0 DATA REGISTERS DEFINITION */
|
| 1054 |
/*********************************************************/
|
| 1055 |
/* Chip ID */
|
| 1056 |
#define BNO055_CHIP_ID_POS (0) |
| 1057 |
#define BNO055_CHIP_ID_MSK (0xFF) |
| 1058 |
#define BNO055_CHIP_ID_LEN (8) |
| 1059 |
#define BNO055_CHIP_ID_REG BNO055_CHIP_ID_ADDR
|
| 1060 |
|
| 1061 |
/* Accel revision id*/
|
| 1062 |
#define BNO055_ACCEL_REV_ID_POS (0) |
| 1063 |
#define BNO055_ACCEL_REV_ID_MSK (0xFF) |
| 1064 |
#define BNO055_ACCEL_REV_ID_LEN (8) |
| 1065 |
#define BNO055_ACCEL_REV_ID_REG BNO055_ACCEL_REV_ID_ADDR
|
| 1066 |
|
| 1067 |
/* Mag revision id*/
|
| 1068 |
#define BNO055_MAG_REV_ID_POS (0) |
| 1069 |
#define BNO055_MAG_REV_ID_MSK (0xFF) |
| 1070 |
#define BNO055_MAG_REV_ID_LEN (8) |
| 1071 |
#define BNO055_MAG_REV_ID_REG BNO055_MAG_REV_ID_ADDR
|
| 1072 |
|
| 1073 |
/* Gyro revision id*/
|
| 1074 |
#define BNO055_GYRO_REV_ID_POS (0) |
| 1075 |
#define BNO055_GYRO_REV_ID_MSK (0xFF) |
| 1076 |
#define BNO055_GYRO_REV_ID_LEN (8) |
| 1077 |
#define BNO055_GYRO_REV_ID_REG BNO055_GYRO_REV_ID_ADDR
|
| 1078 |
|
| 1079 |
/*Software revision id LSB*/
|
| 1080 |
#define BNO055_SW_REV_ID_LSB_POS (0) |
| 1081 |
#define BNO055_SW_REV_ID_LSB_MSK (0xFF) |
| 1082 |
#define BNO055_SW_REV_ID_LSB_LEN (8) |
| 1083 |
#define BNO055_SW_REV_ID_LSB_REG BNO055_SW_REV_ID_LSB_ADDR
|
| 1084 |
|
| 1085 |
/*Software revision id MSB*/
|
| 1086 |
#define BNO055_SW_REV_ID_MSB_POS (0) |
| 1087 |
#define BNO055_SW_REV_ID_MSB_MSK (0xFF) |
| 1088 |
#define BNO055_SW_REV_ID_MSB_LEN (8) |
| 1089 |
#define BNO055_SW_REV_ID_MSB_REG BNO055_SW_REV_ID_MSB_ADDR
|
| 1090 |
|
| 1091 |
/* BOOTLODER revision id*/
|
| 1092 |
#define BNO055_BL_REV_ID_POS (0) |
| 1093 |
#define BNO055_BL_REV_ID_MSK (0xFF) |
| 1094 |
#define BNO055_BL_REV_ID_LEN (8) |
| 1095 |
#define BNO055_BL_REV_ID_REG BNO055_BL_REV_ID_ADDR
|
| 1096 |
|
| 1097 |
/*Page id*/
|
| 1098 |
#define BNO055_PAGE_ID_POS (0) |
| 1099 |
#define BNO055_PAGE_ID_MSK (0xFF) |
| 1100 |
#define BNO055_PAGE_ID_LEN (8) |
| 1101 |
#define BNO055_PAGE_ID_REG BNO055_PAGE_ID_ADDR
|
| 1102 |
|
| 1103 |
/* Accel data X-LSB register*/
|
| 1104 |
#define BNO055_ACCEL_DATA_X_LSB_VALUEX_POS (0) |
| 1105 |
#define BNO055_ACCEL_DATA_X_LSB_VALUEX_MSK (0xFF) |
| 1106 |
#define BNO055_ACCEL_DATA_X_LSB_VALUEX_LEN (8) |
| 1107 |
#define BNO055_ACCEL_DATA_X_LSB_VALUEX_REG \
|
| 1108 |
BNO055_ACCEL_DATA_X_LSB_ADDR |
| 1109 |
|
| 1110 |
/* Accel data X-MSB register*/
|
| 1111 |
#define BNO055_ACCEL_DATA_X_MSB_VALUEX_POS (0) |
| 1112 |
#define BNO055_ACCEL_DATA_X_MSB_VALUEX_MSK (0xFF) |
| 1113 |
#define BNO055_ACCEL_DATA_X_MSB_VALUEX_LEN (8) |
| 1114 |
#define BNO055_ACCEL_DATA_X_MSB_VALUEX_REG \
|
| 1115 |
BNO055_ACCEL_DATA_X_MSB_ADDR |
| 1116 |
|
| 1117 |
/* Accel data Y-LSB register*/
|
| 1118 |
#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_POS (0) |
| 1119 |
#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_MSK (0xFF) |
| 1120 |
#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_LEN (8) |
| 1121 |
#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_REG \
|
| 1122 |
BNO055_ACCEL_DATA_Y_LSB_ADDR |
| 1123 |
|
| 1124 |
/* Accel data Y-MSB register*/
|
| 1125 |
#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_POS (0) |
| 1126 |
#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_MSK (0xFF) |
| 1127 |
#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_LEN (8) |
| 1128 |
#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_REG \
|
| 1129 |
BNO055_ACCEL_DATA_Y_MSB_ADDR |
| 1130 |
|
| 1131 |
/* Accel data Z-LSB register*/
|
| 1132 |
#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_POS (0) |
| 1133 |
#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_MSK (0xFF) |
| 1134 |
#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_LEN (8) |
| 1135 |
#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_REG \
|
| 1136 |
BNO055_ACCEL_DATA_Z_LSB_ADDR |
| 1137 |
|
| 1138 |
/* Accel data Z-MSB register*/
|
| 1139 |
#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_POS (0) |
| 1140 |
#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_MSK (0xFF) |
| 1141 |
#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_LEN (8) |
| 1142 |
#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_REG \
|
| 1143 |
BNO055_ACCEL_DATA_Z_MSB_ADDR |
| 1144 |
|
| 1145 |
/* Mag data X-LSB register*/
|
| 1146 |
#define BNO055_MAG_DATA_X_LSB_VALUEX_POS (0) |
| 1147 |
#define BNO055_MAG_DATA_X_LSB_VALUEX_MSK (0xFF) |
| 1148 |
#define BNO055_MAG_DATA_X_LSB_VALUEX_LEN (8) |
| 1149 |
#define BNO055_MAG_DATA_X_LSB_VALUEX_REG \
|
| 1150 |
BNO055_MAG_DATA_X_LSB_ADDR |
| 1151 |
|
| 1152 |
/* Mag data X-MSB register*/
|
| 1153 |
#define BNO055_MAG_DATA_X_MSB_VALUEX_POS (0) |
| 1154 |
#define BNO055_MAG_DATA_X_MSB_VALUEX_MSK (0xFF) |
| 1155 |
#define BNO055_MAG_DATA_X_MSB_VALUEX_LEN (8) |
| 1156 |
#define BNO055_MAG_DATA_X_MSB_VALUEX_REG BNO055_MAG_DATA_X_MSB_ADDR
|
| 1157 |
|
| 1158 |
/* Mag data Y-LSB register*/
|
| 1159 |
#define BNO055_MAG_DATA_Y_LSB_VALUEY_POS (0) |
| 1160 |
#define BNO055_MAG_DATA_Y_LSB_VALUEY_MSK (0xFF) |
| 1161 |
#define BNO055_MAG_DATA_Y_LSB_VALUEY_LEN (8) |
| 1162 |
#define BNO055_MAG_DATA_Y_LSB_VALUEY_REG BNO055_MAG_DATA_Y_LSB_ADDR
|
| 1163 |
|
| 1164 |
/* Mag data Y-MSB register*/
|
| 1165 |
#define BNO055_MAG_DATA_Y_MSB_VALUEY_POS (0) |
| 1166 |
#define BNO055_MAG_DATA_Y_MSB_VALUEY_MSK (0xFF) |
| 1167 |
#define BNO055_MAG_DATA_Y_MSB_VALUEY_LEN (8) |
| 1168 |
#define BNO055_MAG_DATA_Y_MSB_VALUEY_REG BNO055_MAG_DATA_Y_MSB_ADDR
|
| 1169 |
|
| 1170 |
/* Mag data Z-LSB register*/
|
| 1171 |
#define BNO055_MAG_DATA_Z_LSB_VALUEZ_POS (0) |
| 1172 |
#define BNO055_MAG_DATA_Z_LSB_VALUEZ_MSK (0xFF) |
| 1173 |
#define BNO055_MAG_DATA_Z_LSB_VALUEZ_LEN (8) |
| 1174 |
#define BNO055_MAG_DATA_Z_LSB_VALUEZ_REG BNO055_MAG_DATA_Z_LSB_ADDR
|
| 1175 |
|
| 1176 |
/* Mag data Z-MSB register*/
|
| 1177 |
#define BNO055_MAG_DATA_Z_MSB_VALUEZ_POS (0) |
| 1178 |
#define BNO055_MAG_DATA_Z_MSB_VALUEZ_MSK (0xFF) |
| 1179 |
#define BNO055_MAG_DATA_Z_MSB_VALUEZ_LEN (8) |
| 1180 |
#define BNO055_MAG_DATA_Z_MSB_VALUEZ_REG BNO055_MAG_DATA_Z_MSB_ADDR
|
| 1181 |
|
| 1182 |
/* Gyro data X-LSB register*/
|
| 1183 |
#define BNO055_GYRO_DATA_X_LSB_VALUEX_POS (0) |
| 1184 |
#define BNO055_GYRO_DATA_X_LSB_VALUEX_MSK (0xFF) |
| 1185 |
#define BNO055_GYRO_DATA_X_LSB_VALUEX_LEN (8) |
| 1186 |
#define BNO055_GYRO_DATA_X_LSB_VALUEX_REG BNO055_GYRO_DATA_X_LSB_ADDR
|
| 1187 |
|
| 1188 |
/* Gyro data X-MSB register*/
|
| 1189 |
#define BNO055_GYRO_DATA_X_MSB_VALUEX_POS (0) |
| 1190 |
#define BNO055_GYRO_DATA_X_MSB_VALUEX_MSK (0xFF) |
| 1191 |
#define BNO055_GYRO_DATA_X_MSB_VALUEX_LEN (8) |
| 1192 |
#define BNO055_GYRO_DATA_X_MSB_VALUEX_REG BNO055_GYRO_DATA_X_MSB_ADDR
|
| 1193 |
|
| 1194 |
/* Gyro data Y-LSB register*/
|
| 1195 |
#define BNO055_GYRO_DATA_Y_LSB_VALUEY_POS (0) |
| 1196 |
#define BNO055_GYRO_DATA_Y_LSB_VALUEY_MSK (0xFF) |
| 1197 |
#define BNO055_GYRO_DATA_Y_LSB_VALUEY_LEN (8) |
| 1198 |
#define BNO055_GYRO_DATA_Y_LSB_VALUEY_REG BNO055_GYRO_DATA_Y_LSB_ADDR
|
| 1199 |
|
| 1200 |
/* Gyro data Y-MSB register*/
|
| 1201 |
#define BNO055_GYRO_DATA_Y_MSB_VALUEY_POS (0) |
| 1202 |
#define BNO055_GYRO_DATA_Y_MSB_VALUEY_MSK (0xFF) |
| 1203 |
#define BNO055_GYRO_DATA_Y_MSB_VALUEY_LEN (8) |
| 1204 |
#define BNO055_GYRO_DATA_Y_MSB_VALUEY_REG BNO055_GYRO_DATA_Y_MSB_ADDR
|
| 1205 |
|
| 1206 |
/* Gyro data Z-LSB register*/
|
| 1207 |
#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_POS (0) |
| 1208 |
#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_MSK (0xFF) |
| 1209 |
#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_LEN (8) |
| 1210 |
#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_REG BNO055_GYRO_DATA_Z_LSB_ADDR
|
| 1211 |
|
| 1212 |
/* Gyro data Z-MSB register*/
|
| 1213 |
#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_POS (0) |
| 1214 |
#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_MSK (0xFF) |
| 1215 |
#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_LEN (8) |
| 1216 |
#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_REG BNO055_GYRO_DATA_Z_MSB_ADDR
|
| 1217 |
|
| 1218 |
/* Euler data HEADING-LSB register*/
|
| 1219 |
#define BNO055_EULER_H_LSB_VALUEH_POS (0) |
| 1220 |
#define BNO055_EULER_H_LSB_VALUEH_MSK (0xFF) |
| 1221 |
#define BNO055_EULER_H_LSB_VALUEH_LEN (8) |
| 1222 |
#define BNO055_EULER_H_LSB_VALUEH_REG BNO055_EULER_H_LSB_ADDR
|
| 1223 |
|
| 1224 |
/* Euler data HEADING-MSB register*/
|
| 1225 |
#define BNO055_EULER_H_MSB_VALUEH_POS (0) |
| 1226 |
#define BNO055_EULER_H_MSB_VALUEH_MSK (0xFF) |
| 1227 |
#define BNO055_EULER_H_MSB_VALUEH_LEN (8) |
| 1228 |
#define BNO055_EULER_H_MSB_VALUEH_REG BNO055_EULER_H_MSB_ADDR
|
| 1229 |
|
| 1230 |
/* Euler data ROLL-LSB register*/
|
| 1231 |
#define BNO055_EULER_R_LSB_VALUER_POS (0) |
| 1232 |
#define BNO055_EULER_R_LSB_VALUER_MSK (0xFF) |
| 1233 |
#define BNO055_EULER_R_LSB_VALUER_LEN (8) |
| 1234 |
#define BNO055_EULER_R_LSB_VALUER_REG BNO055_EULER_R_LSB_ADDR
|
| 1235 |
|
| 1236 |
/* Euler data ROLL-MSB register*/
|
| 1237 |
#define BNO055_EULER_R_MSB_VALUER_POS (0) |
| 1238 |
#define BNO055_EULER_R_MSB_VALUER_MSK (0xFF) |
| 1239 |
#define BNO055_EULER_R_MSB_VALUER_LEN (8) |
| 1240 |
#define BNO055_EULER_R_MSB_VALUER_REG BNO055_EULER_R_MSB_ADDR
|
| 1241 |
|
| 1242 |
/* Euler data PITCH-LSB register*/
|
| 1243 |
#define BNO055_EULER_P_LSB_VALUEP_POS (0) |
| 1244 |
#define BNO055_EULER_P_LSB_VALUEP_MSK (0xFF) |
| 1245 |
#define BNO055_EULER_P_LSB_VALUEP_LEN (8) |
| 1246 |
#define BNO055_EULER_P_LSB_VALUEP_REG BNO055_EULER_P_LSB_ADDR
|
| 1247 |
|
| 1248 |
/* Euler data HEADING-MSB register*/
|
| 1249 |
#define BNO055_EULER_P_MSB_VALUEP_POS (0) |
| 1250 |
#define BNO055_EULER_P_MSB_VALUEP_MSK (0xFF) |
| 1251 |
#define BNO055_EULER_P_MSB_VALUEP_LEN (8) |
| 1252 |
#define BNO055_EULER_P_MSB_VALUEP_REG BNO055_EULER_P_MSB_ADDR
|
| 1253 |
|
| 1254 |
/* Quaternion data W-LSB register*/
|
| 1255 |
#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_POS (0) |
| 1256 |
#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_MSK (0xFF) |
| 1257 |
#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_LEN (8) |
| 1258 |
#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_REG \
|
| 1259 |
BNO055_QUATERNION_DATA_W_LSB_ADDR |
| 1260 |
|
| 1261 |
/* Quaternion data W-MSB register*/
|
| 1262 |
#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_POS (0) |
| 1263 |
#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_MSK (0xFF) |
| 1264 |
#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_LEN (8) |
| 1265 |
#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_REG \
|
| 1266 |
BNO055_QUATERNION_DATA_W_MSB_ADDR |
| 1267 |
|
| 1268 |
/* Quaternion data X-LSB register*/
|
| 1269 |
#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_POS (0) |
| 1270 |
#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_MSK (0xFF) |
| 1271 |
#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_LEN (8) |
| 1272 |
#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_REG \
|
| 1273 |
BNO055_QUATERNION_DATA_X_LSB_ADDR |
| 1274 |
|
| 1275 |
/* Quaternion data X-MSB register*/
|
| 1276 |
#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_POS (0) |
| 1277 |
#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_MSK (0xFF) |
| 1278 |
#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_LEN (8) |
| 1279 |
#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_REG \
|
| 1280 |
BNO055_QUATERNION_DATA_X_MSB_ADDR |
| 1281 |
|
| 1282 |
/* Quaternion data Y-LSB register*/
|
| 1283 |
#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_POS (0) |
| 1284 |
#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_MSK (0xFF) |
| 1285 |
#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_LEN (8) |
| 1286 |
#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_REG \
|
| 1287 |
BNO055_QUATERNION_DATA_Y_LSB_ADDR |
| 1288 |
|
| 1289 |
/* Quaternion data Y-MSB register*/
|
| 1290 |
#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_POS (0) |
| 1291 |
#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_MSK (0xFF) |
| 1292 |
#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_LEN (8) |
| 1293 |
#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_REG \
|
| 1294 |
BNO055_QUATERNION_DATA_Y_MSB_ADDR |
| 1295 |
|
| 1296 |
/* Quaternion data Z-LSB register*/
|
| 1297 |
#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_POS (0) |
| 1298 |
#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_MSK (0xFF) |
| 1299 |
#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_LEN (8) |
| 1300 |
#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_REG \
|
| 1301 |
BNO055_QUATERNION_DATA_Z_LSB_ADDR |
| 1302 |
|
| 1303 |
/* Quaternion data Z-MSB register*/
|
| 1304 |
#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_POS (0) |
| 1305 |
#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_MSK (0xFF) |
| 1306 |
#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_LEN (8) |
| 1307 |
#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_REG \
|
| 1308 |
BNO055_QUATERNION_DATA_Z_MSB_ADDR |
| 1309 |
|
| 1310 |
/* Linear acceleration data X-LSB register*/
|
| 1311 |
#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_POS (0) |
| 1312 |
#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_MSK (0xFF) |
| 1313 |
#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_LEN (8) |
| 1314 |
#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_REG \
|
| 1315 |
BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR |
| 1316 |
|
| 1317 |
/* Linear acceleration data X-MSB register*/
|
| 1318 |
#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_POS (0) |
| 1319 |
#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_MSK (0xFF) |
| 1320 |
#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_LEN (8) |
| 1321 |
#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_REG \
|
| 1322 |
BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR |
| 1323 |
|
| 1324 |
/* Linear acceleration data Y-LSB register*/
|
| 1325 |
#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_POS (0) |
| 1326 |
#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_MSK (0xFF) |
| 1327 |
#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_LEN (8) |
| 1328 |
#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_REG \
|
| 1329 |
BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR |
| 1330 |
|
| 1331 |
/* Linear acceleration data Y-MSB register*/
|
| 1332 |
#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_POS (0) |
| 1333 |
#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_MSK (0xFF) |
| 1334 |
#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_LEN (8) |
| 1335 |
#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_REG \
|
| 1336 |
BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR |
| 1337 |
|
| 1338 |
/* Linear acceleration data Z-LSB register*/
|
| 1339 |
#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_POS (0) |
| 1340 |
#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_MSK (0xFF) |
| 1341 |
#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_LEN (8) |
| 1342 |
#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_REG \
|
| 1343 |
BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR |
| 1344 |
|
| 1345 |
/* Linear acceleration data Z-MSB register*/
|
| 1346 |
#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_POS (0) |
| 1347 |
#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_MSK (0xFF) |
| 1348 |
#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_LEN (8) |
| 1349 |
#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_REG \
|
| 1350 |
BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR |
| 1351 |
|
| 1352 |
/* Gravity data X-LSB register*/
|
| 1353 |
#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_POS (0) |
| 1354 |
#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_MSK (0xFF) |
| 1355 |
#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_LEN (8) |
| 1356 |
#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_REG \
|
| 1357 |
BNO055_GRAVITY_DATA_X_LSB_ADDR |
| 1358 |
|
| 1359 |
/* Gravity data X-MSB register*/
|
| 1360 |
#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_POS (0) |
| 1361 |
#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_MSK (0xFF) |
| 1362 |
#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_LEN (8) |
| 1363 |
#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_REG \
|
| 1364 |
BNO055_GRAVITY_DATA_X_MSB_ADDR |
| 1365 |
|
| 1366 |
/* Gravity data Y-LSB register*/
|
| 1367 |
#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_POS (0) |
| 1368 |
#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_MSK (0xFF) |
| 1369 |
#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_LEN (8) |
| 1370 |
#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_REG \
|
| 1371 |
BNO055_GRAVITY_DATA_Y_LSB_ADDR |
| 1372 |
|
| 1373 |
/* Gravity data Y-MSB register*/
|
| 1374 |
#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_POS (0) |
| 1375 |
#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_MSK (0xFF) |
| 1376 |
#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_LEN (8) |
| 1377 |
#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_REG \
|
| 1378 |
BNO055_GRAVITY_DATA_Y_MSB_ADDR |
| 1379 |
|
| 1380 |
/* Gravity data Z-LSB register*/
|
| 1381 |
#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_POS (0) |
| 1382 |
#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_MSK (0xFF) |
| 1383 |
#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_LEN (8) |
| 1384 |
#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_REG \
|
| 1385 |
BNO055_GRAVITY_DATA_Z_LSB_ADDR |
| 1386 |
|
| 1387 |
/* Gravity data Z-MSB register*/
|
| 1388 |
#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_POS (0) |
| 1389 |
#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_MSK (0xFF) |
| 1390 |
#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_LEN (8) |
| 1391 |
#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_REG \
|
| 1392 |
BNO055_GRAVITY_DATA_Z_MSB_ADDR |
| 1393 |
|
| 1394 |
/* Temperature register*/
|
| 1395 |
#define BNO055_TEMP_POS (0) |
| 1396 |
#define BNO055_TEMP_MSK (0xFF) |
| 1397 |
#define BNO055_TEMP_LEN (8) |
| 1398 |
#define BNO055_TEMP_REG BNO055_TEMP_ADDR
|
| 1399 |
|
| 1400 |
/*Mag_Calib status register*/
|
| 1401 |
#define BNO055_MAG_CALIB_STAT_POS (0) |
| 1402 |
#define BNO055_MAG_CALIB_STAT_MSK (0X03) |
| 1403 |
#define BNO055_MAG_CALIB_STAT_LEN (2) |
| 1404 |
#define BNO055_MAG_CALIB_STAT_REG BNO055_CALIB_STAT_ADDR
|
| 1405 |
|
| 1406 |
/*Acc_Calib status register*/
|
| 1407 |
#define BNO055_ACCEL_CALIB_STAT_POS (2) |
| 1408 |
#define BNO055_ACCEL_CALIB_STAT_MSK (0X0C) |
| 1409 |
#define BNO055_ACCEL_CALIB_STAT_LEN (2) |
| 1410 |
#define BNO055_ACCEL_CALIB_STAT_REG BNO055_CALIB_STAT_ADDR
|
| 1411 |
|
| 1412 |
/*Gyro_Calib status register*/
|
| 1413 |
#define BNO055_GYRO_CALIB_STAT_POS (4) |
| 1414 |
#define BNO055_GYRO_CALIB_STAT_MSK (0X30) |
| 1415 |
#define BNO055_GYRO_CALIB_STAT_LEN (2) |
| 1416 |
#define BNO055_GYRO_CALIB_STAT_REG BNO055_CALIB_STAT_ADDR
|
| 1417 |
|
| 1418 |
/*Sys_Calib status register*/
|
| 1419 |
#define BNO055_SYS_CALIB_STAT_POS (6) |
| 1420 |
#define BNO055_SYS_CALIB_STAT_MSK (0XC0) |
| 1421 |
#define BNO055_SYS_CALIB_STAT_LEN (2) |
| 1422 |
#define BNO055_SYS_CALIB_STAT_REG BNO055_CALIB_STAT_ADDR
|
| 1423 |
|
| 1424 |
/*ST_ACCEL register*/
|
| 1425 |
#define BNO055_SELFTEST_ACCEL_POS (0) |
| 1426 |
#define BNO055_SELFTEST_ACCEL_MSK (0X01) |
| 1427 |
#define BNO055_SELFTEST_ACCEL_LEN (1) |
| 1428 |
#define BNO055_SELFTEST_ACCEL_REG BNO055_SELFTEST_RESULT_ADDR
|
| 1429 |
|
| 1430 |
/*ST_MAG register*/
|
| 1431 |
#define BNO055_SELFTEST_MAG_POS (1) |
| 1432 |
#define BNO055_SELFTEST_MAG_MSK (0X02) |
| 1433 |
#define BNO055_SELFTEST_MAG_LEN (1) |
| 1434 |
#define BNO055_SELFTEST_MAG_REG BNO055_SELFTEST_RESULT_ADDR
|
| 1435 |
|
| 1436 |
/*ST_GYRO register*/
|
| 1437 |
#define BNO055_SELFTEST_GYRO_POS (2) |
| 1438 |
#define BNO055_SELFTEST_GYRO_MSK (0X04) |
| 1439 |
#define BNO055_SELFTEST_GYRO_LEN (1) |
| 1440 |
#define BNO055_SELFTEST_GYRO_REG BNO055_SELFTEST_RESULT_ADDR
|
| 1441 |
|
| 1442 |
/*ST_MCU register*/
|
| 1443 |
#define BNO055_SELFTEST_MCU_POS (3) |
| 1444 |
#define BNO055_SELFTEST_MCU_MSK (0X08) |
| 1445 |
#define BNO055_SELFTEST_MCU_LEN (1) |
| 1446 |
#define BNO055_SELFTEST_MCU_REG BNO055_SELFTEST_RESULT_ADDR
|
| 1447 |
|
| 1448 |
/*Interrupt status registers*/
|
| 1449 |
#define BNO055_INTR_STAT_GYRO_ANY_MOTION_POS (2) |
| 1450 |
#define BNO055_INTR_STAT_GYRO_ANY_MOTION_MSK (0X04) |
| 1451 |
#define BNO055_INTR_STAT_GYRO_ANY_MOTION_LEN (1) |
| 1452 |
#define BNO055_INTR_STAT_GYRO_ANY_MOTION_REG BNO055_INTR_STAT_ADDR
|
| 1453 |
|
| 1454 |
#define BNO055_INTR_STAT_GYRO_HIGHRATE_POS (3) |
| 1455 |
#define BNO055_INTR_STAT_GYRO_HIGHRATE_MSK (0X08) |
| 1456 |
#define BNO055_INTR_STAT_GYRO_HIGHRATE_LEN (1) |
| 1457 |
#define BNO055_INTR_STAT_GYRO_HIGHRATE_REG BNO055_INTR_STAT_ADDR
|
| 1458 |
|
| 1459 |
#define BNO055_INTR_STAT_ACCEL_HIGH_G_POS (5) |
| 1460 |
#define BNO055_INTR_STAT_ACCEL_HIGH_G_MSK (0X20) |
| 1461 |
#define BNO055_INTR_STAT_ACCEL_HIGH_G_LEN (1) |
| 1462 |
#define BNO055_INTR_STAT_ACCEL_HIGH_G_REG BNO055_INTR_STAT_ADDR
|
| 1463 |
|
| 1464 |
#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_POS (6) |
| 1465 |
#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_MSK (0X40) |
| 1466 |
#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_LEN (1) |
| 1467 |
#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_REG BNO055_INTR_STAT_ADDR
|
| 1468 |
|
| 1469 |
#define BNO055_INTR_STAT_ACCEL_NO_MOTION_POS (7) |
| 1470 |
#define BNO055_INTR_STAT_ACCEL_NO_MOTION_MSK (0X80) |
| 1471 |
#define BNO055_INTR_STAT_ACCEL_NO_MOTION_LEN (1) |
| 1472 |
#define BNO055_INTR_STAT_ACCEL_NO_MOTION_REG BNO055_INTR_STAT_ADDR
|
| 1473 |
|
| 1474 |
/* system clock status register*/
|
| 1475 |
#define BNO055_SYS_MAIN_CLK_POS (0) |
| 1476 |
#define BNO055_SYS_MAIN_CLK_MSK (0X10) |
| 1477 |
#define BNO055_SYS_MAIN_CLK_LEN (1) |
| 1478 |
#define BNO055_SYS_MAIN_CLK_REG BNO055_SYS_CLK_STAT_ADDR
|
| 1479 |
|
| 1480 |
/* System registers*/
|
| 1481 |
#define BNO055_SYS_STAT_CODE_POS (0) |
| 1482 |
#define BNO055_SYS_STAT_CODE_MSK (0XFF) |
| 1483 |
#define BNO055_SYS_STAT_CODE_LEN (8) |
| 1484 |
#define BNO055_SYS_STAT_CODE_REG BNO055_SYS_STAT_ADDR
|
| 1485 |
|
| 1486 |
#define BNO055_SYS_ERROR_CODE_POS (0) |
| 1487 |
#define BNO055_SYS_ERROR_CODE_MSK (0XFF) |
| 1488 |
#define BNO055_SYS_ERROR_CODE_LEN (8) |
| 1489 |
#define BNO055_SYS_ERROR_CODE_REG BNO055_SYS_ERR_ADDR
|
| 1490 |
|
| 1491 |
/* Accel_Unit register*/
|
| 1492 |
#define BNO055_ACCEL_UNIT_POS (0) |
| 1493 |
#define BNO055_ACCEL_UNIT_MSK (0X01) |
| 1494 |
#define BNO055_ACCEL_UNIT_LEN (1) |
| 1495 |
#define BNO055_ACCEL_UNIT_REG BNO055_UNIT_SEL_ADDR
|
| 1496 |
|
| 1497 |
/* Gyro_Unit register*/
|
| 1498 |
#define BNO055_GYRO_UNIT_POS (1) |
| 1499 |
#define BNO055_GYRO_UNIT_MSK (0X02) |
| 1500 |
#define BNO055_GYRO_UNIT_LEN (1) |
| 1501 |
#define BNO055_GYRO_UNIT_REG BNO055_UNIT_SEL_ADDR
|
| 1502 |
|
| 1503 |
/* Euler_Unit register*/
|
| 1504 |
#define BNO055_EULER_UNIT_POS (2) |
| 1505 |
#define BNO055_EULER_UNIT_MSK (0X04) |
| 1506 |
#define BNO055_EULER_UNIT_LEN (1) |
| 1507 |
#define BNO055_EULER_UNIT_REG BNO055_UNIT_SEL_ADDR
|
| 1508 |
|
| 1509 |
/* Tilt_Unit register*/
|
| 1510 |
#define BNO055_TILT_UNIT_POS (3) |
| 1511 |
#define BNO055_TILT_UNIT_MSK (0X08) |
| 1512 |
#define BNO055_TILT_UNIT_LEN (1) |
| 1513 |
#define BNO055_TILT_UNIT_REG BNO055_UNIT_SEL_ADDR
|
| 1514 |
|
| 1515 |
/* Temperature_Unit register*/
|
| 1516 |
#define BNO055_TEMP_UNIT_POS (4) |
| 1517 |
#define BNO055_TEMP_UNIT_MSK (0X10) |
| 1518 |
#define BNO055_TEMP_UNIT_LEN (1) |
| 1519 |
#define BNO055_TEMP_UNIT_REG BNO055_UNIT_SEL_ADDR
|
| 1520 |
|
| 1521 |
/* ORI android-windows register*/
|
| 1522 |
#define BNO055_DATA_OUTPUT_FORMAT_POS (7) |
| 1523 |
#define BNO055_DATA_OUTPUT_FORMAT_MSK (0X80) |
| 1524 |
#define BNO055_DATA_OUTPUT_FORMAT_LEN (1) |
| 1525 |
#define BNO055_DATA_OUTPUT_FORMAT_REG BNO055_UNIT_SEL_ADDR
|
| 1526 |
/*Operation Mode data register*/
|
| 1527 |
#define BNO055_OPERATION_MODE_POS (0) |
| 1528 |
#define BNO055_OPERATION_MODE_MSK (0X0F) |
| 1529 |
#define BNO055_OPERATION_MODE_LEN (4) |
| 1530 |
#define BNO055_OPERATION_MODE_REG BNO055_OPR_MODE_ADDR
|
| 1531 |
/* Power Mode register*/
|
| 1532 |
#define BNO055_POWER_MODE_POS (0) |
| 1533 |
#define BNO055_POWER_MODE_MSK (0X03) |
| 1534 |
#define BNO055_POWER_MODE_LEN (2) |
| 1535 |
#define BNO055_POWER_MODE_REG BNO055_PWR_MODE_ADDR
|
| 1536 |
|
| 1537 |
/*Self Test register*/
|
| 1538 |
#define BNO055_SELFTEST_POS (0) |
| 1539 |
#define BNO055_SELFTEST_MSK (0X01) |
| 1540 |
#define BNO055_SELFTEST_LEN (1) |
| 1541 |
#define BNO055_SELFTEST_REG BNO055_SYS_TRIGGER_ADDR
|
| 1542 |
|
| 1543 |
/* RST_SYS register*/
|
| 1544 |
#define BNO055_SYS_RST_POS (5) |
| 1545 |
#define BNO055_SYS_RST_MSK (0X20) |
| 1546 |
#define BNO055_SYS_RST_LEN (1) |
| 1547 |
#define BNO055_SYS_RST_REG BNO055_SYS_TRIGGER_ADDR
|
| 1548 |
|
| 1549 |
/* RST_INT register*/
|
| 1550 |
#define BNO055_INTR_RST_POS (6) |
| 1551 |
#define BNO055_INTR_RST_MSK (0X40) |
| 1552 |
#define BNO055_INTR_RST_LEN (1) |
| 1553 |
#define BNO055_INTR_RST_REG BNO055_SYS_TRIGGER_ADDR
|
| 1554 |
|
| 1555 |
/* CLK_SRC register*/
|
| 1556 |
#define BNO055_CLK_SRC_POS (7) |
| 1557 |
#define BNO055_CLK_SRC_MSK (0X80) |
| 1558 |
#define BNO055_CLK_SRC_LEN (1) |
| 1559 |
#define BNO055_CLK_SRC_REG BNO055_SYS_TRIGGER_ADDR
|
| 1560 |
|
| 1561 |
/* Temp source register*/
|
| 1562 |
#define BNO055_TEMP_SOURCE_POS (0) |
| 1563 |
#define BNO055_TEMP_SOURCE_MSK (0X03) |
| 1564 |
#define BNO055_TEMP_SOURCE_LEN (2) |
| 1565 |
#define BNO055_TEMP_SOURCE_REG BNO055_TEMP_SOURCE_ADDR
|
| 1566 |
|
| 1567 |
/* Axis remap value register*/
|
| 1568 |
#define BNO055_REMAP_AXIS_VALUE_POS (0) |
| 1569 |
#define BNO055_REMAP_AXIS_VALUE_MSK (0X3F) |
| 1570 |
#define BNO055_REMAP_AXIS_VALUE_LEN (6) |
| 1571 |
#define BNO055_REMAP_AXIS_VALUE_REG BNO055_AXIS_MAP_CONFIG_ADDR
|
| 1572 |
|
| 1573 |
/* Axis sign value register*/
|
| 1574 |
#define BNO055_REMAP_Z_SIGN_POS (0) |
| 1575 |
#define BNO055_REMAP_Z_SIGN_MSK (0X01) |
| 1576 |
#define BNO055_REMAP_Z_SIGN_LEN (1) |
| 1577 |
#define BNO055_REMAP_Z_SIGN_REG BNO055_AXIS_MAP_SIGN_ADDR
|
| 1578 |
|
| 1579 |
#define BNO055_REMAP_Y_SIGN_POS (1) |
| 1580 |
#define BNO055_REMAP_Y_SIGN_MSK (0X02) |
| 1581 |
#define BNO055_REMAP_Y_SIGN_LEN (1) |
| 1582 |
#define BNO055_REMAP_Y_SIGN_REG BNO055_AXIS_MAP_SIGN_ADDR
|
| 1583 |
|
| 1584 |
#define BNO055_REMAP_X_SIGN_POS (2) |
| 1585 |
#define BNO055_REMAP_X_SIGN_MSK (0X04) |
| 1586 |
#define BNO055_REMAP_X_SIGN_LEN (1) |
| 1587 |
#define BNO055_REMAP_X_SIGN_REG BNO055_AXIS_MAP_SIGN_ADDR
|
| 1588 |
|
| 1589 |
/* Soft Iron Calibration matrix register*/
|
| 1590 |
#define BNO055_SIC_MATRIX_0_LSB_POS (0) |
| 1591 |
#define BNO055_SIC_MATRIX_0_LSB_MSK (0XFF) |
| 1592 |
#define BNO055_SIC_MATRIX_0_LSB_LEN (8) |
| 1593 |
#define BNO055_SIC_MATRIX_0_LSB_REG BNO055_SIC_MATRIX_0_LSB_ADDR
|
| 1594 |
|
| 1595 |
#define BNO055_SIC_MATRIX_0_MSB_POS (0) |
| 1596 |
#define BNO055_SIC_MATRIX_0_MSB_MSK (0XFF) |
| 1597 |
#define BNO055_SIC_MATRIX_0_MSB_LEN (8) |
| 1598 |
#define BNO055_SIC_MATRIX_0_MSB_REG BNO055_SIC_MATRIX_0_MSB_ADDR
|
| 1599 |
|
| 1600 |
#define BNO055_SIC_MATRIX_1_LSB_POS (0) |
| 1601 |
#define BNO055_SIC_MATRIX_1_LSB_MSK (0XFF) |
| 1602 |
#define BNO055_SIC_MATRIX_1_LSB_LEN (8) |
| 1603 |
#define BNO055_SIC_MATRIX_1_LSB_REG BNO055_SIC_MATRIX_1_LSB_ADDR
|
| 1604 |
|
| 1605 |
#define BNO055_SIC_MATRIX_1_MSB_POS (0) |
| 1606 |
#define BNO055_SIC_MATRIX_1_MSB_MSK (0XFF) |
| 1607 |
#define BNO055_SIC_MATRIX_1_MSB_LEN (8) |
| 1608 |
#define BNO055_SIC_MATRIX_1_MSB_REG BNO055_SIC_MATRIX_1_MSB_ADDR
|
| 1609 |
|
| 1610 |
#define BNO055_SIC_MATRIX_2_LSB_POS (0) |
| 1611 |
#define BNO055_SIC_MATRIX_2_LSB_MSK (0XFF) |
| 1612 |
#define BNO055_SIC_MATRIX_2_LSB_LEN (8) |
| 1613 |
#define BNO055_SIC_MATRIX_2_LSB_REG BNO055_SIC_MATRIX_2_LSB_ADDR
|
| 1614 |
|
| 1615 |
#define BNO055_SIC_MATRIX_2_MSB_POS (0) |
| 1616 |
#define BNO055_SIC_MATRIX_2_MSB_MSK (0XFF) |
| 1617 |
#define BNO055_SIC_MATRIX_2_MSB_LEN (8) |
| 1618 |
#define BNO055_SIC_MATRIX_2_MSB_REG BNO055_SIC_MATRIX_2_MSB_ADDR
|
| 1619 |
|
| 1620 |
#define BNO055_SIC_MATRIX_3_LSB_POS (0) |
| 1621 |
#define BNO055_SIC_MATRIX_3_LSB_MSK (0XFF) |
| 1622 |
#define BNO055_SIC_MATRIX_3_LSB_LEN (8) |
| 1623 |
#define BNO055_SIC_MATRIX_3_LSB_REG BNO055_SIC_MATRIX_3_LSB_ADDR
|
| 1624 |
|
| 1625 |
#define BNO055_SIC_MATRIX_3_MSB_POS (0) |
| 1626 |
#define BNO055_SIC_MATRIX_3_MSB_MSK (0XFF) |
| 1627 |
#define BNO055_SIC_MATRIX_3_MSB_LEN (8) |
| 1628 |
#define BNO055_SIC_MATRIX_3_MSB_REG BNO055_SIC_MATRIX_3_MSB_ADDR
|
| 1629 |
|
| 1630 |
#define BNO055_SIC_MATRIX_4_LSB_POS (0) |
| 1631 |
#define BNO055_SIC_MATRIX_4_LSB_MSK (0XFF) |
| 1632 |
#define BNO055_SIC_MATRIX_4_LSB_LEN (8) |
| 1633 |
#define BNO055_SIC_MATRIX_4_LSB_REG BNO055_SIC_MATRIX_4_LSB_ADDR
|
| 1634 |
|
| 1635 |
#define BNO055_SIC_MATRIX_4_MSB_POS (0) |
| 1636 |
#define BNO055_SIC_MATRIX_4_MSB_MSK (0XFF) |
| 1637 |
#define BNO055_SIC_MATRIX_4_MSB_LEN (8) |
| 1638 |
#define BNO055_SIC_MATRIX_4_MSB_REG BNO055_SIC_MATRIX_4_MSB_ADDR
|
| 1639 |
|
| 1640 |
#define BNO055_SIC_MATRIX_5_LSB_POS (0) |
| 1641 |
#define BNO055_SIC_MATRIX_5_LSB_MSK (0XFF) |
| 1642 |
#define BNO055_SIC_MATRIX_5_LSB_LEN (8) |
| 1643 |
#define BNO055_SIC_MATRIX_5_LSB_REG BNO055_SIC_MATRIX_5_LSB_ADDR
|
| 1644 |
|
| 1645 |
#define BNO055_SIC_MATRIX_5_MSB_POS (0) |
| 1646 |
#define BNO055_SIC_MATRIX_5_MSB_MSK (0XFF) |
| 1647 |
#define BNO055_SIC_MATRIX_5_MSB_LEN (8) |
| 1648 |
#define BNO055_SIC_MATRIX_5_MSB_REG BNO055_SIC_MATRIX_5_MSB_ADDR
|
| 1649 |
|
| 1650 |
#define BNO055_SIC_MATRIX_6_LSB_POS (0) |
| 1651 |
#define BNO055_SIC_MATRIX_6_LSB_MSK (0XFF) |
| 1652 |
#define BNO055_SIC_MATRIX_6_LSB_LEN (8) |
| 1653 |
#define BNO055_SIC_MATRIX_6_LSB_REG BNO055_SIC_MATRIX_6_LSB_ADDR
|
| 1654 |
|
| 1655 |
#define BNO055_SIC_MATRIX_6_MSB_POS (0) |
| 1656 |
#define BNO055_SIC_MATRIX_6_MSB_MSK (0XFF) |
| 1657 |
#define BNO055_SIC_MATRIX_6_MSB_LEN (8) |
| 1658 |
#define BNO055_SIC_MATRIX_6_MSB_REG BNO055_SIC_MATRIX_6_MSB_ADDR
|
| 1659 |
|
| 1660 |
#define BNO055_SIC_MATRIX_7_LSB_POS (0) |
| 1661 |
#define BNO055_SIC_MATRIX_7_LSB_MSK (0XFF) |
| 1662 |
#define BNO055_SIC_MATRIX_7_LSB_LEN (8) |
| 1663 |
#define BNO055_SIC_MATRIX_7_LSB_REG BNO055_SIC_MATRIX_7_LSB_ADDR
|
| 1664 |
|
| 1665 |
#define BNO055_SIC_MATRIX_7_MSB_POS (0) |
| 1666 |
#define BNO055_SIC_MATRIX_7_MSB_MSK (0XFF) |
| 1667 |
#define BNO055_SIC_MATRIX_7_MSB_LEN (8) |
| 1668 |
#define BNO055_SIC_MATRIX_7_MSB_REG BNO055_SIC_MATRIX_7_MSB_ADDR
|
| 1669 |
|
| 1670 |
#define BNO055_SIC_MATRIX_8_LSB_POS (0) |
| 1671 |
#define BNO055_SIC_MATRIX_8_LSB_MSK (0XFF) |
| 1672 |
#define BNO055_SIC_MATRIX_8_LSB_LEN (8) |
| 1673 |
#define BNO055_SIC_MATRIX_8_LSB_REG BNO055_SIC_MATRIX_8_LSB_ADDR
|
| 1674 |
|
| 1675 |
#define BNO055_SIC_MATRIX_8_MSB_POS (0) |
| 1676 |
#define BNO055_SIC_MATRIX_8_MSB_MSK (0XFF) |
| 1677 |
#define BNO055_SIC_MATRIX_8_MSB_LEN (8) |
| 1678 |
#define BNO055_SIC_MATRIX_8_MSB_REG BNO055_SIC_MATRIX_8_MSB_ADDR
|
| 1679 |
|
| 1680 |
/*Accel Offset registers*/
|
| 1681 |
#define BNO055_ACCEL_OFFSET_X_LSB_POS (0) |
| 1682 |
#define BNO055_ACCEL_OFFSET_X_LSB_MSK (0XFF) |
| 1683 |
#define BNO055_ACCEL_OFFSET_X_LSB_LEN (8) |
| 1684 |
#define BNO055_ACCEL_OFFSET_X_LSB_REG BNO055_ACCEL_OFFSET_X_LSB_ADDR
|
| 1685 |
|
| 1686 |
#define BNO055_ACCEL_OFFSET_X_MSB_POS (0) |
| 1687 |
#define BNO055_ACCEL_OFFSET_X_MSB_MSK (0XFF) |
| 1688 |
#define BNO055_ACCEL_OFFSET_X_MSB_LEN (8) |
| 1689 |
#define BNO055_ACCEL_OFFSET_X_MSB_REG BNO055_ACCEL_OFFSET_X_MSB_ADDR
|
| 1690 |
|
| 1691 |
#define BNO055_ACCEL_OFFSET_Y_LSB_POS (0) |
| 1692 |
#define BNO055_ACCEL_OFFSET_Y_LSB_MSK (0XFF) |
| 1693 |
#define BNO055_ACCEL_OFFSET_Y_LSB_LEN (8) |
| 1694 |
#define BNO055_ACCEL_OFFSET_Y_LSB_REG BNO055_ACCEL_OFFSET_Y_LSB_ADDR
|
| 1695 |
|
| 1696 |
#define BNO055_ACCEL_OFFSET_Y_MSB_POS (0) |
| 1697 |
#define BNO055_ACCEL_OFFSET_Y_MSB_MSK (0XFF) |
| 1698 |
#define BNO055_ACCEL_OFFSET_Y_MSB_LEN (8) |
| 1699 |
#define BNO055_ACCEL_OFFSET_Y_MSB_REG BNO055_ACCEL_OFFSET_Y_MSB_ADDR
|
| 1700 |
|
| 1701 |
#define BNO055_ACCEL_OFFSET_Z_LSB_POS (0) |
| 1702 |
#define BNO055_ACCEL_OFFSET_Z_LSB_MSK (0XFF) |
| 1703 |
#define BNO055_ACCEL_OFFSET_Z_LSB_LEN (8) |
| 1704 |
#define BNO055_ACCEL_OFFSET_Z_LSB_REG BNO055_ACCEL_OFFSET_Z_LSB_ADDR
|
| 1705 |
|
| 1706 |
#define BNO055_ACCEL_OFFSET_Z_MSB_POS (0) |
| 1707 |
#define BNO055_ACCEL_OFFSET_Z_MSB_MSK (0XFF) |
| 1708 |
#define BNO055_ACCEL_OFFSET_Z_MSB_LEN (8) |
| 1709 |
#define BNO055_ACCEL_OFFSET_Z_MSB_REG BNO055_ACCEL_OFFSET_Z_MSB_ADDR
|
| 1710 |
|
| 1711 |
/*Mag Offset registers*/
|
| 1712 |
#define BNO055_MAG_OFFSET_X_LSB_POS (0) |
| 1713 |
#define BNO055_MAG_OFFSET_X_LSB_MSK (0XFF) |
| 1714 |
#define BNO055_MAG_OFFSET_X_LSB_LEN (8) |
| 1715 |
#define BNO055_MAG_OFFSET_X_LSB_REG BNO055_MAG_OFFSET_X_LSB_ADDR
|
| 1716 |
|
| 1717 |
#define BNO055_MAG_OFFSET_X_MSB_POS (0) |
| 1718 |
#define BNO055_MAG_OFFSET_X_MSB_MSK (0XFF) |
| 1719 |
#define BNO055_MAG_OFFSET_X_MSB_LEN (8) |
| 1720 |
#define BNO055_MAG_OFFSET_X_MSB_REG BNO055_MAG_OFFSET_X_MSB_ADDR
|
| 1721 |
|
| 1722 |
#define BNO055_MAG_OFFSET_Y_LSB_POS (0) |
| 1723 |
#define BNO055_MAG_OFFSET_Y_LSB_MSK (0XFF) |
| 1724 |
#define BNO055_MAG_OFFSET_Y_LSB_LEN (8) |
| 1725 |
#define BNO055_MAG_OFFSET_Y_LSB_REG BNO055_MAG_OFFSET_Y_LSB_ADDR
|
| 1726 |
|
| 1727 |
#define BNO055_MAG_OFFSET_Y_MSB_POS (0) |
| 1728 |
#define BNO055_MAG_OFFSET_Y_MSB_MSK (0XFF) |
| 1729 |
#define BNO055_MAG_OFFSET_Y_MSB_LEN (8) |
| 1730 |
#define BNO055_MAG_OFFSET_Y_MSB_REG BNO055_MAG_OFFSET_Y_MSB_ADDR
|
| 1731 |
|
| 1732 |
#define BNO055_MAG_OFFSET_Z_LSB_POS (0) |
| 1733 |
#define BNO055_MAG_OFFSET_Z_LSB_MSK (0XFF) |
| 1734 |
#define BNO055_MAG_OFFSET_Z_LSB_LEN (8) |
| 1735 |
#define BNO055_MAG_OFFSET_Z_LSB_REG BNO055_MAG_OFFSET_Z_LSB_ADDR
|
| 1736 |
|
| 1737 |
#define BNO055_MAG_OFFSET_Z_MSB_POS (0) |
| 1738 |
#define BNO055_MAG_OFFSET_Z_MSB_MSK (0XFF) |
| 1739 |
#define BNO055_MAG_OFFSET_Z_MSB_LEN (8) |
| 1740 |
#define BNO055_MAG_OFFSET_Z_MSB_REG BNO055_MAG_OFFSET_Z_MSB_ADDR
|
| 1741 |
|
| 1742 |
/* Gyro Offset registers*/
|
| 1743 |
#define BNO055_GYRO_OFFSET_X_LSB_POS (0) |
| 1744 |
#define BNO055_GYRO_OFFSET_X_LSB_MSK (0XFF) |
| 1745 |
#define BNO055_GYRO_OFFSET_X_LSB_LEN (8) |
| 1746 |
#define BNO055_GYRO_OFFSET_X_LSB_REG BNO055_GYRO_OFFSET_X_LSB_ADDR
|
| 1747 |
|
| 1748 |
#define BNO055_GYRO_OFFSET_X_MSB_POS (0) |
| 1749 |
#define BNO055_GYRO_OFFSET_X_MSB_MSK (0XFF) |
| 1750 |
#define BNO055_GYRO_OFFSET_X_MSB_LEN (8) |
| 1751 |
#define BNO055_GYRO_OFFSET_X_MSB_REG BNO055_GYRO_OFFSET_X_MSB_ADDR
|
| 1752 |
|
| 1753 |
#define BNO055_GYRO_OFFSET_Y_LSB_POS (0) |
| 1754 |
#define BNO055_GYRO_OFFSET_Y_LSB_MSK (0XFF) |
| 1755 |
#define BNO055_GYRO_OFFSET_Y_LSB_LEN (8) |
| 1756 |
#define BNO055_GYRO_OFFSET_Y_LSB_REG BNO055_GYRO_OFFSET_Y_LSB_ADDR
|
| 1757 |
|
| 1758 |
#define BNO055_GYRO_OFFSET_Y_MSB_POS (0) |
| 1759 |
#define BNO055_GYRO_OFFSET_Y_MSB_MSK (0XFF) |
| 1760 |
#define BNO055_GYRO_OFFSET_Y_MSB_LEN (8) |
| 1761 |
#define BNO055_GYRO_OFFSET_Y_MSB_REG BNO055_GYRO_OFFSET_Y_MSB_ADDR
|
| 1762 |
|
| 1763 |
#define BNO055_GYRO_OFFSET_Z_LSB_POS (0) |
| 1764 |
#define BNO055_GYRO_OFFSET_Z_LSB_MSK (0XFF) |
| 1765 |
#define BNO055_GYRO_OFFSET_Z_LSB_LEN (8) |
| 1766 |
#define BNO055_GYRO_OFFSET_Z_LSB_REG BNO055_GYRO_OFFSET_Z_LSB_ADDR
|
| 1767 |
|
| 1768 |
#define BNO055_GYRO_OFFSET_Z_MSB_POS (0) |
| 1769 |
#define BNO055_GYRO_OFFSET_Z_MSB_MSK (0XFF) |
| 1770 |
#define BNO055_GYRO_OFFSET_Z_MSB_LEN (8) |
| 1771 |
#define BNO055_GYRO_OFFSET_Z_MSB_REG BNO055_GYRO_OFFSET_Z_MSB_ADDR
|
| 1772 |
|
| 1773 |
/* Radius register definition*/
|
| 1774 |
#define BNO055_ACCEL_RADIUS_LSB_POS (0) |
| 1775 |
#define BNO055_ACCEL_RADIUS_LSB_MSK (0XFF) |
| 1776 |
#define BNO055_ACCEL_RADIUS_LSB_LEN (8) |
| 1777 |
#define BNO055_ACCEL_RADIUS_LSB_REG BNO055_ACCEL_RADIUS_LSB_ADDR
|
| 1778 |
|
| 1779 |
#define BNO055_ACCEL_RADIUS_MSB_POS (0) |
| 1780 |
#define BNO055_ACCEL_RADIUS_MSB_MSK (0XFF) |
| 1781 |
#define BNO055_ACCEL_RADIUS_MSB_LEN (8) |
| 1782 |
#define BNO055_ACCEL_RADIUS_MSB_REG BNO055_ACCEL_RADIUS_MSB_ADDR
|
| 1783 |
|
| 1784 |
#define BNO055_MAG_RADIUS_LSB_POS (0) |
| 1785 |
#define BNO055_MAG_RADIUS_LSB_MSK (0XFF) |
| 1786 |
#define BNO055_MAG_RADIUS_LSB_LEN (8) |
| 1787 |
#define BNO055_MAG_RADIUS_LSB_REG BNO055_MAG_RADIUS_LSB_ADDR
|
| 1788 |
|
| 1789 |
#define BNO055_MAG_RADIUS_MSB_POS (0) |
| 1790 |
#define BNO055_MAG_RADIUS_MSB_MSK (0XFF) |
| 1791 |
#define BNO055_MAG_RADIUS_MSB_LEN (8) |
| 1792 |
#define BNO055_MAG_RADIUS_MSB_REG BNO055_MAG_RADIUS_MSB_ADDR
|
| 1793 |
|
| 1794 |
/* PAGE0 DATA REGISTERS DEFINITION END*/
|
| 1795 |
/*************************************************/
|
| 1796 |
/**\name PAGE1 DATA REGISTERS DEFINITION */
|
| 1797 |
/*************************************************/
|
| 1798 |
/* Configuration registers*/
|
| 1799 |
/* Accel range configuration register*/
|
| 1800 |
#define BNO055_ACCEL_RANGE_POS (0) |
| 1801 |
#define BNO055_ACCEL_RANGE_MSK (0X03) |
| 1802 |
#define BNO055_ACCEL_RANGE_LEN (2) |
| 1803 |
#define BNO055_ACCEL_RANGE_REG BNO055_ACCEL_CONFIG_ADDR
|
| 1804 |
|
| 1805 |
/* Accel bandwidth configuration register*/
|
| 1806 |
#define BNO055_ACCEL_BW_POS (2) |
| 1807 |
#define BNO055_ACCEL_BW_MSK (0X1C) |
| 1808 |
#define BNO055_ACCEL_BW_LEN (3) |
| 1809 |
#define BNO055_ACCEL_BW_REG BNO055_ACCEL_CONFIG_ADDR
|
| 1810 |
|
| 1811 |
/* Accel power mode configuration register*/
|
| 1812 |
#define BNO055_ACCEL_POWER_MODE_POS (5) |
| 1813 |
#define BNO055_ACCEL_POWER_MODE_MSK (0XE0) |
| 1814 |
#define BNO055_ACCEL_POWER_MODE_LEN (3) |
| 1815 |
#define BNO055_ACCEL_POWER_MODE_REG BNO055_ACCEL_CONFIG_ADDR
|
| 1816 |
|
| 1817 |
/* Mag data output rate configuration register*/
|
| 1818 |
#define BNO055_MAG_DATA_OUTPUT_RATE_POS (0) |
| 1819 |
#define BNO055_MAG_DATA_OUTPUT_RATE_MSK (0X07) |
| 1820 |
#define BNO055_MAG_DATA_OUTPUT_RATE_LEN (3) |
| 1821 |
#define BNO055_MAG_DATA_OUTPUT_RATE_REG BNO055_MAG_CONFIG_ADDR
|
| 1822 |
|
| 1823 |
/* Mag operation mode configuration register*/
|
| 1824 |
#define BNO055_MAG_OPERATION_MODE_POS (3) |
| 1825 |
#define BNO055_MAG_OPERATION_MODE_MSK (0X18) |
| 1826 |
#define BNO055_MAG_OPERATION_MODE_LEN (2) |
| 1827 |
#define BNO055_MAG_OPERATION_MODE_REG BNO055_MAG_CONFIG_ADDR
|
| 1828 |
|
| 1829 |
/* Mag power mode configuration register*/
|
| 1830 |
#define BNO055_MAG_POWER_MODE_POS (5) |
| 1831 |
#define BNO055_MAG_POWER_MODE_MSK (0X60) |
| 1832 |
#define BNO055_MAG_POWER_MODE_LEN (2) |
| 1833 |
#define BNO055_MAG_POWER_MODE_REG BNO055_MAG_CONFIG_ADDR
|
| 1834 |
|
| 1835 |
/* Gyro range configuration register*/
|
| 1836 |
#define BNO055_GYRO_RANGE_POS (0) |
| 1837 |
#define BNO055_GYRO_RANGE_MSK (0X07) |
| 1838 |
#define BNO055_GYRO_RANGE_LEN (3) |
| 1839 |
#define BNO055_GYRO_RANGE_REG BNO055_GYRO_CONFIG_ADDR
|
| 1840 |
|
| 1841 |
/* Gyro bandwidth configuration register*/
|
| 1842 |
#define BNO055_GYRO_BW_POS (3) |
| 1843 |
#define BNO055_GYRO_BW_MSK (0X38) |
| 1844 |
#define BNO055_GYRO_BW_LEN (3) |
| 1845 |
#define BNO055_GYRO_BW_REG BNO055_GYRO_CONFIG_ADDR
|
| 1846 |
|
| 1847 |
/* Gyro power mode configuration register*/
|
| 1848 |
#define BNO055_GYRO_POWER_MODE_POS (0) |
| 1849 |
#define BNO055_GYRO_POWER_MODE_MSK (0X07) |
| 1850 |
#define BNO055_GYRO_POWER_MODE_LEN (3) |
| 1851 |
#define BNO055_GYRO_POWER_MODE_REG BNO055_GYRO_MODE_CONFIG_ADDR
|
| 1852 |
|
| 1853 |
/* Sleep configuration registers*/
|
| 1854 |
/* Accel sleep mode configuration register*/
|
| 1855 |
#define BNO055_ACCEL_SLEEP_MODE_POS (0) |
| 1856 |
#define BNO055_ACCEL_SLEEP_MODE_MSK (0X01) |
| 1857 |
#define BNO055_ACCEL_SLEEP_MODE_LEN (1) |
| 1858 |
#define BNO055_ACCEL_SLEEP_MODE_REG BNO055_ACCEL_SLEEP_CONFIG_ADDR
|
| 1859 |
|
| 1860 |
/* Accel sleep duration configuration register*/
|
| 1861 |
#define BNO055_ACCEL_SLEEP_DURN_POS (1) |
| 1862 |
#define BNO055_ACCEL_SLEEP_DURN_MSK (0X1E) |
| 1863 |
#define BNO055_ACCEL_SLEEP_DURN_LEN (4) |
| 1864 |
#define BNO055_ACCEL_SLEEP_DURN_REG BNO055_ACCEL_SLEEP_CONFIG_ADDR
|
| 1865 |
|
| 1866 |
/* Gyro sleep duration configuration register*/
|
| 1867 |
#define BNO055_GYRO_SLEEP_DURN_POS (0) |
| 1868 |
#define BNO055_GYRO_SLEEP_DURN_MSK (0X07) |
| 1869 |
#define BNO055_GYRO_SLEEP_DURN_LEN (3) |
| 1870 |
#define BNO055_GYRO_SLEEP_DURN_REG BNO055_GYRO_SLEEP_CONFIG_ADDR
|
| 1871 |
|
| 1872 |
/* Gyro auto sleep duration configuration register*/
|
| 1873 |
#define BNO055_GYRO_AUTO_SLEEP_DURN_POS (3) |
| 1874 |
#define BNO055_GYRO_AUTO_SLEEP_DURN_MSK (0X38) |
| 1875 |
#define BNO055_GYRO_AUTO_SLEEP_DURN_LEN (3) |
| 1876 |
#define BNO055_GYRO_AUTO_SLEEP_DURN_REG BNO055_GYRO_SLEEP_CONFIG_ADDR
|
| 1877 |
|
| 1878 |
/* Mag sleep mode configuration register*/
|
| 1879 |
#define BNO055_MAG_SLEEP_MODE_POS (0) |
| 1880 |
#define BNO055_MAG_SLEEP_MODE_MSK (0X01) |
| 1881 |
#define BNO055_MAG_SLEEP_MODE_LEN (1) |
| 1882 |
#define BNO055_MAG_SLEEP_MODE_REG BNO055_MAG_SLEEP_CONFIG_ADDR
|
| 1883 |
|
| 1884 |
/* Mag sleep duration configuration register*/
|
| 1885 |
#define BNO055_MAG_SLEEP_DURN_POS (1) |
| 1886 |
#define BNO055_MAG_SLEEP_DURN_MSK (0X1E) |
| 1887 |
#define BNO055_MAG_SLEEP_DURN_LEN (4) |
| 1888 |
#define BNO055_MAG_SLEEP_DURN_REG BNO055_MAG_SLEEP_CONFIG_ADDR
|
| 1889 |
|
| 1890 |
/* Interrupt registers*/
|
| 1891 |
/* Gyro any motion interrupt msk register*/
|
| 1892 |
#define BNO055_GYRO_ANY_MOTION_INTR_MASK_POS (2) |
| 1893 |
#define BNO055_GYRO_ANY_MOTION_INTR_MASK_MSK (0X04) |
| 1894 |
#define BNO055_GYRO_ANY_MOTION_INTR_MASK_LEN (1) |
| 1895 |
#define BNO055_GYRO_ANY_MOTION_INTR_MASK_REG BNO055_INT_MASK_ADDR
|
| 1896 |
|
| 1897 |
/* Gyro high rate interrupt msk register*/
|
| 1898 |
#define BNO055_GYRO_HIGHRATE_INTR_MASK_POS (3) |
| 1899 |
#define BNO055_GYRO_HIGHRATE_INTR_MASK_MSK (0X08) |
| 1900 |
#define BNO055_GYRO_HIGHRATE_INTR_MASK_LEN (1) |
| 1901 |
#define BNO055_GYRO_HIGHRATE_INTR_MASK_REG BNO055_INT_MASK_ADDR
|
| 1902 |
|
| 1903 |
/* Accel high g interrupt msk register*/
|
| 1904 |
#define BNO055_ACCEL_HIGH_G_INTR_MASK_POS (5) |
| 1905 |
#define BNO055_ACCEL_HIGH_G_INTR_MASK_MSK (0X20) |
| 1906 |
#define BNO055_ACCEL_HIGH_G_INTR_MASK_LEN (1) |
| 1907 |
#define BNO055_ACCEL_HIGH_G_INTR_MASK_REG BNO055_INT_MASK_ADDR
|
| 1908 |
|
| 1909 |
/* Accel any motion interrupt msk register*/
|
| 1910 |
#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_POS (6) |
| 1911 |
#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_MSK (0X40) |
| 1912 |
#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_LEN (1) |
| 1913 |
#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG BNO055_INT_MASK_ADDR
|
| 1914 |
|
| 1915 |
/* Accel any motion interrupt msk register*/
|
| 1916 |
#define BNO055_ACCEL_NO_MOTION_INTR_MASK_POS (7) |
| 1917 |
#define BNO055_ACCEL_NO_MOTION_INTR_MASK_MSK (0X80) |
| 1918 |
#define BNO055_ACCEL_NO_MOTION_INTR_MASK_LEN (1) |
| 1919 |
#define BNO055_ACCEL_NO_MOTION_INTR_MASK_REG BNO055_INT_MASK_ADDR
|
| 1920 |
|
| 1921 |
/* Gyro any motion interrupt register*/
|
| 1922 |
#define BNO055_GYRO_ANY_MOTION_INTR_POS (2) |
| 1923 |
#define BNO055_GYRO_ANY_MOTION_INTR_MSK (0X04) |
| 1924 |
#define BNO055_GYRO_ANY_MOTION_INTR_LEN (1) |
| 1925 |
#define BNO055_GYRO_ANY_MOTION_INTR_REG BNO055_INT_ADDR
|
| 1926 |
|
| 1927 |
/* Gyro high rate interrupt register*/
|
| 1928 |
#define BNO055_GYRO_HIGHRATE_INTR_POS (3) |
| 1929 |
#define BNO055_GYRO_HIGHRATE_INTR_MSK (0X08) |
| 1930 |
#define BNO055_GYRO_HIGHRATE_INTR_LEN (1) |
| 1931 |
#define BNO055_GYRO_HIGHRATE_INTR_REG BNO055_INT_ADDR
|
| 1932 |
|
| 1933 |
/* Accel high g interrupt register*/
|
| 1934 |
#define BNO055_ACCEL_HIGH_G_INTR_POS (5) |
| 1935 |
#define BNO055_ACCEL_HIGH_G_INTR_MSK (0X20) |
| 1936 |
#define BNO055_ACCEL_HIGH_G_INTR_LEN (1) |
| 1937 |
#define BNO055_ACCEL_HIGH_G_INTR_REG BNO055_INT_ADDR
|
| 1938 |
|
| 1939 |
/* Accel any motion interrupt register*/
|
| 1940 |
#define BNO055_ACCEL_ANY_MOTION_INTR_POS (6) |
| 1941 |
#define BNO055_ACCEL_ANY_MOTION_INTR_MSK (0X40) |
| 1942 |
#define BNO055_ACCEL_ANY_MOTION_INTR_LEN (1) |
| 1943 |
#define BNO055_ACCEL_ANY_MOTION_INTR_REG BNO055_INT_ADDR
|
| 1944 |
|
| 1945 |
/*Accel any motion interrupt register*/
|
| 1946 |
#define BNO055_ACCEL_NO_MOTION_INTR_POS (7) |
| 1947 |
#define BNO055_ACCEL_NO_MOTION_INTR_MSK (0X80) |
| 1948 |
#define BNO055_ACCEL_NO_MOTION_INTR_LEN (1) |
| 1949 |
#define BNO055_ACCEL_NO_MOTION_INTR_REG BNO055_INT_ADDR
|
| 1950 |
|
| 1951 |
/*Accel any motion threshold setting*/
|
| 1952 |
#define BNO055_ACCEL_ANY_MOTION_THRES_POS (0) |
| 1953 |
#define BNO055_ACCEL_ANY_MOTION_THRES_MSK (0XFF) |
| 1954 |
#define BNO055_ACCEL_ANY_MOTION_THRES_LEN (8) |
| 1955 |
#define BNO055_ACCEL_ANY_MOTION_THRES_REG BNO055_ACCEL_ANY_MOTION_THRES_ADDR
|
| 1956 |
|
| 1957 |
/*Accel interrupt setting register*/
|
| 1958 |
#define BNO055_ACCEL_ANY_MOTION_DURN_SET_POS (0) |
| 1959 |
#define BNO055_ACCEL_ANY_MOTION_DURN_SET_MSK (0X03) |
| 1960 |
#define BNO055_ACCEL_ANY_MOTION_DURN_SET_LEN (2) |
| 1961 |
#define BNO055_ACCEL_ANY_MOTION_DURN_SET_REG BNO055_ACCEL_INTR_SETTINGS_ADDR
|
| 1962 |
|
| 1963 |
/* Accel AM/NM axis selection register*/
|
| 1964 |
#define BNO055_ACCEL_ANY_MOTION_X_AXIS_POS (2) |
| 1965 |
#define BNO055_ACCEL_ANY_MOTION_X_AXIS_MSK (0X04) |
| 1966 |
#define BNO055_ACCEL_ANY_MOTION_X_AXIS_LEN (1) |
| 1967 |
#define BNO055_ACCEL_ANY_MOTION_X_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR
|
| 1968 |
|
| 1969 |
#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_POS (3) |
| 1970 |
#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_MSK (0X08) |
| 1971 |
#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_LEN (1) |
| 1972 |
#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR
|
| 1973 |
|
| 1974 |
#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_POS (4) |
| 1975 |
#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_MSK (0X10) |
| 1976 |
#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_LEN (1) |
| 1977 |
#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR
|
| 1978 |
|
| 1979 |
/* Accel high g axis selection register*/
|
| 1980 |
#define BNO055_ACCEL_HIGH_G_X_AXIS_POS (5) |
| 1981 |
#define BNO055_ACCEL_HIGH_G_X_AXIS_MSK (0X20) |
| 1982 |
#define BNO055_ACCEL_HIGH_G_X_AXIS_LEN (1) |
| 1983 |
#define BNO055_ACCEL_HIGH_G_X_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR
|
| 1984 |
|
| 1985 |
#define BNO055_ACCEL_HIGH_G_Y_AXIS_POS (6) |
| 1986 |
#define BNO055_ACCEL_HIGH_G_Y_AXIS_MSK (0X40) |
| 1987 |
#define BNO055_ACCEL_HIGH_G_Y_AXIS_LEN (1) |
| 1988 |
#define BNO055_ACCEL_HIGH_G_Y_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR
|
| 1989 |
|
| 1990 |
#define BNO055_ACCEL_HIGH_G_Z_AXIS_POS (7) |
| 1991 |
#define BNO055_ACCEL_HIGH_G_Z_AXIS_MSK (0X80) |
| 1992 |
#define BNO055_ACCEL_HIGH_G_Z_AXIS_LEN (1) |
| 1993 |
#define BNO055_ACCEL_HIGH_G_Z_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR
|
| 1994 |
|
| 1995 |
/* Accel High g duration setting register*/
|
| 1996 |
#define BNO055_ACCEL_HIGH_G_DURN_POS (0) |
| 1997 |
#define BNO055_ACCEL_HIGH_G_DURN_MSK (0XFF) |
| 1998 |
#define BNO055_ACCEL_HIGH_G_DURN_LEN (8) |
| 1999 |
#define BNO055_ACCEL_HIGH_G_DURN_REG BNO055_ACCEL_HIGH_G_DURN_ADDR
|
| 2000 |
|
| 2001 |
/* Accel High g threshold setting register*/
|
| 2002 |
#define BNO055_ACCEL_HIGH_G_THRES_POS (0) |
| 2003 |
#define BNO055_ACCEL_HIGH_G_THRES_MSK (0XFF) |
| 2004 |
#define BNO055_ACCEL_HIGH_G_THRES_LEN (8) |
| 2005 |
#define BNO055_ACCEL_HIGH_G_THRES_REG BNO055_ACCEL_HIGH_G_THRES_ADDR
|
| 2006 |
|
| 2007 |
/* Accel no/slow motion threshold setting*/
|
| 2008 |
#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_POS (0) |
| 2009 |
#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_MSK (0XFF) |
| 2010 |
#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_LEN (8) |
| 2011 |
#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG \
|
| 2012 |
BNO055_ACCEL_NO_MOTION_THRES_ADDR |
| 2013 |
|
| 2014 |
/* Accel no/slow motion enable setting*/
|
| 2015 |
#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_POS (0) |
| 2016 |
#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_MSK (0X01) |
| 2017 |
#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_LEN (1) |
| 2018 |
#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG BNO055_ACCEL_NO_MOTION_SET_ADDR
|
| 2019 |
|
| 2020 |
/* Accel no/slow motion duration setting*/
|
| 2021 |
#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_POS (1) |
| 2022 |
#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_MSK (0X7E) |
| 2023 |
#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_LEN (6) |
| 2024 |
#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG BNO055_ACCEL_NO_MOTION_SET_ADDR
|
| 2025 |
|
| 2026 |
/*Gyro interrupt setting register*/
|
| 2027 |
/*Gyro any motion axis setting*/
|
| 2028 |
#define BNO055_GYRO_ANY_MOTION_X_AXIS_POS (0) |
| 2029 |
#define BNO055_GYRO_ANY_MOTION_X_AXIS_MSK (0X01) |
| 2030 |
#define BNO055_GYRO_ANY_MOTION_X_AXIS_LEN (1) |
| 2031 |
#define BNO055_GYRO_ANY_MOTION_X_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR
|
| 2032 |
|
| 2033 |
#define BNO055_GYRO_ANY_MOTION_Y_AXIS_POS (1) |
| 2034 |
#define BNO055_GYRO_ANY_MOTION_Y_AXIS_MSK (0X02) |
| 2035 |
#define BNO055_GYRO_ANY_MOTION_Y_AXIS_LEN (1) |
| 2036 |
#define BNO055_GYRO_ANY_MOTION_Y_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR
|
| 2037 |
|
| 2038 |
#define BNO055_GYRO_ANY_MOTION_Z_AXIS_POS (2) |
| 2039 |
#define BNO055_GYRO_ANY_MOTION_Z_AXIS_MSK (0X04) |
| 2040 |
#define BNO055_GYRO_ANY_MOTION_Z_AXIS_LEN (1) |
| 2041 |
#define BNO055_GYRO_ANY_MOTION_Z_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR
|
| 2042 |
|
| 2043 |
/*Gyro high rate axis setting*/
|
| 2044 |
#define BNO055_GYRO_HIGHRATE_X_AXIS_POS (3) |
| 2045 |
#define BNO055_GYRO_HIGHRATE_X_AXIS_MSK (0X08) |
| 2046 |
#define BNO055_GYRO_HIGHRATE_X_AXIS_LEN (1) |
| 2047 |
#define BNO055_GYRO_HIGHRATE_X_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR
|
| 2048 |
|
| 2049 |
#define BNO055_GYRO_HIGHRATE_Y_AXIS_POS (4) |
| 2050 |
#define BNO055_GYRO_HIGHRATE_Y_AXIS_MSK (0X10) |
| 2051 |
#define BNO055_GYRO_HIGHRATE_Y_AXIS_LEN (1) |
| 2052 |
#define BNO055_GYRO_HIGHRATE_Y_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR
|
| 2053 |
|
| 2054 |
#define BNO055_GYRO_HIGHRATE_Z_AXIS_POS (5) |
| 2055 |
#define BNO055_GYRO_HIGHRATE_Z_AXIS_MSK (0X20) |
| 2056 |
#define BNO055_GYRO_HIGHRATE_Z_AXIS_LEN (1) |
| 2057 |
#define BNO055_GYRO_HIGHRATE_Z_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR
|
| 2058 |
|
| 2059 |
/* Gyro filter setting*/
|
| 2060 |
#define BNO055_GYRO_ANY_MOTION_FILTER_POS (6) |
| 2061 |
#define BNO055_GYRO_ANY_MOTION_FILTER_MSK (0X40) |
| 2062 |
#define BNO055_GYRO_ANY_MOTION_FILTER_LEN (1) |
| 2063 |
#define BNO055_GYRO_ANY_MOTION_FILTER_REG BNO055_GYRO_INTR_SETING_ADDR
|
| 2064 |
|
| 2065 |
#define BNO055_GYRO_HIGHRATE_FILTER_POS (7) |
| 2066 |
#define BNO055_GYRO_HIGHRATE_FILTER_MSK (0X80) |
| 2067 |
#define BNO055_GYRO_HIGHRATE_FILTER_LEN (1) |
| 2068 |
#define BNO055_GYRO_HIGHRATE_FILTER_REG BNO055_GYRO_INTR_SETING_ADDR
|
| 2069 |
|
| 2070 |
/* Gyro high rate X axis settings*/
|
| 2071 |
#define BNO055_GYRO_HIGHRATE_X_THRES_POS (0) |
| 2072 |
#define BNO055_GYRO_HIGHRATE_X_THRES_MSK (0X1F) |
| 2073 |
#define BNO055_GYRO_HIGHRATE_X_THRES_LEN (5) |
| 2074 |
#define BNO055_GYRO_HIGHRATE_X_THRES_REG BNO055_GYRO_HIGHRATE_X_SET_ADDR
|
| 2075 |
|
| 2076 |
#define BNO055_GYRO_HIGHRATE_X_HYST_POS (5) |
| 2077 |
#define BNO055_GYRO_HIGHRATE_X_HYST_MSK (0X60) |
| 2078 |
#define BNO055_GYRO_HIGHRATE_X_HYST_LEN (2) |
| 2079 |
#define BNO055_GYRO_HIGHRATE_X_HYST_REG BNO055_GYRO_HIGHRATE_X_SET_ADDR
|
| 2080 |
|
| 2081 |
#define BNO055_GYRO_HIGHRATE_X_DURN_POS (0) |
| 2082 |
#define BNO055_GYRO_HIGHRATE_X_DURN_MSK (0XFF) |
| 2083 |
#define BNO055_GYRO_HIGHRATE_X_DURN_LEN (8) |
| 2084 |
#define BNO055_GYRO_HIGHRATE_X_DURN_REG BNO055_GYRO_DURN_X_ADDR
|
| 2085 |
|
| 2086 |
/* Gyro high rate Y axis settings*/
|
| 2087 |
#define BNO055_GYRO_HIGHRATE_Y_THRES_POS (0) |
| 2088 |
#define BNO055_GYRO_HIGHRATE_Y_THRES_MSK (0X1F) |
| 2089 |
#define BNO055_GYRO_HIGHRATE_Y_THRES_LEN (5) |
| 2090 |
#define BNO055_GYRO_HIGHRATE_Y_THRES_REG BNO055_GYRO_HIGHRATE_Y_SET_ADDR
|
| 2091 |
|
| 2092 |
#define BNO055_GYRO_HIGHRATE_Y_HYST_POS (5) |
| 2093 |
#define BNO055_GYRO_HIGHRATE_Y_HYST_MSK (0X60) |
| 2094 |
#define BNO055_GYRO_HIGHRATE_Y_HYST_LEN (2) |
| 2095 |
#define BNO055_GYRO_HIGHRATE_Y_HYST_REG BNO055_GYRO_HIGHRATE_Y_SET_ADDR
|
| 2096 |
|
| 2097 |
#define BNO055_GYRO_HIGHRATE_Y_DURN_POS (0) |
| 2098 |
#define BNO055_GYRO_HIGHRATE_Y_DURN_MSK (0XFF) |
| 2099 |
#define BNO055_GYRO_HIGHRATE_Y_DURN_LEN (8) |
| 2100 |
#define BNO055_GYRO_HIGHRATE_Y_DURN_REG BNO055_GYRO_DURN_Y_ADDR
|
| 2101 |
|
| 2102 |
/* Gyro high rate Z axis settings*/
|
| 2103 |
#define BNO055_GYRO_HIGHRATE_Z_THRES_POS (0) |
| 2104 |
#define BNO055_GYRO_HIGHRATE_Z_THRES_MSK (0X1F) |
| 2105 |
#define BNO055_GYRO_HIGHRATE_Z_THRES_LEN (5) |
| 2106 |
#define BNO055_GYRO_HIGHRATE_Z_THRES_REG BNO055_GYRO_HIGHRATE_Z_SET_ADDR
|
| 2107 |
|
| 2108 |
#define BNO055_GYRO_HIGHRATE_Z_HYST_POS (5) |
| 2109 |
#define BNO055_GYRO_HIGHRATE_Z_HYST_MSK (0X60) |
| 2110 |
#define BNO055_GYRO_HIGHRATE_Z_HYST_LEN (2) |
| 2111 |
#define BNO055_GYRO_HIGHRATE_Z_HYST_REG BNO055_GYRO_HIGHRATE_Z_SET_ADDR
|
| 2112 |
|
| 2113 |
#define BNO055_GYRO_HIGHRATE_Z_DURN_POS (0) |
| 2114 |
#define BNO055_GYRO_HIGHRATE_Z_DURN_MSK (0XFF) |
| 2115 |
#define BNO055_GYRO_HIGHRATE_Z_DURN_LEN (8) |
| 2116 |
#define BNO055_GYRO_HIGHRATE_Z_DURN_REG (BNO055_GYRO_DURN_Z_ADDR)
|
| 2117 |
|
| 2118 |
/*Gyro any motion threshold setting*/
|
| 2119 |
#define BNO055_GYRO_ANY_MOTION_THRES_POS (0) |
| 2120 |
#define BNO055_GYRO_ANY_MOTION_THRES_MSK (0X7F) |
| 2121 |
#define BNO055_GYRO_ANY_MOTION_THRES_LEN (7) |
| 2122 |
#define BNO055_GYRO_ANY_MOTION_THRES_REG \
|
| 2123 |
BNO055_GYRO_ANY_MOTION_THRES_ADDR |
| 2124 |
|
| 2125 |
/* Gyro any motion slope sample setting*/
|
| 2126 |
#define BNO055_GYRO_SLOPE_SAMPLES_POS (0) |
| 2127 |
#define BNO055_GYRO_SLOPE_SAMPLES_MSK (0X03) |
| 2128 |
#define BNO055_GYRO_SLOPE_SAMPLES_LEN (2) |
| 2129 |
#define BNO055_GYRO_SLOPE_SAMPLES_REG BNO055_GYRO_ANY_MOTION_SET_ADDR
|
| 2130 |
|
| 2131 |
/* Gyro awake duration setting*/
|
| 2132 |
#define BNO055_GYRO_AWAKE_DURN_POS (2) |
| 2133 |
#define BNO055_GYRO_AWAKE_DURN_MSK (0X0C) |
| 2134 |
#define BNO055_GYRO_AWAKE_DURN_LEN (2) |
| 2135 |
#define BNO055_GYRO_AWAKE_DURN_REG BNO055_GYRO_ANY_MOTION_SET_ADDR
|
| 2136 |
|
| 2137 |
/* PAGE1 DATA REGISTERS DEFINITION END*/
|
| 2138 |
/*************************************************/
|
| 2139 |
/**\name GET AND SET BITSLICE FUNCTIONS */
|
| 2140 |
/*************************************************/
|
| 2141 |
#define BNO055_GET_BITSLICE(regvar, bitname)\
|
| 2142 |
((regvar & bitname##_MSK) >> bitname##_POS) |
| 2143 |
|
| 2144 |
#define BNO055_SET_BITSLICE(regvar, bitname, val)\
|
| 2145 |
((regvar & ~bitname##_MSK) | ((val<<bitname##_POS)&bitname##_MSK)) |
| 2146 |
/*************************************************/
|
| 2147 |
/**\name FUNCTION DECLARATION */
|
| 2148 |
/*************************************************/
|
| 2149 |
/**************************************************/
|
| 2150 |
/**\name INITIALIZATION AND REVISION ID FUNCTIONS */
|
| 2151 |
/**************************************************/
|
| 2152 |
/*!
|
| 2153 |
* @brief
|
| 2154 |
* This API is used for initialize
|
| 2155 |
* bus read, bus write function pointers,device
|
| 2156 |
* address,accel revision id, gyro revision id
|
| 2157 |
* mag revision id, software revision id, boot loader
|
| 2158 |
* revision id and page id
|
| 2159 |
*
|
| 2160 |
* @param bno055 - structure pointer
|
| 2161 |
*
|
| 2162 |
*
|
| 2163 |
* @return results of bus communication function
|
| 2164 |
* @retval 0 -> BNO055_SUCCESS
|
| 2165 |
* @retval 1 -> BNO055_ERROR
|
| 2166 |
*
|
| 2167 |
* @note While changing the parameter of the bno055_t
|
| 2168 |
* consider the following point:
|
| 2169 |
* Changing the reference value of the parameter
|
| 2170 |
* will changes the local copy or local reference
|
| 2171 |
* make sure your changes will not
|
| 2172 |
* affect the reference value of the parameter
|
| 2173 |
* (Better case don't change the reference value of the parameter)
|
| 2174 |
*/
|
| 2175 |
BNO055_RETURN_FUNCTION_TYPE bno055_init(struct bno055_t *bno055);
|
| 2176 |
/*!
|
| 2177 |
* @brief
|
| 2178 |
* This API gives data to the given register and
|
| 2179 |
* the data is written in the corresponding register address
|
| 2180 |
*
|
| 2181 |
* @param addr_u8 : Address of the register
|
| 2182 |
* @param data_u8 : Data to be written to the register
|
| 2183 |
* @param len_u8 : Length of the Data
|
| 2184 |
*
|
| 2185 |
* @return results of bus communication function
|
| 2186 |
* @retval 0 -> BNO055_SUCCESS
|
| 2187 |
* @retval 1 -> BNO055_ERROR
|
| 2188 |
*
|
| 2189 |
*
|
| 2190 |
*/
|
| 2191 |
BNO055_RETURN_FUNCTION_TYPE bno055_write_register(u8 addr_u8, u8 *data_u8, |
| 2192 |
u8 len_u8); |
| 2193 |
/*!
|
| 2194 |
* @brief This API reads the data from
|
| 2195 |
* the given register address
|
| 2196 |
*
|
| 2197 |
* @param addr_u8 : Address of the register
|
| 2198 |
* @param data_u8 : address of the variable,
|
| 2199 |
* read value will be kept
|
| 2200 |
* @param len_u8 : Length of the data
|
| 2201 |
*
|
| 2202 |
*
|
| 2203 |
* @return results of bus communication function
|
| 2204 |
* @retval 0 -> BNO055_SUCCESS
|
| 2205 |
* @retval 1 -> BNO055_ERROR
|
| 2206 |
*
|
| 2207 |
*/
|
| 2208 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_register(u8 addr_u8, u8 *data_u8, |
| 2209 |
u8 len_u8); |
| 2210 |
/*!
|
| 2211 |
* @brief This API reads chip id
|
| 2212 |
* from register 0x00 it is a byte of data
|
| 2213 |
*
|
| 2214 |
*
|
| 2215 |
* @param chip_id_u8 : The chip id value 0xA0
|
| 2216 |
*
|
| 2217 |
* @return results of bus communication function
|
| 2218 |
* @retval 0 -> BNO055_SUCCESS
|
| 2219 |
* @retval 1 -> BNO055_ERROR
|
| 2220 |
*/
|
| 2221 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_chip_id(u8 *chip_id_u8); |
| 2222 |
/*!
|
| 2223 |
* @brief This API reads software revision id
|
| 2224 |
* from register 0x04 and 0x05 it is a two byte of data
|
| 2225 |
*
|
| 2226 |
* @param sw_id_u8 : The SW revision id
|
| 2227 |
*
|
| 2228 |
* @return results of bus communication function
|
| 2229 |
* @retval 0 -> BNO055_SUCCESS
|
| 2230 |
* @retval 1 -> BNO055_ERROR
|
| 2231 |
*
|
| 2232 |
*
|
| 2233 |
*/
|
| 2234 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_sw_rev_id(u16 *sw_id_u8); |
| 2235 |
/*!
|
| 2236 |
* @brief This API reads page id
|
| 2237 |
* from register 0x07 it is a byte of data
|
| 2238 |
*
|
| 2239 |
*
|
| 2240 |
* @param page_id_u8 : The value of page id
|
| 2241 |
*
|
| 2242 |
* BNO055_PAGE_ZERO -> 0x00
|
| 2243 |
* BNO055_PAGE_ONE -> 0x01
|
| 2244 |
*
|
| 2245 |
* @return results of bus communication function
|
| 2246 |
* @retval 0 -> BNO055_SUCCESS
|
| 2247 |
* @retval 1 -> BNO055_ERROR
|
| 2248 |
*
|
| 2249 |
*
|
| 2250 |
*/
|
| 2251 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_page_id(u8 *page_id_u8); |
| 2252 |
/*!
|
| 2253 |
* @brief This API used to write
|
| 2254 |
* the page id register 0x07
|
| 2255 |
*
|
| 2256 |
* @param page_id_u8 : The value of page id
|
| 2257 |
*
|
| 2258 |
* BNO055_PAGE_ZERO -> 0x00
|
| 2259 |
* BNO055_PAGE_ONE -> 0x01
|
| 2260 |
*
|
| 2261 |
* @return results of bus communication function
|
| 2262 |
* @retval 0 -> BNO055_SUCCESS
|
| 2263 |
* @retval 1 -> BNO055_ERROR
|
| 2264 |
*
|
| 2265 |
*
|
| 2266 |
*/
|
| 2267 |
BNO055_RETURN_FUNCTION_TYPE bno055_write_page_id(u8 page_id_u8); |
| 2268 |
/*!
|
| 2269 |
* @brief This API reads accel revision id
|
| 2270 |
* from register 0x01 it is a byte of value
|
| 2271 |
*
|
| 2272 |
* @param accel_rev_id_u8 : The accel revision id 0xFB
|
| 2273 |
*
|
| 2274 |
* @return results of bus communication function
|
| 2275 |
* @retval 0 -> BNO055_SUCCESS
|
| 2276 |
* @retval 1 -> BNO055_ERROR
|
| 2277 |
*
|
| 2278 |
*
|
| 2279 |
*/
|
| 2280 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_rev_id(u8 *accel_rev_id_u8); |
| 2281 |
/*!
|
| 2282 |
* @brief This API reads mag revision id
|
| 2283 |
* from register 0x02 it is a byte of value
|
| 2284 |
*
|
| 2285 |
* @param mag_rev_id_u8 : The mag revision id 0x32
|
| 2286 |
*
|
| 2287 |
* @return results of bus communication function
|
| 2288 |
* @retval 0 -> BNO055_SUCCESS
|
| 2289 |
* @retval 1 -> BNO055_ERROR
|
| 2290 |
*
|
| 2291 |
*
|
| 2292 |
*/
|
| 2293 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_rev_id(u8 *mag_rev_id_u8); |
| 2294 |
/*!
|
| 2295 |
* @brief This API reads gyro revision id
|
| 2296 |
* from register 0x03 it is a byte of value
|
| 2297 |
*
|
| 2298 |
* @param gyro_rev_id_u8 : The gyro revision id 0xF0
|
| 2299 |
*
|
| 2300 |
*
|
| 2301 |
*
|
| 2302 |
* @return results of bus communication function
|
| 2303 |
* @retval 0 -> BNO055_SUCCESS
|
| 2304 |
* @retval 1 -> BNO055_ERROR
|
| 2305 |
*
|
| 2306 |
*
|
| 2307 |
*/
|
| 2308 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_rev_id(u8 *gyro_rev_id_u8); |
| 2309 |
/*!
|
| 2310 |
* @brief This API used to read boot loader revision id
|
| 2311 |
* from register 0x06 it is a byte of value
|
| 2312 |
*
|
| 2313 |
* @param bl_rev_id_u8 : The boot loader revision id
|
| 2314 |
*
|
| 2315 |
*
|
| 2316 |
* @return results of bus communication function
|
| 2317 |
* @retval 0 -> BNO055_SUCCESS
|
| 2318 |
* @retval 1 -> BNO055_ERROR
|
| 2319 |
*
|
| 2320 |
*
|
| 2321 |
*/
|
| 2322 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_bl_rev_id(u8 *bl_rev_id_u8); |
| 2323 |
/**************************************************/
|
| 2324 |
/**\name ACCEL DATA READ FUNCTIONS */
|
| 2325 |
/**************************************************/
|
| 2326 |
/*!
|
| 2327 |
* @brief This API reads acceleration data X values
|
| 2328 |
* from register 0x08 and 0x09 it is a two byte data
|
| 2329 |
*
|
| 2330 |
*
|
| 2331 |
*
|
| 2332 |
*
|
| 2333 |
* @param accel_x_s16 : The X raw data
|
| 2334 |
*
|
| 2335 |
*
|
| 2336 |
*
|
| 2337 |
* @return results of bus communication function
|
| 2338 |
* @retval 0 -> BNO055_SUCCESS
|
| 2339 |
* @retval 1 -> BNO055_ERROR
|
| 2340 |
*
|
| 2341 |
*
|
| 2342 |
*/
|
| 2343 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_x(s16 *accel_x_s16); |
| 2344 |
/*!
|
| 2345 |
* @brief This API reads acceleration data Y values
|
| 2346 |
* from register 0x0A and 0x0B it is a two byte data
|
| 2347 |
*
|
| 2348 |
*
|
| 2349 |
*
|
| 2350 |
*
|
| 2351 |
* @param accel_y_s16 : The Y raw data
|
| 2352 |
*
|
| 2353 |
*
|
| 2354 |
*
|
| 2355 |
* @return results of bus communication function
|
| 2356 |
* @retval 0 -> BNO055_SUCCESS
|
| 2357 |
* @retval 1 -> BNO055_ERROR
|
| 2358 |
*
|
| 2359 |
*
|
| 2360 |
*/
|
| 2361 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_y(s16 *accel_y_s16); |
| 2362 |
/*!
|
| 2363 |
* @brief This API reads acceleration data z values
|
| 2364 |
* from register 0x0C and 0x0D it is a two byte data
|
| 2365 |
*
|
| 2366 |
*
|
| 2367 |
*
|
| 2368 |
*
|
| 2369 |
* @param accel_z_s16 : The z raw data
|
| 2370 |
*
|
| 2371 |
*
|
| 2372 |
*
|
| 2373 |
* @return results of bus communication function
|
| 2374 |
* @retval 0 -> BNO055_SUCCESS
|
| 2375 |
* @retval 1 -> BNO055_ERROR
|
| 2376 |
*
|
| 2377 |
*
|
| 2378 |
*/
|
| 2379 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_z(s16 *accel_z_s16); |
| 2380 |
/*!
|
| 2381 |
* @brief This API reads acceleration data xyz values
|
| 2382 |
* from register 0x08 to 0x0D it is a six byte data
|
| 2383 |
*
|
| 2384 |
*
|
| 2385 |
* @param accel : The value of accel xyz data
|
| 2386 |
*
|
| 2387 |
* Parameter | result
|
| 2388 |
* --------- | -----------------
|
| 2389 |
* x | The accel x data
|
| 2390 |
* y | The accel y data
|
| 2391 |
* z | The accel z data
|
| 2392 |
*
|
| 2393 |
*
|
| 2394 |
*
|
| 2395 |
* @return results of bus communication function
|
| 2396 |
* @retval 0 -> BNO055_SUCCESS
|
| 2397 |
* @retval 1 -> BNO055_ERROR
|
| 2398 |
*
|
| 2399 |
*/
|
| 2400 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_xyz(struct bno055_accel_t *accel);
|
| 2401 |
/**************************************************/
|
| 2402 |
/**\name MAG DATA READ FUNCTIONS */
|
| 2403 |
/**************************************************/
|
| 2404 |
/*!
|
| 2405 |
* @brief This API reads mag data x values
|
| 2406 |
* from register 0x0E and 0x0F it is a two byte data
|
| 2407 |
*
|
| 2408 |
*
|
| 2409 |
*
|
| 2410 |
*
|
| 2411 |
* @param mag_x_s16 : The x raw data
|
| 2412 |
*
|
| 2413 |
*
|
| 2414 |
*
|
| 2415 |
* @return results of bus communication function
|
| 2416 |
* @retval 0 -> BNO055_SUCCESS
|
| 2417 |
* @retval 1 -> BNO055_ERROR
|
| 2418 |
*
|
| 2419 |
*
|
| 2420 |
*
|
| 2421 |
*/
|
| 2422 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_x(s16 *mag_x_s16); |
| 2423 |
/*!
|
| 2424 |
* @brief This API reads mag data y values
|
| 2425 |
* from register 0x10 and 0x11 it is a two byte data
|
| 2426 |
*
|
| 2427 |
*
|
| 2428 |
*
|
| 2429 |
*
|
| 2430 |
* @param mag_y_s16 : The y raw data
|
| 2431 |
*
|
| 2432 |
*
|
| 2433 |
*
|
| 2434 |
* @return results of bus communication function
|
| 2435 |
* @retval 0 -> BNO055_SUCCESS
|
| 2436 |
* @retval 1 -> BNO055_ERROR
|
| 2437 |
*
|
| 2438 |
*
|
| 2439 |
*/
|
| 2440 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_y(s16 *mag_y_s16); |
| 2441 |
/*!
|
| 2442 |
* @brief This API reads mag data z values
|
| 2443 |
* from register 0x12 and 0x13 it is a two byte data
|
| 2444 |
*
|
| 2445 |
*
|
| 2446 |
*
|
| 2447 |
*
|
| 2448 |
* @param mag_z_s16 : The z raw data
|
| 2449 |
*
|
| 2450 |
*
|
| 2451 |
*
|
| 2452 |
* @return results of bus communication function
|
| 2453 |
* @retval 0 -> BNO055_SUCCESS
|
| 2454 |
* @retval 1 -> BNO055_ERROR
|
| 2455 |
*
|
| 2456 |
*
|
| 2457 |
*
|
| 2458 |
*/
|
| 2459 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_z(s16 *mag_z_s16); |
| 2460 |
/*!
|
| 2461 |
* @brief This API reads mag data xyz values
|
| 2462 |
* from register 0x0E to 0x13 it is a six byte data
|
| 2463 |
*
|
| 2464 |
*
|
| 2465 |
* @param mag : The mag xyz values
|
| 2466 |
*
|
| 2467 |
* Parameter | result
|
| 2468 |
* --------- | -----------------
|
| 2469 |
* x | The mag x data
|
| 2470 |
* y | The mag y data
|
| 2471 |
* z | The mag z data
|
| 2472 |
*
|
| 2473 |
*
|
| 2474 |
*
|
| 2475 |
* @return results of bus communication function
|
| 2476 |
* @retval 0 -> BNO055_SUCCESS
|
| 2477 |
* @retval 1 -> BNO055_ERROR
|
| 2478 |
*
|
| 2479 |
*/
|
| 2480 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_xyz(struct bno055_mag_t *mag);
|
| 2481 |
/**************************************************/
|
| 2482 |
/**\name GYRO DATA READ FUNCTIONS */
|
| 2483 |
/**************************************************/
|
| 2484 |
/*!
|
| 2485 |
* @brief This API reads gyro data x values
|
| 2486 |
* from register 0x14 and 0x15 it is a two byte data
|
| 2487 |
*
|
| 2488 |
*
|
| 2489 |
*
|
| 2490 |
*
|
| 2491 |
* @param gyro_x_s16 : The x raw data
|
| 2492 |
*
|
| 2493 |
*
|
| 2494 |
*
|
| 2495 |
* @return results of bus communication function
|
| 2496 |
* @retval 0 -> BNO055_SUCCESS
|
| 2497 |
* @retval 1 -> BNO055_ERROR
|
| 2498 |
*
|
| 2499 |
*
|
| 2500 |
*/
|
| 2501 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_x(s16 *gyro_x_s16); |
| 2502 |
/*!
|
| 2503 |
* @brief This API reads gyro data y values
|
| 2504 |
* from register 0x16 and 0x17 it is a two byte data
|
| 2505 |
*
|
| 2506 |
*
|
| 2507 |
*
|
| 2508 |
*
|
| 2509 |
* @param gyro_y_s16 : The y raw data
|
| 2510 |
*
|
| 2511 |
*
|
| 2512 |
*
|
| 2513 |
* @return results of bus communication function
|
| 2514 |
* @retval 0 -> BNO055_SUCCESS
|
| 2515 |
* @retval 1 -> BNO055_ERROR
|
| 2516 |
*
|
| 2517 |
*
|
| 2518 |
*/
|
| 2519 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_y(s16 *gyro_y_s16); |
| 2520 |
/*!
|
| 2521 |
* @brief This API reads gyro data z values
|
| 2522 |
* from register 0x18 and 0x19 it is a two byte data
|
| 2523 |
*
|
| 2524 |
* @param gyro_z_s16 : The z raw data
|
| 2525 |
*
|
| 2526 |
* @return results of bus communication function
|
| 2527 |
* @retval 0 -> BNO055_SUCCESS
|
| 2528 |
* @retval 1 -> BNO055_ERROR
|
| 2529 |
*
|
| 2530 |
*
|
| 2531 |
*/
|
| 2532 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_z(s16 *gyro_z_s16); |
| 2533 |
/*!
|
| 2534 |
* @brief This API reads gyro data xyz values
|
| 2535 |
* from register 0x14 to 0x19 it is a six byte data
|
| 2536 |
*
|
| 2537 |
*
|
| 2538 |
* @param gyro : The value of gyro xyz data's
|
| 2539 |
*
|
| 2540 |
* Parameter | result
|
| 2541 |
* --------- | -----------------
|
| 2542 |
* x | The gyro x data
|
| 2543 |
* y | The gyro y data
|
| 2544 |
* z | The gyro z data
|
| 2545 |
*
|
| 2546 |
*
|
| 2547 |
*
|
| 2548 |
* @return results of bus communication function
|
| 2549 |
* @retval 0 -> BNO055_SUCCESS
|
| 2550 |
* @retval 1 -> BNO055_ERROR
|
| 2551 |
*
|
| 2552 |
*/
|
| 2553 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_xyz(struct bno055_gyro_t *gyro);
|
| 2554 |
/**************************************************/
|
| 2555 |
/**\name EULER DATA READ FUNCTIONS */
|
| 2556 |
/**************************************************/
|
| 2557 |
/*!
|
| 2558 |
* @brief This API reads gyro data z values
|
| 2559 |
* from register 0x1A and 0x1B it is a two byte data
|
| 2560 |
*
|
| 2561 |
* @param euler_h_s16 : The raw h data
|
| 2562 |
*
|
| 2563 |
* @return results of bus communication function
|
| 2564 |
* @retval 0 -> BNO055_SUCCESS
|
| 2565 |
* @retval 1 -> BNO055_ERROR
|
| 2566 |
*
|
| 2567 |
*/
|
| 2568 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_h(s16 *euler_h_s16); |
| 2569 |
/*!
|
| 2570 |
* @brief This API reads Euler data r values
|
| 2571 |
* from register 0x1C and 0x1D it is a two byte data
|
| 2572 |
*
|
| 2573 |
* @param euler_r_s16 : The raw r data
|
| 2574 |
*
|
| 2575 |
* @return results of bus communication function
|
| 2576 |
* @retval 0 -> BNO055_SUCCESS
|
| 2577 |
* @retval 1 -> BNO055_ERROR
|
| 2578 |
*
|
| 2579 |
*/
|
| 2580 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_r(s16 *euler_r_s16); |
| 2581 |
/*!
|
| 2582 |
* @brief This API reads Euler data p values
|
| 2583 |
* from register 0x1E and 0x1F it is a two byte data
|
| 2584 |
*
|
| 2585 |
* @param euler_p_s16 : The raw p data
|
| 2586 |
*
|
| 2587 |
* @return results of bus communication function
|
| 2588 |
* @retval 0 -> BNO055_SUCCESS
|
| 2589 |
* @retval 1 -> BNO055_ERROR
|
| 2590 |
*
|
| 2591 |
*
|
| 2592 |
*/
|
| 2593 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_p(s16 *euler_p_s16); |
| 2594 |
/*!
|
| 2595 |
* @brief This API reads Euler data hrp values
|
| 2596 |
* from register 0x1A to 0x1F it is a six byte data
|
| 2597 |
*
|
| 2598 |
*
|
| 2599 |
* @param euler : The Euler hrp data's
|
| 2600 |
*
|
| 2601 |
* Parameter | result
|
| 2602 |
* --------- | -----------------
|
| 2603 |
* h | The Euler h data
|
| 2604 |
* r | The Euler r data
|
| 2605 |
* p | The Euler p data
|
| 2606 |
*
|
| 2607 |
*
|
| 2608 |
* @return results of bus communication function
|
| 2609 |
* @retval 0 -> BNO055_SUCCESS
|
| 2610 |
* @retval 1 -> BNO055_ERROR
|
| 2611 |
*
|
| 2612 |
*/
|
| 2613 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_hrp(struct bno055_euler_t *euler);
|
| 2614 |
/**************************************************/
|
| 2615 |
/**\name QUATERNION DATA READ FUNCTIONS */
|
| 2616 |
/**************************************************/
|
| 2617 |
/*!
|
| 2618 |
* @brief This API reads quaternion data w values
|
| 2619 |
* from register 0x20 and 0x21 it is a two byte data
|
| 2620 |
*
|
| 2621 |
* @param quaternion_w_s16 : The raw w data
|
| 2622 |
*
|
| 2623 |
* @return results of bus communication function
|
| 2624 |
* @retval 0 -> BNO055_SUCCESS
|
| 2625 |
* @retval 1 -> BNO055_ERROR
|
| 2626 |
*
|
| 2627 |
*
|
| 2628 |
*/
|
| 2629 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_w(s16 *quaternion_w_s16); |
| 2630 |
/*!
|
| 2631 |
* @brief This API reads quaternion data x values
|
| 2632 |
* from register 0x22 and 0x23 it is a two byte data
|
| 2633 |
*
|
| 2634 |
* @param quaternion_x_s16 : The raw x data
|
| 2635 |
*
|
| 2636 |
* @return results of bus communication function
|
| 2637 |
* @retval 0 -> BNO055_SUCCESS
|
| 2638 |
* @retval 1 -> BNO055_ERROR
|
| 2639 |
*
|
| 2640 |
*
|
| 2641 |
*/
|
| 2642 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_x(s16 *quaternion_x_s16); |
| 2643 |
/*!
|
| 2644 |
* @brief This API reads quaternion data y values
|
| 2645 |
* from register 0x24 and 0x25 it is a two byte data
|
| 2646 |
*
|
| 2647 |
* @param quaternion_y_s16 : The raw y data
|
| 2648 |
*
|
| 2649 |
* @return results of bus communication function
|
| 2650 |
* @retval 0 -> BNO055_SUCCESS
|
| 2651 |
* @retval 1 -> BNO055_ERROR
|
| 2652 |
*
|
| 2653 |
*
|
| 2654 |
*/
|
| 2655 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_y(s16 *quaternion_y_s16); |
| 2656 |
/*!
|
| 2657 |
* @brief This API reads quaternion data z values
|
| 2658 |
* from register 0x26 and 0x27 it is a two byte data
|
| 2659 |
*
|
| 2660 |
* @param quaternion_z_s16 : The raw z data
|
| 2661 |
*
|
| 2662 |
* @return results of bus communication function
|
| 2663 |
* @retval 0 -> BNO055_SUCCESS
|
| 2664 |
* @retval 1 -> BNO055_ERROR
|
| 2665 |
*
|
| 2666 |
*
|
| 2667 |
*/
|
| 2668 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_z(s16 *quaternion_z_s16); |
| 2669 |
/*!
|
| 2670 |
* @brief This API reads Quaternion data wxyz values
|
| 2671 |
* from register 0x20 to 0x27 it is a six byte data
|
| 2672 |
*
|
| 2673 |
*
|
| 2674 |
* @param quaternion : The value of quaternion wxyz data's
|
| 2675 |
*
|
| 2676 |
* Parameter | result
|
| 2677 |
* --------- | -----------------
|
| 2678 |
* w | The quaternion w data
|
| 2679 |
* x | The quaternion x data
|
| 2680 |
* y | The quaternion y data
|
| 2681 |
* z | The quaternion z data
|
| 2682 |
*
|
| 2683 |
*
|
| 2684 |
*
|
| 2685 |
* @return results of bus communication function
|
| 2686 |
* @retval 0 -> BNO055_SUCCESS
|
| 2687 |
* @retval 1 -> BNO055_ERROR
|
| 2688 |
*
|
| 2689 |
*/
|
| 2690 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_wxyz( |
| 2691 |
struct bno055_quaternion_t *quaternion);
|
| 2692 |
/**************************************************/
|
| 2693 |
/**\name LINEAR ACCEL DATA READ FUNCTIONS */
|
| 2694 |
/**************************************************/
|
| 2695 |
/*!
|
| 2696 |
* @brief This API reads Linear accel data x values
|
| 2697 |
* from register 0x29 and 0x2A it is a two byte data
|
| 2698 |
*
|
| 2699 |
* @param linear_accel_x_s16 : The raw x data
|
| 2700 |
*
|
| 2701 |
* @return results of bus communication function
|
| 2702 |
* @retval 0 -> BNO055_SUCCESS
|
| 2703 |
* @retval 1 -> BNO055_ERROR
|
| 2704 |
*
|
| 2705 |
*
|
| 2706 |
*/
|
| 2707 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_x(s16 *linear_accel_x_s16); |
| 2708 |
/*!
|
| 2709 |
* @brief This API reads Linear accel data x values
|
| 2710 |
* from register 0x2B and 0x2C it is a two byte data
|
| 2711 |
*
|
| 2712 |
* @param linear_accel_y_s16 : The raw y data
|
| 2713 |
*
|
| 2714 |
* @return results of bus communication function
|
| 2715 |
* @retval 0 -> BNO055_SUCCESS
|
| 2716 |
* @retval 1 -> BNO055_ERROR
|
| 2717 |
*
|
| 2718 |
*
|
| 2719 |
*/
|
| 2720 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_y(s16 *linear_accel_y_s16); |
| 2721 |
/*!
|
| 2722 |
* @brief This API reads Linear accel data x values
|
| 2723 |
* from register 0x2C and 0x2D it is a two byte data
|
| 2724 |
*
|
| 2725 |
* @param linear_accel_z_s16 : The raw z data
|
| 2726 |
*
|
| 2727 |
* @return results of bus communication function
|
| 2728 |
* @retval 0 -> BNO055_SUCCESS
|
| 2729 |
* @retval 1 -> BNO055_ERROR
|
| 2730 |
*
|
| 2731 |
*
|
| 2732 |
*/
|
| 2733 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_z(s16 *linear_accel_z_s16); |
| 2734 |
/*!
|
| 2735 |
* @brief This API reads Linear accel data xyz values
|
| 2736 |
* from register 0x28 to 0x2D it is a six byte data
|
| 2737 |
*
|
| 2738 |
*
|
| 2739 |
* @param linear_accel : The value of linear accel xyz data's
|
| 2740 |
*
|
| 2741 |
* Parameter | result
|
| 2742 |
* --------- | -----------------
|
| 2743 |
* x | The linear accel x data
|
| 2744 |
* y | The linear accel y data
|
| 2745 |
* z | The linear accel z data
|
| 2746 |
*
|
| 2747 |
*
|
| 2748 |
* @return results of bus communication function
|
| 2749 |
* @retval 0 -> BNO055_SUCCESS
|
| 2750 |
* @retval 1 -> BNO055_ERROR
|
| 2751 |
*/
|
| 2752 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_xyz( |
| 2753 |
struct bno055_linear_accel_t *linear_accel);
|
| 2754 |
/**************************************************/
|
| 2755 |
/**\name GRAVITY DATA READ FUNCTIONS */
|
| 2756 |
/**************************************************/
|
| 2757 |
/*!
|
| 2758 |
* @brief This API reads gravity data x values
|
| 2759 |
* from register 0x2E and 0x2F it is a two byte data
|
| 2760 |
*
|
| 2761 |
* @param gravity_x_s16 : The raw x data
|
| 2762 |
*
|
| 2763 |
* @return results of bus communication function
|
| 2764 |
* @retval 0 -> BNO055_SUCCESS
|
| 2765 |
* @retval 1 -> BNO055_ERROR
|
| 2766 |
*
|
| 2767 |
*
|
| 2768 |
*/
|
| 2769 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_x(s16 *gravity_x_s16); |
| 2770 |
/*!
|
| 2771 |
* @brief This API reads gravity data y values
|
| 2772 |
* from register 0x30 and 0x31 it is a two byte data
|
| 2773 |
*
|
| 2774 |
* @param gravity_y_s16 : The raw y data
|
| 2775 |
*
|
| 2776 |
* @return results of bus communication function
|
| 2777 |
* @retval 0 -> BNO055_SUCCESS
|
| 2778 |
* @retval 1 -> BNO055_ERROR
|
| 2779 |
*
|
| 2780 |
*
|
| 2781 |
*/
|
| 2782 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_y(s16 *gravity_y_s16); |
| 2783 |
/*!
|
| 2784 |
* @brief This API reads gravity data z values
|
| 2785 |
* from register 0x32 and 0x33 it is a two byte data
|
| 2786 |
*
|
| 2787 |
* @param gravity_z_s16 : The raw z data
|
| 2788 |
*
|
| 2789 |
* @return results of bus communication function
|
| 2790 |
* @retval 0 -> BNO055_SUCCESS
|
| 2791 |
* @retval 1 -> BNO055_ERROR
|
| 2792 |
*
|
| 2793 |
*
|
| 2794 |
*/
|
| 2795 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_z(s16 *gravity_z_s16); |
| 2796 |
/*!
|
| 2797 |
* @brief This API reads gravity data xyz values
|
| 2798 |
* from register 0x2E to 0x33 it is a six byte data
|
| 2799 |
*
|
| 2800 |
*
|
| 2801 |
* @param gravity : The value of gravity xyz data's
|
| 2802 |
*
|
| 2803 |
* Parameter | result
|
| 2804 |
* --------- | -----------------
|
| 2805 |
* x | The gravity x data
|
| 2806 |
* y | The gravity y data
|
| 2807 |
* z | The gravity z data
|
| 2808 |
*
|
| 2809 |
*
|
| 2810 |
* @return results of bus communication function
|
| 2811 |
* @retval 0 -> BNO055_SUCCESS
|
| 2812 |
* @retval 1 -> BNO055_ERROR
|
| 2813 |
*
|
| 2814 |
*/
|
| 2815 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_xyz( |
| 2816 |
struct bno055_gravity_t *gravity);
|
| 2817 |
/**************************************************/
|
| 2818 |
/**\name TEMPERATURE DATA READ FUNCTIONS */
|
| 2819 |
/**************************************************/
|
| 2820 |
/*!
|
| 2821 |
* @brief This API reads temperature values
|
| 2822 |
* from register 0x33 it is a byte data
|
| 2823 |
*
|
| 2824 |
* @param temp_s8 : The raw temperature data
|
| 2825 |
*
|
| 2826 |
* @return results of bus communication function
|
| 2827 |
* @retval 0 -> BNO055_SUCCESS
|
| 2828 |
* @retval 1 -> BNO055_ERROR
|
| 2829 |
*
|
| 2830 |
*
|
| 2831 |
*/
|
| 2832 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_temp_data(s8 *temp_s8); |
| 2833 |
#ifdef BNO055_FLOAT_ENABLE
|
| 2834 |
/********************************************************************/
|
| 2835 |
/**\name FUNCTIONS FOR READING ACCEL DATA OUTPUT AS FLOAT PRECISION */
|
| 2836 |
/********************************************************************/
|
| 2837 |
/*!
|
| 2838 |
* @brief This API is used to convert the accel x raw data
|
| 2839 |
* to meterpersecseq output as float
|
| 2840 |
*
|
| 2841 |
* @param accel_x_f : The accel x meterpersecseq data
|
| 2842 |
*
|
| 2843 |
*
|
| 2844 |
*
|
| 2845 |
* @return results of bus communication function
|
| 2846 |
* @retval 0 -> BNO055_SUCCESS
|
| 2847 |
* @retval 1 -> BNO055_ERROR
|
| 2848 |
*
|
| 2849 |
*
|
| 2850 |
*/
|
| 2851 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_msq(float *accel_x_f);
|
| 2852 |
/*!
|
| 2853 |
* @brief This API is used to convert the accel x raw data
|
| 2854 |
* to meterpersecseq output as float
|
| 2855 |
*
|
| 2856 |
* @param accel_y_f : The accel y meterpersecseq data
|
| 2857 |
*
|
| 2858 |
*
|
| 2859 |
*
|
| 2860 |
* @return results of bus communication function
|
| 2861 |
* @retval 0 -> BNO055_SUCCESS
|
| 2862 |
* @retval 1 -> BNO055_ERROR
|
| 2863 |
*
|
| 2864 |
*
|
| 2865 |
*/
|
| 2866 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_msq(float *accel_y_f);
|
| 2867 |
/*!
|
| 2868 |
* @brief This API is used to convert the accel z raw data
|
| 2869 |
* to meterpersecseq output as float
|
| 2870 |
*
|
| 2871 |
* @param accel_z_f : The accel z meterpersecseq data
|
| 2872 |
*
|
| 2873 |
*
|
| 2874 |
*
|
| 2875 |
* @return results of bus communication function
|
| 2876 |
* @retval 0 -> BNO055_SUCCESS
|
| 2877 |
* @retval 1 -> BNO055_ERROR
|
| 2878 |
*
|
| 2879 |
*
|
| 2880 |
*/
|
| 2881 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_msq(float *accel_z_f);
|
| 2882 |
/*!
|
| 2883 |
* @brief This API is used to convert the accel y raw data
|
| 2884 |
* to millig output as float
|
| 2885 |
*
|
| 2886 |
* @param accel_x_f : The accel y millig data
|
| 2887 |
*
|
| 2888 |
*
|
| 2889 |
*
|
| 2890 |
* @return results of bus communication function
|
| 2891 |
* @retval 0 -> BNO055_SUCCESS
|
| 2892 |
* @retval 1 -> BNO055_ERROR
|
| 2893 |
*
|
| 2894 |
*/
|
| 2895 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_mg(float *accel_x_f);
|
| 2896 |
/*!
|
| 2897 |
* @brief This API is used to convert the accel y raw data
|
| 2898 |
* to millig output as float
|
| 2899 |
*
|
| 2900 |
* @param accel_y_f : The accel y millig data
|
| 2901 |
*
|
| 2902 |
*
|
| 2903 |
*
|
| 2904 |
* @return results of bus communication function
|
| 2905 |
* @retval 0 -> BNO055_SUCCESS
|
| 2906 |
* @retval 1 -> BNO055_ERROR
|
| 2907 |
*
|
| 2908 |
*/
|
| 2909 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_mg(float *accel_y_f);
|
| 2910 |
/*!
|
| 2911 |
* @brief This API is used to convert the accel z raw data
|
| 2912 |
* to millig output as float
|
| 2913 |
*
|
| 2914 |
* @param accel_z_f : The accel z millig data
|
| 2915 |
*
|
| 2916 |
*
|
| 2917 |
*
|
| 2918 |
* @return results of bus communication function
|
| 2919 |
* @retval 0 -> BNO055_SUCCESS
|
| 2920 |
* @retval 1 -> BNO055_ERROR
|
| 2921 |
*
|
| 2922 |
*
|
| 2923 |
*/
|
| 2924 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_mg(float *accel_z_f);
|
| 2925 |
/*!
|
| 2926 |
* @brief This API is used to convert the accel xyz raw data
|
| 2927 |
* to meterpersecseq output as float
|
| 2928 |
*
|
| 2929 |
* @param accel_xyz : The meterpersecseq data of accel xyz
|
| 2930 |
*
|
| 2931 |
* Parameter | result
|
| 2932 |
* --------- | -----------------
|
| 2933 |
* x | meterpersecseq data of accel
|
| 2934 |
* y | meterpersecseq data of accel
|
| 2935 |
* z | meterpersecseq data of accel
|
| 2936 |
*
|
| 2937 |
* @return results of bus communication function
|
| 2938 |
* @retval 0 -> BNO055_SUCCESS
|
| 2939 |
* @retval 1 -> BNO055_ERROR
|
| 2940 |
*
|
| 2941 |
*
|
| 2942 |
*/
|
| 2943 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_msq( |
| 2944 |
struct bno055_accel_float_t *accel_xyz);
|
| 2945 |
/*!
|
| 2946 |
* @brief This API is used to convert the accel xyz raw data
|
| 2947 |
* to millig output as float
|
| 2948 |
*
|
| 2949 |
* @param accel_xyz : The millig data of accel xyz
|
| 2950 |
*
|
| 2951 |
* Parameter | result
|
| 2952 |
* --------- | -----------------
|
| 2953 |
* x | millig data of accel
|
| 2954 |
* y | millig data of accel
|
| 2955 |
* z | millig data of accel
|
| 2956 |
*
|
| 2957 |
*
|
| 2958 |
* @return results of bus communication function
|
| 2959 |
* @retval 0 -> BNO055_SUCCESS
|
| 2960 |
* @retval 1 -> BNO055_ERROR
|
| 2961 |
*
|
| 2962 |
*
|
| 2963 |
*/
|
| 2964 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_mg( |
| 2965 |
struct bno055_accel_float_t *accel_xyz);
|
| 2966 |
/********************************************************************/
|
| 2967 |
/**\name FUNCTIONS FOR READING MAG DATA OUTPUT AS FLOAT PRECISION */
|
| 2968 |
/********************************************************************/
|
| 2969 |
/*!
|
| 2970 |
* @brief This API is used to convert the mag x raw data
|
| 2971 |
* to microTesla output as float
|
| 2972 |
*
|
| 2973 |
* @param mag_x_f : The mag x microTesla data
|
| 2974 |
*
|
| 2975 |
*
|
| 2976 |
*
|
| 2977 |
* @return results of bus communication function
|
| 2978 |
* @retval 0 -> BNO055_SUCCESS
|
| 2979 |
* @retval 1 -> BNO055_ERROR
|
| 2980 |
*
|
| 2981 |
*
|
| 2982 |
*/
|
| 2983 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_x_uT(float *mag_x_f);
|
| 2984 |
/*!
|
| 2985 |
* @brief This API is used to convert the mag y raw data
|
| 2986 |
* to microTesla output as float
|
| 2987 |
*
|
| 2988 |
* @param mag_y_f : The mag y microTesla data
|
| 2989 |
*
|
| 2990 |
*
|
| 2991 |
*
|
| 2992 |
* @return results of bus communication function
|
| 2993 |
* @retval 0 -> BNO055_SUCCESS
|
| 2994 |
* @retval 1 -> BNO055_ERROR
|
| 2995 |
*
|
| 2996 |
*/
|
| 2997 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_y_uT(float *mag_y_f);
|
| 2998 |
/*!
|
| 2999 |
* @brief This API is used to convert the mag z raw data
|
| 3000 |
* to microTesla output as float
|
| 3001 |
*
|
| 3002 |
* @param mag_z_f : The mag z microTesla data
|
| 3003 |
*
|
| 3004 |
*
|
| 3005 |
*
|
| 3006 |
* @return results of bus communication function
|
| 3007 |
* @retval 0 -> BNO055_SUCCESS
|
| 3008 |
* @retval 1 -> BNO055_ERROR
|
| 3009 |
*
|
| 3010 |
*/
|
| 3011 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_z_uT(float *mag_z_f);
|
| 3012 |
/*!
|
| 3013 |
* @brief This API is used to convert the mag yz raw data
|
| 3014 |
* to microTesla output as float
|
| 3015 |
*
|
| 3016 |
* @param mag_xyz_data : The microTesla data of mag xyz
|
| 3017 |
*
|
| 3018 |
* Parameter | result
|
| 3019 |
* --------- | -----------------
|
| 3020 |
* x | microTesla data of mag
|
| 3021 |
* y | microTesla data of mag
|
| 3022 |
* z | microTesla data of mag
|
| 3023 |
*
|
| 3024 |
*
|
| 3025 |
* @return results of bus communication function
|
| 3026 |
* @retval 0 -> BNO055_SUCCESS
|
| 3027 |
* @retval 1 -> BNO055_ERROR
|
| 3028 |
*
|
| 3029 |
*/
|
| 3030 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_xyz_uT( |
| 3031 |
struct bno055_mag_float_t *mag_xyz_data);
|
| 3032 |
/********************************************************************/
|
| 3033 |
/**\name FUNCTIONS FOR READING GYRO DATA OUTPUT AS FLOAT PRECISION */
|
| 3034 |
/********************************************************************/
|
| 3035 |
/*!
|
| 3036 |
* @brief This API is used to convert the gyro x raw data
|
| 3037 |
* to dps output as float
|
| 3038 |
*
|
| 3039 |
* @param gyro_x_f : The gyro x dps float data
|
| 3040 |
*
|
| 3041 |
*
|
| 3042 |
*
|
| 3043 |
* @return results of bus communication function
|
| 3044 |
* @retval 0 -> BNO055_SUCCESS
|
| 3045 |
* @retval 1 -> BNO055_ERROR
|
| 3046 |
*/
|
| 3047 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_dps(float *gyro_x_f);
|
| 3048 |
/*!
|
| 3049 |
* @brief This API is used to convert the gyro x raw data
|
| 3050 |
* to rps output as float
|
| 3051 |
*
|
| 3052 |
* @param gyro_x_f : The gyro x dps float data
|
| 3053 |
*
|
| 3054 |
*
|
| 3055 |
*
|
| 3056 |
* @return results of bus communication function
|
| 3057 |
* @retval 0 -> BNO055_SUCCESS
|
| 3058 |
* @retval 1 -> BNO055_ERROR
|
| 3059 |
*
|
| 3060 |
*/
|
| 3061 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_rps(float *gyro_x_f);
|
| 3062 |
/*!
|
| 3063 |
* @brief This API is used to convert the gyro y raw data
|
| 3064 |
* to dps output as float
|
| 3065 |
*
|
| 3066 |
* @param gyro_y_f : The gyro y dps float data
|
| 3067 |
*
|
| 3068 |
*
|
| 3069 |
*
|
| 3070 |
* @return results of bus communication function
|
| 3071 |
* @retval 0 -> BNO055_SUCCESS
|
| 3072 |
* @retval 1 -> BNO055_ERROR
|
| 3073 |
*
|
| 3074 |
*/
|
| 3075 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_dps(float *gyro_y_f);
|
| 3076 |
/*!
|
| 3077 |
* @brief This API is used to convert the gyro y raw data
|
| 3078 |
* to rps output as float
|
| 3079 |
*
|
| 3080 |
* @param gyro_y_f : The gyro y dps float data
|
| 3081 |
*
|
| 3082 |
*
|
| 3083 |
*
|
| 3084 |
* @return results of bus communication function
|
| 3085 |
* @retval 0 -> BNO055_SUCCESS
|
| 3086 |
* @retval 1 -> BNO055_ERROR
|
| 3087 |
*
|
| 3088 |
*
|
| 3089 |
*/
|
| 3090 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_rps(float *gyro_y_f);
|
| 3091 |
/*!
|
| 3092 |
* @brief This API is used to convert the gyro z raw data
|
| 3093 |
* to dps output as float
|
| 3094 |
*
|
| 3095 |
* @param gyro_z_f : The gyro z dps float data
|
| 3096 |
*
|
| 3097 |
*
|
| 3098 |
*
|
| 3099 |
* @return results of bus communication function
|
| 3100 |
* @retval 0 -> BNO055_SUCCESS
|
| 3101 |
* @retval 1 -> BNO055_ERROR
|
| 3102 |
*
|
| 3103 |
*/
|
| 3104 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_dps(float *gyro_z_f);
|
| 3105 |
/*!
|
| 3106 |
* @brief This API is used to convert the gyro z raw data
|
| 3107 |
* to rps output as float
|
| 3108 |
*
|
| 3109 |
* @param gyro_z_f : The gyro z rps float data
|
| 3110 |
*
|
| 3111 |
*
|
| 3112 |
*
|
| 3113 |
* @return results of bus communication function
|
| 3114 |
* @retval 0 -> BNO055_SUCCESS
|
| 3115 |
* @retval 1 -> BNO055_ERROR
|
| 3116 |
*
|
| 3117 |
*/
|
| 3118 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_rps(float *gyro_z_f);
|
| 3119 |
/*!
|
| 3120 |
* @brief This API is used to convert the gyro xyz raw data
|
| 3121 |
* to dps output as float
|
| 3122 |
*
|
| 3123 |
* @param gyro_xyz_data : The dps data of gyro xyz
|
| 3124 |
*
|
| 3125 |
* Parameter | result
|
| 3126 |
* --------- | -----------------
|
| 3127 |
* x | dps data of gyro
|
| 3128 |
* y | dps data of gyro
|
| 3129 |
* z | dps data of gyro
|
| 3130 |
*
|
| 3131 |
*
|
| 3132 |
* @return results of bus communication function
|
| 3133 |
* @retval 0 -> BNO055_SUCCESS
|
| 3134 |
* @retval 1 -> BNO055_ERROR
|
| 3135 |
*
|
| 3136 |
*
|
| 3137 |
*/
|
| 3138 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_dps( |
| 3139 |
struct bno055_gyro_float_t *gyro_xyz_data);
|
| 3140 |
/*!
|
| 3141 |
* @brief This API is used to convert the gyro xyz raw data
|
| 3142 |
* to rps output as float
|
| 3143 |
*
|
| 3144 |
* @param gyro_xyz_data : The rps data of gyro xyz
|
| 3145 |
*
|
| 3146 |
* Parameter | result
|
| 3147 |
* --------- | -----------------
|
| 3148 |
* x | rps data of gyro
|
| 3149 |
* y | rps data of gyro
|
| 3150 |
* z | rps data of gyro
|
| 3151 |
*
|
| 3152 |
*
|
| 3153 |
* @return results of bus communication function
|
| 3154 |
* @retval 0 -> BNO055_SUCCESS
|
| 3155 |
* @retval 1 -> BNO055_ERROR
|
| 3156 |
*
|
| 3157 |
*
|
| 3158 |
*/
|
| 3159 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_rps( |
| 3160 |
struct bno055_gyro_float_t *gyro_xyz_data);
|
| 3161 |
/********************************************************************/
|
| 3162 |
/**\name FUNCTIONS FOR READING EULER DATA OUTPUT AS FLOAT PRECISION */
|
| 3163 |
/********************************************************************/
|
| 3164 |
/*!
|
| 3165 |
* @brief This API is used to convert the Euler h raw data
|
| 3166 |
* to degree output as float
|
| 3167 |
*
|
| 3168 |
* @param euler_h_f : The float value of Euler h degree
|
| 3169 |
*
|
| 3170 |
* @return results of bus communication function
|
| 3171 |
* @retval 0 -> BNO055_SUCCESS
|
| 3172 |
* @retval 1 -> BNO055_ERROR
|
| 3173 |
*
|
| 3174 |
*
|
| 3175 |
*/
|
| 3176 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_deg(float *euler_h_f);
|
| 3177 |
/*!
|
| 3178 |
* @brief This API is used to convert the Euler h raw data
|
| 3179 |
* to radians output as float
|
| 3180 |
*
|
| 3181 |
* @param euler_h_f : The float value of Euler h radians
|
| 3182 |
*
|
| 3183 |
* @return results of bus communication function
|
| 3184 |
* @retval 0 -> BNO055_SUCCESS
|
| 3185 |
* @retval 1 -> BNO055_ERROR
|
| 3186 |
*
|
| 3187 |
*
|
| 3188 |
*/
|
| 3189 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_rad(float *euler_h_f);
|
| 3190 |
/*!
|
| 3191 |
* @brief This API is used to convert the Euler r raw data
|
| 3192 |
* to degree output as float
|
| 3193 |
*
|
| 3194 |
* @param euler_r_f : The float value of Euler r degree
|
| 3195 |
*
|
| 3196 |
* @return results of bus communication function
|
| 3197 |
* @retval 0 -> BNO055_SUCCESS
|
| 3198 |
* @retval 1 -> BNO055_ERROR
|
| 3199 |
*
|
| 3200 |
*/
|
| 3201 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_deg(float *euler_r_f);
|
| 3202 |
/*!
|
| 3203 |
* @brief This API is used to convert the Euler r raw data
|
| 3204 |
* to radians output as float
|
| 3205 |
*
|
| 3206 |
* @param euler_r_f : The float value of Euler r radians
|
| 3207 |
*
|
| 3208 |
* @return results of bus communication function
|
| 3209 |
* @retval 0 -> BNO055_SUCCESS
|
| 3210 |
* @retval 1 -> BNO055_ERROR
|
| 3211 |
*
|
| 3212 |
*/
|
| 3213 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_rad(float *euler_r_f);
|
| 3214 |
/*!
|
| 3215 |
* @brief This API is used to convert the Euler p raw data
|
| 3216 |
* to degree output as float
|
| 3217 |
*
|
| 3218 |
* @param euler_p_f : The float value of Euler p degree
|
| 3219 |
*
|
| 3220 |
* @return results of bus communication function
|
| 3221 |
* @retval 0 -> BNO055_SUCCESS
|
| 3222 |
* @retval 1 -> BNO055_ERROR
|
| 3223 |
*
|
| 3224 |
*/
|
| 3225 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_deg(float *euler_p_f);
|
| 3226 |
/*!
|
| 3227 |
* @brief This API is used to convert the Euler p raw data
|
| 3228 |
* to radians output as float
|
| 3229 |
*
|
| 3230 |
* @param euler_p_f : The float value of Euler p radians
|
| 3231 |
*
|
| 3232 |
* @return results of bus communication function
|
| 3233 |
* @retval 0 -> BNO055_SUCCESS
|
| 3234 |
* @retval 1 -> BNO055_ERROR
|
| 3235 |
*
|
| 3236 |
*
|
| 3237 |
*/
|
| 3238 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_rad(float *euler_p_f);
|
| 3239 |
/*!
|
| 3240 |
* @brief This API is used to convert the Euler hrp raw data
|
| 3241 |
* to degree output as float
|
| 3242 |
*
|
| 3243 |
* @param euler_hpr : The degree data of Euler hrp
|
| 3244 |
*
|
| 3245 |
* Parameter | result
|
| 3246 |
* --------- | -----------------
|
| 3247 |
* h | degree data of Euler
|
| 3248 |
* r | degree data of Euler
|
| 3249 |
* p | degree data of Euler
|
| 3250 |
*
|
| 3251 |
*
|
| 3252 |
* @return results of bus communication function
|
| 3253 |
* @retval 0 -> BNO055_SUCCESS
|
| 3254 |
* @retval 1 -> BNO055_ERROR
|
| 3255 |
*
|
| 3256 |
*/
|
| 3257 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_deg( |
| 3258 |
struct bno055_euler_float_t *euler_hpr);
|
| 3259 |
/*!
|
| 3260 |
* @brief This API is used to convert the Euler xyz raw data
|
| 3261 |
* to radians output as float
|
| 3262 |
*
|
| 3263 |
* @param euler_hpr : The radians data of Euler hrp
|
| 3264 |
*
|
| 3265 |
* Parameter | result
|
| 3266 |
* --------- | -----------------
|
| 3267 |
* h | radians data of Euler
|
| 3268 |
* r | radians data of Euler
|
| 3269 |
* p | radians data of Euler
|
| 3270 |
*
|
| 3271 |
*
|
| 3272 |
* @return results of bus communication function
|
| 3273 |
* @retval 0 -> BNO055_SUCCESS
|
| 3274 |
* @retval 1 -> BNO055_ERROR
|
| 3275 |
*
|
| 3276 |
*/
|
| 3277 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_rad( |
| 3278 |
struct bno055_euler_float_t *euler_hpr);
|
| 3279 |
/***************************************************************************/
|
| 3280 |
/**\name FUNCTIONS FOR READING LINEAR ACCEL DATA OUTPUT AS FLOAT PRECISION */
|
| 3281 |
/**************************************************************************/
|
| 3282 |
/*!
|
| 3283 |
* @brief This API is used to convert the linear
|
| 3284 |
* accel x raw data to meterpersecseq output as float
|
| 3285 |
*
|
| 3286 |
* @param linear_accel_x_f : The float value of linear accel x meterpersecseq
|
| 3287 |
*
|
| 3288 |
* @return results of bus communication function
|
| 3289 |
* @retval 0 -> BNO055_SUCCESS
|
| 3290 |
* @retval 1 -> BNO055_ERROR
|
| 3291 |
*/
|
| 3292 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_x_msq( |
| 3293 |
float *linear_accel_x_f);
|
| 3294 |
/*!
|
| 3295 |
* @brief This API is used to convert the linear
|
| 3296 |
* accel y raw data to meterpersecseq output as float
|
| 3297 |
*
|
| 3298 |
* @param linear_accel_y_f : The float value of linear accel y meterpersecseq
|
| 3299 |
*
|
| 3300 |
* @return results of bus communication function
|
| 3301 |
* @retval 0 -> BNO055_SUCCESS
|
| 3302 |
* @retval 1 -> BNO055_ERROR
|
| 3303 |
*/
|
| 3304 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_y_msq( |
| 3305 |
float *linear_accel_y_f);
|
| 3306 |
/*!
|
| 3307 |
* @brief This API is used to convert the linear
|
| 3308 |
* accel z raw data to meterpersecseq output as float
|
| 3309 |
*
|
| 3310 |
* @param linear_accel_z_f : The float value of linear accel z meterpersecseq
|
| 3311 |
*
|
| 3312 |
* @return results of bus communication function
|
| 3313 |
* @retval 0 -> BNO055_SUCCESS
|
| 3314 |
* @retval 1 -> BNO055_ERROR
|
| 3315 |
*
|
| 3316 |
*/
|
| 3317 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_z_msq( |
| 3318 |
float *linear_accel_z_f);
|
| 3319 |
/*!
|
| 3320 |
* @brief This API is used to convert the linear accel xyz raw data
|
| 3321 |
* to meterpersecseq output as float
|
| 3322 |
*
|
| 3323 |
* @param linear_accel_xyz : The meterpersecseq data of linear accel xyz
|
| 3324 |
*
|
| 3325 |
* Parameter | result
|
| 3326 |
* --------- | -----------------
|
| 3327 |
* x | meterpersecseq data of linear accel
|
| 3328 |
* y | meterpersecseq data of linear accel
|
| 3329 |
* z | meterpersecseq data of linear accel
|
| 3330 |
*
|
| 3331 |
*
|
| 3332 |
* @return results of bus communication function
|
| 3333 |
* @retval 0 -> BNO055_SUCCESS
|
| 3334 |
* @retval 1 -> BNO055_ERROR
|
| 3335 |
*
|
| 3336 |
*
|
| 3337 |
*/
|
| 3338 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_xyz_msq( |
| 3339 |
struct bno055_linear_accel_float_t *linear_accel_xyz);
|
| 3340 |
/********************************************************************/
|
| 3341 |
/**\name FUNCTIONS FOR READING GRAVITY DATA OUTPUT AS FLOAT PRECISION */
|
| 3342 |
/********************************************************************/
|
| 3343 |
/*!
|
| 3344 |
* @brief This API is used to convert the gravity
|
| 3345 |
* x raw data to meterpersecseq output as float
|
| 3346 |
*
|
| 3347 |
* @param gravity_x_f : The float value of gravity x meterpersecseq
|
| 3348 |
*
|
| 3349 |
* @return results of bus communication function
|
| 3350 |
* @retval 0 -> BNO055_SUCCESS
|
| 3351 |
* @retval 1 -> BNO055_ERROR
|
| 3352 |
*
|
| 3353 |
*
|
| 3354 |
*/
|
| 3355 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_x_msq( |
| 3356 |
float *gravity_x_f);
|
| 3357 |
/*!
|
| 3358 |
* @brief This API is used to convert the gravity
|
| 3359 |
* y raw data to meterpersecseq output as float
|
| 3360 |
*
|
| 3361 |
* @param gravity_y_f : The float value of gravity y meterpersecseq
|
| 3362 |
*
|
| 3363 |
* @return results of bus communication function
|
| 3364 |
* @retval 0 -> BNO055_SUCCESS
|
| 3365 |
* @retval 1 -> BNO055_ERROR
|
| 3366 |
*
|
| 3367 |
*
|
| 3368 |
*/
|
| 3369 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_y_msq( |
| 3370 |
float *gravity_y_f);
|
| 3371 |
/*!
|
| 3372 |
* @brief This API is used to convert the gravity
|
| 3373 |
* z raw data to meterpersecseq output as float
|
| 3374 |
*
|
| 3375 |
* @param gravity_z_f : The float value of gravity z meterpersecseq
|
| 3376 |
*
|
| 3377 |
* @return results of bus communication function
|
| 3378 |
* @retval 0 -> BNO055_SUCCESS
|
| 3379 |
* @retval 1 -> BNO055_ERROR
|
| 3380 |
*
|
| 3381 |
*/
|
| 3382 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_z_msq( |
| 3383 |
float *gravity_z_f);
|
| 3384 |
/*!
|
| 3385 |
* @brief This API is used to convert the gravity xyz raw data
|
| 3386 |
* to meterpersecseq output as float
|
| 3387 |
*
|
| 3388 |
* @param gravity_xyz : The meterpersecseq data of gravity xyz
|
| 3389 |
*
|
| 3390 |
* Parameter | result
|
| 3391 |
* --------- | -----------------
|
| 3392 |
* x | meterpersecseq data of gravity
|
| 3393 |
* y | meterpersecseq data of gravity
|
| 3394 |
* z | meterpersecseq data of gravity
|
| 3395 |
*
|
| 3396 |
*
|
| 3397 |
* @return results of bus communication function
|
| 3398 |
* @retval 0 -> BNO055_SUCCESS
|
| 3399 |
* @retval 1 -> BNO055_ERROR
|
| 3400 |
*
|
| 3401 |
*
|
| 3402 |
*/
|
| 3403 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gravity_xyz_msq( |
| 3404 |
struct bno055_gravity_float_t *gravity_xyz);
|
| 3405 |
/**************************************************************************/
|
| 3406 |
/**\name FUNCTIONS FOR READING TEMPERATURE DATA OUTPUT AS FLOAT PRECISION */
|
| 3407 |
/*************************************************************************/
|
| 3408 |
/*!
|
| 3409 |
* @brief This API is used to convert the temperature
|
| 3410 |
* data to Fahrenheit output as float
|
| 3411 |
*
|
| 3412 |
* @param temp_f : The float value of temperature Fahrenheit
|
| 3413 |
*
|
| 3414 |
* @return results of bus communication function
|
| 3415 |
* @retval 0 -> BNO055_SUCCESS
|
| 3416 |
* @retval 1 -> BNO055_ERROR
|
| 3417 |
*
|
| 3418 |
*
|
| 3419 |
*/
|
| 3420 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_fahrenheit(float *temp_f);
|
| 3421 |
/*!
|
| 3422 |
* @brief This API is used to convert the temperature
|
| 3423 |
* data to Celsius output as float
|
| 3424 |
*
|
| 3425 |
* @param temp_f : The float value of temperature Celsius
|
| 3426 |
*
|
| 3427 |
* @return results of bus communication function
|
| 3428 |
* @retval 0 -> BNO055_SUCCESS
|
| 3429 |
* @retval 1 -> BNO055_ERROR
|
| 3430 |
*
|
| 3431 |
*
|
| 3432 |
*
|
| 3433 |
*/
|
| 3434 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_celsius(float *temp_f);
|
| 3435 |
#endif
|
| 3436 |
#ifdef BNO055_DOUBLE_ENABLE
|
| 3437 |
/**************************************************************************/
|
| 3438 |
/**\name FUNCTIONS FOR READING ACCEL DATA OUTPUT AS DOUBLE PRECISION */
|
| 3439 |
/*************************************************************************/
|
| 3440 |
/*!
|
| 3441 |
* @brief This API is used to convert the accel x raw data
|
| 3442 |
* to meterpersecseq output as double
|
| 3443 |
*
|
| 3444 |
* @param accel_x_d : The accel x meterpersecseq data
|
| 3445 |
*
|
| 3446 |
*
|
| 3447 |
*
|
| 3448 |
* @return results of bus communication function
|
| 3449 |
* @retval 0 -> BNO055_SUCCESS
|
| 3450 |
* @retval 1 -> BNO055_ERROR
|
| 3451 |
*
|
| 3452 |
*
|
| 3453 |
*/
|
| 3454 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_msq(double *accel_x_d);
|
| 3455 |
/*!
|
| 3456 |
* @brief This API is used to convert the accel y raw data
|
| 3457 |
* to meterpersecseq output as double
|
| 3458 |
*
|
| 3459 |
* @param accel_y_d : The accel y meterpersecseq data
|
| 3460 |
*
|
| 3461 |
*
|
| 3462 |
*
|
| 3463 |
* @return results of bus communication function
|
| 3464 |
* @retval 0 -> BNO055_SUCCESS
|
| 3465 |
* @retval 1 -> BNO055_ERROR
|
| 3466 |
*
|
| 3467 |
*
|
| 3468 |
*
|
| 3469 |
*/
|
| 3470 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_msq(double *accel_y_d);
|
| 3471 |
/*!
|
| 3472 |
* @brief This API is used to convert the accel z raw data
|
| 3473 |
* to meterpersecseq output as double
|
| 3474 |
*
|
| 3475 |
* @param accel_z_d : The accel z meterpersecseq data
|
| 3476 |
*
|
| 3477 |
*
|
| 3478 |
*
|
| 3479 |
* @return results of bus communication function
|
| 3480 |
* @retval 0 -> BNO055_SUCCESS
|
| 3481 |
* @retval 1 -> BNO055_ERROR
|
| 3482 |
*/
|
| 3483 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_msq(double *accel_z_d);
|
| 3484 |
/*!
|
| 3485 |
* @brief This API is used to convert the accel x raw data
|
| 3486 |
* to millig output as double
|
| 3487 |
*
|
| 3488 |
* @param accel_x_d : The accel x millig data
|
| 3489 |
*
|
| 3490 |
*
|
| 3491 |
*
|
| 3492 |
* @return results of bus communication function
|
| 3493 |
* @retval 0 -> BNO055_SUCCESS
|
| 3494 |
* @retval 1 -> BNO055_ERROR
|
| 3495 |
*
|
| 3496 |
*
|
| 3497 |
*
|
| 3498 |
*/
|
| 3499 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_mg(double *accel_x_d);
|
| 3500 |
/*!
|
| 3501 |
* @brief This API is used to convert the accel y raw data
|
| 3502 |
* to millig output as double
|
| 3503 |
*
|
| 3504 |
* @param accel_y_d : The accel y millig data
|
| 3505 |
*
|
| 3506 |
*
|
| 3507 |
*
|
| 3508 |
* @return results of bus communication function
|
| 3509 |
* @retval 0 -> BNO055_SUCCESS
|
| 3510 |
* @retval 1 -> BNO055_ERROR
|
| 3511 |
*
|
| 3512 |
*
|
| 3513 |
*/
|
| 3514 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_mg(double *accel_y_d);
|
| 3515 |
/*!
|
| 3516 |
* @brief This API is used to convert the accel z raw data
|
| 3517 |
* to millig output as double
|
| 3518 |
*
|
| 3519 |
* @param accel_z_d : The accel z millig data
|
| 3520 |
*
|
| 3521 |
*
|
| 3522 |
*
|
| 3523 |
* @return results of bus communication function
|
| 3524 |
* @retval 0 -> BNO055_SUCCESS
|
| 3525 |
* @retval 1 -> BNO055_ERROR
|
| 3526 |
*
|
| 3527 |
*/
|
| 3528 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_mg(double *accel_z_d);
|
| 3529 |
/*!
|
| 3530 |
* @brief This API is used to convert the accel xyz raw data
|
| 3531 |
* to meterpersecseq output as double
|
| 3532 |
*
|
| 3533 |
* @param accel_xyz : The meterpersecseq data of accel xyz
|
| 3534 |
*
|
| 3535 |
* Parameter | result
|
| 3536 |
* --------- | -----------------
|
| 3537 |
* x | meterpersecseq data of accel
|
| 3538 |
* y | meterpersecseq data of accel
|
| 3539 |
* z | meterpersecseq data of accel
|
| 3540 |
*
|
| 3541 |
*
|
| 3542 |
* @return results of bus communication function
|
| 3543 |
* @retval 0 -> BNO055_SUCCESS
|
| 3544 |
* @retval 1 -> BNO055_ERROR
|
| 3545 |
*
|
| 3546 |
*
|
| 3547 |
*/
|
| 3548 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_msq( |
| 3549 |
struct bno055_accel_double_t *accel_xyz);
|
| 3550 |
/*!
|
| 3551 |
* @brief This API is used to convert the accel xyz raw data
|
| 3552 |
* to millig output as double
|
| 3553 |
*
|
| 3554 |
* @param accel_xyz : The millig data of accel xyz
|
| 3555 |
*
|
| 3556 |
* Parameter | result
|
| 3557 |
* --------- | -----------------
|
| 3558 |
* x | millig data of accel
|
| 3559 |
* y | millig data of accel
|
| 3560 |
* z | millig data of accel
|
| 3561 |
*
|
| 3562 |
*
|
| 3563 |
* @return results of bus communication function
|
| 3564 |
* @retval 0 -> BNO055_SUCCESS
|
| 3565 |
* @retval 1 -> BNO055_ERROR
|
| 3566 |
*
|
| 3567 |
*/
|
| 3568 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_mg( |
| 3569 |
struct bno055_accel_double_t *accel_xyz);
|
| 3570 |
/**************************************************************************/
|
| 3571 |
/**\name FUNCTIONS FOR READING MAG DATA OUTPUT AS DOUBLE PRECISION */
|
| 3572 |
/*************************************************************************/
|
| 3573 |
/*!
|
| 3574 |
* @brief This API is used to convert the mag x raw data
|
| 3575 |
* to microTesla output as double
|
| 3576 |
*
|
| 3577 |
* @param mag_x_d : The mag x microTesla data
|
| 3578 |
*
|
| 3579 |
*
|
| 3580 |
*
|
| 3581 |
* @return results of bus communication function
|
| 3582 |
* @retval 0 -> BNO055_SUCCESS
|
| 3583 |
* @retval 1 -> BNO055_ERROR
|
| 3584 |
*
|
| 3585 |
*
|
| 3586 |
*
|
| 3587 |
*/
|
| 3588 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_x_uT(double *mag_x_d);
|
| 3589 |
/*!
|
| 3590 |
* @brief This API is used to convert the mag x raw data
|
| 3591 |
* to microTesla output as double
|
| 3592 |
*
|
| 3593 |
* @param mag_y_d : The mag x microTesla data
|
| 3594 |
*
|
| 3595 |
*
|
| 3596 |
*
|
| 3597 |
* @return results of bus communication function
|
| 3598 |
* @retval 0 -> BNO055_SUCCESS
|
| 3599 |
* @retval 1 -> BNO055_ERROR
|
| 3600 |
*
|
| 3601 |
*
|
| 3602 |
*
|
| 3603 |
*/
|
| 3604 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_y_uT(double *mag_y_d);
|
| 3605 |
/*!
|
| 3606 |
* @brief This API is used to convert the mag z raw data
|
| 3607 |
* to microTesla output as double
|
| 3608 |
*
|
| 3609 |
* @param mag_z_d : The mag z microTesla data
|
| 3610 |
*
|
| 3611 |
*
|
| 3612 |
*
|
| 3613 |
* @return results of bus communication function
|
| 3614 |
* @retval 0 -> BNO055_SUCCESS
|
| 3615 |
* @retval 1 -> BNO055_ERROR
|
| 3616 |
*
|
| 3617 |
*
|
| 3618 |
*/
|
| 3619 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_z_uT(double *mag_z_d);
|
| 3620 |
/*!
|
| 3621 |
* @brief This API is used to convert the mag yz raw data
|
| 3622 |
* to microTesla output as double
|
| 3623 |
*
|
| 3624 |
* @param mag_xyz : The microTesla data of mag xyz
|
| 3625 |
*
|
| 3626 |
* Parameter | result
|
| 3627 |
* --------- | -----------------
|
| 3628 |
* x | microTesla data of mag
|
| 3629 |
* y | microTesla data of mag
|
| 3630 |
* z | microTesla data of mag
|
| 3631 |
*
|
| 3632 |
*
|
| 3633 |
* @return results of bus communication function
|
| 3634 |
* @retval 0 -> BNO055_SUCCESS
|
| 3635 |
* @retval 1 -> BNO055_ERROR
|
| 3636 |
*
|
| 3637 |
*/
|
| 3638 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_xyz_uT( |
| 3639 |
struct bno055_mag_double_t *mag_xyz);
|
| 3640 |
/**************************************************************************/
|
| 3641 |
/**\name FUNCTIONS FOR READING GYRO DATA OUTPUT AS DOUBLE PRECISION */
|
| 3642 |
/*************************************************************************/
|
| 3643 |
/*!
|
| 3644 |
* @brief This API is used to convert the gyro x raw data
|
| 3645 |
* to dps output as double
|
| 3646 |
*
|
| 3647 |
* @param gyro_x_d : The gyro x dps double data
|
| 3648 |
*
|
| 3649 |
*
|
| 3650 |
*
|
| 3651 |
* @return results of bus communication function
|
| 3652 |
* @retval 0 -> BNO055_SUCCESS
|
| 3653 |
* @retval 1 -> BNO055_ERROR
|
| 3654 |
*
|
| 3655 |
*
|
| 3656 |
*/
|
| 3657 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_dps(double *gyro_x_d);
|
| 3658 |
/*!
|
| 3659 |
* @brief This API is used to convert the gyro y raw data
|
| 3660 |
* to dps output as double
|
| 3661 |
*
|
| 3662 |
* @param gyro_y_d : The gyro y dps double data
|
| 3663 |
*
|
| 3664 |
*
|
| 3665 |
*
|
| 3666 |
* @return results of bus communication function
|
| 3667 |
* @retval 0 -> BNO055_SUCCESS
|
| 3668 |
* @retval 1 -> BNO055_ERROR
|
| 3669 |
*
|
| 3670 |
*
|
| 3671 |
*/
|
| 3672 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_dps(double *gyro_y_d);
|
| 3673 |
/*!
|
| 3674 |
* @brief This API is used to convert the gyro z raw data
|
| 3675 |
* to dps output as double
|
| 3676 |
*
|
| 3677 |
* @param gyro_z_d : The gyro z dps double data
|
| 3678 |
*
|
| 3679 |
*
|
| 3680 |
*
|
| 3681 |
* @return results of bus communication function
|
| 3682 |
* @retval 0 -> BNO055_SUCCESS
|
| 3683 |
* @retval 1 -> BNO055_ERROR
|
| 3684 |
*
|
| 3685 |
*
|
| 3686 |
*/
|
| 3687 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_dps(double *gyro_z_d);
|
| 3688 |
/*!
|
| 3689 |
* @brief This API is used to convert the gyro x raw data
|
| 3690 |
* to rps output as double
|
| 3691 |
*
|
| 3692 |
* @param gyro_x_d : The gyro x dps double data
|
| 3693 |
*
|
| 3694 |
*
|
| 3695 |
*
|
| 3696 |
* @return results of bus communication function
|
| 3697 |
* @retval 0 -> BNO055_SUCCESS
|
| 3698 |
* @retval 1 -> BNO055_ERROR
|
| 3699 |
*
|
| 3700 |
*
|
| 3701 |
*/
|
| 3702 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_rps(double *gyro_x_d);
|
| 3703 |
/*!
|
| 3704 |
* @brief This API is used to convert the gyro y raw data
|
| 3705 |
* to rps output as double
|
| 3706 |
*
|
| 3707 |
* @param gyro_y_d : The gyro y dps double data
|
| 3708 |
*
|
| 3709 |
*
|
| 3710 |
*
|
| 3711 |
* @return results of bus communication function
|
| 3712 |
* @retval 0 -> BNO055_SUCCESS
|
| 3713 |
* @retval 1 -> BNO055_ERROR
|
| 3714 |
*
|
| 3715 |
*
|
| 3716 |
*/
|
| 3717 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_rps(double *gyro_y_d);
|
| 3718 |
/*!
|
| 3719 |
* @brief This API is used to convert the gyro z raw data
|
| 3720 |
* to rps output as double
|
| 3721 |
*
|
| 3722 |
* @param gyro_z_d : The gyro z rps double data
|
| 3723 |
*
|
| 3724 |
*
|
| 3725 |
*
|
| 3726 |
* @return results of bus communication function
|
| 3727 |
* @retval 0 -> BNO055_SUCCESS
|
| 3728 |
* @retval 1 -> BNO055_ERROR
|
| 3729 |
*
|
| 3730 |
*
|
| 3731 |
*/
|
| 3732 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_rps(double *gyro_z_d);
|
| 3733 |
/*!
|
| 3734 |
* @brief This API is used to convert the gyro xyz raw data
|
| 3735 |
* to dps output as double
|
| 3736 |
*
|
| 3737 |
* @param gyro_xyz : The dps data of gyro xyz
|
| 3738 |
*
|
| 3739 |
* Parameter | result
|
| 3740 |
* --------- | -----------------
|
| 3741 |
* x | dps data of gyro
|
| 3742 |
* y | dps data of gyro
|
| 3743 |
* z | dps data of gyro
|
| 3744 |
*
|
| 3745 |
*
|
| 3746 |
* @return results of bus communication function
|
| 3747 |
* @retval 0 -> BNO055_SUCCESS
|
| 3748 |
* @retval 1 -> BNO055_ERROR
|
| 3749 |
*
|
| 3750 |
*/
|
| 3751 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_dps( |
| 3752 |
struct bno055_gyro_double_t *gyro_xyz);
|
| 3753 |
/*!
|
| 3754 |
* @brief This API is used to convert the gyro xyz raw data
|
| 3755 |
* to rps output as double
|
| 3756 |
*
|
| 3757 |
* @param gyro_xyz : The rps data of gyro xyz
|
| 3758 |
*
|
| 3759 |
* Parameter | result
|
| 3760 |
* --------- | -----------------
|
| 3761 |
* x | rps data of gyro
|
| 3762 |
* y | rps data of gyro
|
| 3763 |
* z | rps data of gyro
|
| 3764 |
*
|
| 3765 |
*
|
| 3766 |
* @return results of bus communication function
|
| 3767 |
* @retval 0 -> BNO055_SUCCESS
|
| 3768 |
* @retval 1 -> BNO055_ERROR
|
| 3769 |
*
|
| 3770 |
*/
|
| 3771 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_rps( |
| 3772 |
struct bno055_gyro_double_t *gyro_xyz);
|
| 3773 |
/**************************************************************************/
|
| 3774 |
/**\name FUNCTIONS FOR READING EULER DATA OUTPUT AS DOUBLE PRECISION */
|
| 3775 |
/*************************************************************************/
|
| 3776 |
/*!
|
| 3777 |
* @brief This API is used to convert the Euler h raw data
|
| 3778 |
* to degree output as double
|
| 3779 |
*
|
| 3780 |
* @param euler_h_d : The double value of Euler h degree
|
| 3781 |
*
|
| 3782 |
* @return results of bus communication function
|
| 3783 |
* @retval 0 -> BNO055_SUCCESS
|
| 3784 |
* @retval 1 -> BNO055_ERROR
|
| 3785 |
*
|
| 3786 |
*
|
| 3787 |
*/
|
| 3788 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_deg(double *euler_h_d);
|
| 3789 |
/*!
|
| 3790 |
* @brief This API is used to convert the Euler p raw data
|
| 3791 |
* to degree output as double
|
| 3792 |
*
|
| 3793 |
* @param euler_p_d : The double value of Euler p degree
|
| 3794 |
*
|
| 3795 |
* @return results of bus communication function
|
| 3796 |
* @retval 0 -> BNO055_SUCCESS
|
| 3797 |
* @retval 1 -> BNO055_ERROR
|
| 3798 |
*
|
| 3799 |
*
|
| 3800 |
*/
|
| 3801 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_deg(double *euler_p_d);
|
| 3802 |
/*!
|
| 3803 |
* @brief This API is used to convert the Euler r raw data
|
| 3804 |
* to degree output as double
|
| 3805 |
*
|
| 3806 |
* @param euler_r_d : The double value of Euler r degree
|
| 3807 |
*
|
| 3808 |
* @return results of bus communication function
|
| 3809 |
* @retval 0 -> BNO055_SUCCESS
|
| 3810 |
* @retval 1 -> BNO055_ERROR
|
| 3811 |
*
|
| 3812 |
*
|
| 3813 |
*/
|
| 3814 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_deg(double *euler_r_d);
|
| 3815 |
/*!
|
| 3816 |
* @brief This API is used to convert the Euler h raw data
|
| 3817 |
* to radians output as double
|
| 3818 |
*
|
| 3819 |
* @param euler_h_d : The double value of Euler h radians
|
| 3820 |
*
|
| 3821 |
* @return results of bus communication function
|
| 3822 |
* @retval 0 -> BNO055_SUCCESS
|
| 3823 |
* @retval 1 -> BNO055_ERROR
|
| 3824 |
*
|
| 3825 |
*
|
| 3826 |
*/
|
| 3827 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_rad(double *euler_h_d);
|
| 3828 |
/*!
|
| 3829 |
* @brief This API is used to convert the Euler p raw data
|
| 3830 |
* to radians output as double
|
| 3831 |
*
|
| 3832 |
* @param euler_p_d : The double value of Euler p radians
|
| 3833 |
*
|
| 3834 |
* @return results of bus communication function
|
| 3835 |
* @retval 0 -> BNO055_SUCCESS
|
| 3836 |
* @retval 1 -> BNO055_ERROR
|
| 3837 |
*
|
| 3838 |
*
|
| 3839 |
*/
|
| 3840 |
|
| 3841 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_rad(double *euler_p_d);
|
| 3842 |
/*!
|
| 3843 |
* @brief This API is used to convert the Euler r raw data
|
| 3844 |
* to radians output as double
|
| 3845 |
*
|
| 3846 |
* @param euler_r_d : The double value of Euler r radians
|
| 3847 |
*
|
| 3848 |
* @return results of bus communication function
|
| 3849 |
* @retval 0 -> BNO055_SUCCESS
|
| 3850 |
* @retval 1 -> BNO055_ERROR
|
| 3851 |
*
|
| 3852 |
*
|
| 3853 |
*/
|
| 3854 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_rad(double *euler_r_d);
|
| 3855 |
/*!
|
| 3856 |
* @brief This API is used to convert the Euler hpr raw data
|
| 3857 |
* to degree output as double
|
| 3858 |
*
|
| 3859 |
* @param euler_hpr : The degree data of Euler hpr
|
| 3860 |
*
|
| 3861 |
* Parameter | result
|
| 3862 |
* --------- | -----------------
|
| 3863 |
* h | degree data of Euler
|
| 3864 |
* r | degree data of Euler
|
| 3865 |
* p | degree data of Euler
|
| 3866 |
*
|
| 3867 |
*
|
| 3868 |
* @return results of bus communication function
|
| 3869 |
* @retval 0 -> BNO055_SUCCESS
|
| 3870 |
* @retval 1 -> BNO055_ERROR
|
| 3871 |
*
|
| 3872 |
*/
|
| 3873 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_deg( |
| 3874 |
struct bno055_euler_double_t *euler_hpr);
|
| 3875 |
/*!
|
| 3876 |
* @brief This API is used to convert the Euler hpr raw data
|
| 3877 |
* to radians output as double
|
| 3878 |
*
|
| 3879 |
* @param euler_hpr : The radians data of Euler hpr
|
| 3880 |
*
|
| 3881 |
* Parameter | result
|
| 3882 |
* --------- | -----------------
|
| 3883 |
* h | radians data of Euler
|
| 3884 |
* r | radians data of Euler
|
| 3885 |
* p | radians data of Euler
|
| 3886 |
*
|
| 3887 |
*
|
| 3888 |
* @return results of bus communication function
|
| 3889 |
* @retval 0 -> BNO055_SUCCESS
|
| 3890 |
* @retval 1 -> BNO055_ERROR
|
| 3891 |
*
|
| 3892 |
*/
|
| 3893 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_rad( |
| 3894 |
struct bno055_euler_double_t *euler_hpr);
|
| 3895 |
/****************************************************************************/
|
| 3896 |
/**\name FUNCTIONS FOR READING LINEAR ACCEL DATA OUTPUT AS DOUBLE PRECISION */
|
| 3897 |
/****************************************************************************/
|
| 3898 |
/*!
|
| 3899 |
* @brief This API is used to convert the linear
|
| 3900 |
* accel x raw data to meterpersecseq output as double
|
| 3901 |
*
|
| 3902 |
* @param linear_accel_x_d : The double value of
|
| 3903 |
* linear accel x meterpersecseq
|
| 3904 |
*
|
| 3905 |
* @return results of bus communication function
|
| 3906 |
* @retval 0 -> BNO055_SUCCESS
|
| 3907 |
* @retval 1 -> BNO055_ERROR
|
| 3908 |
*
|
| 3909 |
*
|
| 3910 |
*/
|
| 3911 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_x_msq( |
| 3912 |
double *linear_accel_x_d);
|
| 3913 |
/*!
|
| 3914 |
* @brief This API is used to convert the linear
|
| 3915 |
* accel y raw data to meterpersecseq output as double
|
| 3916 |
*
|
| 3917 |
* @param linear_accel_y_d : The double value of
|
| 3918 |
* linear accel y meterpersecseq
|
| 3919 |
*
|
| 3920 |
* @return results of bus communication function
|
| 3921 |
* @retval 0 -> BNO055_SUCCESS
|
| 3922 |
* @retval 1 -> BNO055_ERROR
|
| 3923 |
*
|
| 3924 |
*
|
| 3925 |
*/
|
| 3926 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_y_msq( |
| 3927 |
double *linear_accel_y_d);
|
| 3928 |
/*!
|
| 3929 |
* @brief This API is used to convert the linear
|
| 3930 |
* accel z raw data to meterpersecseq output as double
|
| 3931 |
*
|
| 3932 |
* @param linear_accel_z_d : The double value of
|
| 3933 |
* linear accel z meterpersecseq
|
| 3934 |
*
|
| 3935 |
* @return results of bus communication function
|
| 3936 |
* @retval 0 -> BNO055_SUCCESS
|
| 3937 |
* @retval 1 -> BNO055_ERROR
|
| 3938 |
*
|
| 3939 |
*
|
| 3940 |
*/
|
| 3941 |
|
| 3942 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_z_msq( |
| 3943 |
double *linear_accel_z_d);
|
| 3944 |
/*!
|
| 3945 |
* @brief This API is used to convert the linear accel xyz raw data
|
| 3946 |
* to meterpersecseq output as double
|
| 3947 |
*
|
| 3948 |
* @param linear_accel_xyz : The meterpersecseq data of linear accel xyz
|
| 3949 |
*
|
| 3950 |
* Parameter | result
|
| 3951 |
* --------- | -----------------
|
| 3952 |
* x | meterpersecseq data of linear accel
|
| 3953 |
* y | meterpersecseq data of linear accel
|
| 3954 |
* z | meterpersecseq data of linear accel
|
| 3955 |
*
|
| 3956 |
*
|
| 3957 |
* @return results of bus communication function
|
| 3958 |
* @retval 0 -> BNO055_SUCCESS
|
| 3959 |
* @retval 1 -> BNO055_ERROR
|
| 3960 |
*
|
| 3961 |
*/
|
| 3962 |
|
| 3963 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_xyz_msq( |
| 3964 |
struct bno055_linear_accel_double_t *linear_accel_xyz);
|
| 3965 |
/**************************************************************************/
|
| 3966 |
/**\name FUNCTIONS FOR READING GRAVITY DATA OUTPUT AS DOUBLE PRECISION */
|
| 3967 |
/*************************************************************************/
|
| 3968 |
/*!
|
| 3969 |
* @brief This API is used to convert the gravity
|
| 3970 |
* x raw data to meterpersecseq output as double
|
| 3971 |
*
|
| 3972 |
* @param gravity_x_d : The double value of gravity x meterpersecseq
|
| 3973 |
*
|
| 3974 |
* @return results of bus communication function
|
| 3975 |
* @retval 0 -> BNO055_SUCCESS
|
| 3976 |
* @retval 1 -> BNO055_ERROR
|
| 3977 |
*
|
| 3978 |
*
|
| 3979 |
*/
|
| 3980 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_x_msq( |
| 3981 |
double *gravity_x_d);
|
| 3982 |
/*!
|
| 3983 |
* @brief This API is used to convert the gravity
|
| 3984 |
* y raw data to meterpersecseq output as double
|
| 3985 |
*
|
| 3986 |
* @param gravity_y_d : The double value of gravity y meterpersecseq
|
| 3987 |
*
|
| 3988 |
* @return results of bus communication function
|
| 3989 |
* @retval 0 -> BNO055_SUCCESS
|
| 3990 |
* @retval 1 -> BNO055_ERROR
|
| 3991 |
*
|
| 3992 |
*
|
| 3993 |
*/
|
| 3994 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_y_msq( |
| 3995 |
double *gravity_y_d);
|
| 3996 |
/*!
|
| 3997 |
* @brief This API is used to convert the gravity
|
| 3998 |
* z raw data to meterpersecseq output as double
|
| 3999 |
*
|
| 4000 |
* @param gravity_z_d : The double value of gravity z meterpersecseq
|
| 4001 |
*
|
| 4002 |
* @return results of bus communication function
|
| 4003 |
* @retval 0 -> BNO055_SUCCESS
|
| 4004 |
* @retval 1 -> BNO055_ERROR
|
| 4005 |
*
|
| 4006 |
*
|
| 4007 |
*/
|
| 4008 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_z_msq( |
| 4009 |
double *gravity_z_d);
|
| 4010 |
/*!
|
| 4011 |
* @brief This API is used to convert the gravity xyz raw data
|
| 4012 |
* to meterpersecseq output as double
|
| 4013 |
*
|
| 4014 |
* @param gravity_xyz : The meterpersecseq data of gravity xyz
|
| 4015 |
*
|
| 4016 |
* Parameter | result
|
| 4017 |
* --------- | -----------------
|
| 4018 |
* x | meterpersecseq data of gravity
|
| 4019 |
* y | meterpersecseq data of gravity
|
| 4020 |
* z | meterpersecseq data of gravity
|
| 4021 |
*
|
| 4022 |
*
|
| 4023 |
* @return results of bus communication function
|
| 4024 |
* @retval 0 -> BNO055_SUCCESS
|
| 4025 |
* @retval 1 -> BNO055_ERROR
|
| 4026 |
*
|
| 4027 |
*/
|
| 4028 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gravity_xyz_msq( |
| 4029 |
struct bno055_gravity_double_t *gravity_xyz);
|
| 4030 |
/**************************************************************************/
|
| 4031 |
/**\name FUNCTIONS FOR READING TEMPERATURE DATA OUTPUT AS DOUBLE PRECISION*/
|
| 4032 |
/*************************************************************************/
|
| 4033 |
/*!
|
| 4034 |
* @brief This API is used to convert the temperature
|
| 4035 |
* data to Fahrenheit output as double
|
| 4036 |
*
|
| 4037 |
* @param temp_d : The double value of temperature Fahrenheit
|
| 4038 |
*
|
| 4039 |
* @return results of bus communication function
|
| 4040 |
* @retval 0 -> BNO055_SUCCESS
|
| 4041 |
* @retval 1 -> BNO055_ERROR
|
| 4042 |
*
|
| 4043 |
*
|
| 4044 |
*/
|
| 4045 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_fahrenheit( |
| 4046 |
double *temp_d);
|
| 4047 |
/*!
|
| 4048 |
* @brief This API is used to convert the temperature
|
| 4049 |
* data to Celsius output as double
|
| 4050 |
*
|
| 4051 |
* @param temp_d : The double value of temperature Celsius
|
| 4052 |
*
|
| 4053 |
* @return results of bus communication function
|
| 4054 |
* @retval 0 -> BNO055_SUCCESS
|
| 4055 |
* @retval 1 -> BNO055_ERROR
|
| 4056 |
*
|
| 4057 |
*
|
| 4058 |
*/
|
| 4059 |
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_celsius(double *temp_d);
|
| 4060 |
#endif
|
| 4061 |
/**************************************************************************/
|
| 4062 |
/**\name FUNCTIONS FOR READING ACCEL,MAG,GYRO AND SYSTEM CALIBRATION STATUS*/
|
| 4063 |
/*************************************************************************/
|
| 4064 |
/*!
|
| 4065 |
* @brief This API used to read
|
| 4066 |
* mag calibration status from register from 0x35 bit 0 and 1
|
| 4067 |
*
|
| 4068 |
* @param mag_calib_u8 : The value of mag calib status
|
| 4069 |
*
|
| 4070 |
*
|
| 4071 |
* @return results of bus communication function
|
| 4072 |
* @retval 0 -> BNO055_SUCCESS
|
| 4073 |
* @retval 1 -> BNO055_ERROR
|
| 4074 |
*
|
| 4075 |
*/
|
| 4076 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_calib_stat(u8 *mag_calib_u8); |
| 4077 |
/*!
|
| 4078 |
* @brief This API used to read
|
| 4079 |
* accel calibration status from register from 0x35 bit 2 and 3
|
| 4080 |
*
|
| 4081 |
* @param accel_calib_u8 : The value of accel calib status
|
| 4082 |
*
|
| 4083 |
*
|
| 4084 |
* @return results of bus communication function
|
| 4085 |
* @retval 0 -> BNO055_SUCCESS
|
| 4086 |
* @retval 1 -> BNO055_ERROR
|
| 4087 |
*
|
| 4088 |
*/
|
| 4089 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_calib_stat(u8 *accel_calib_u8); |
| 4090 |
/*!
|
| 4091 |
* @brief This API used to read
|
| 4092 |
* gyro calibration status from register from 0x35 bit 4 and 5
|
| 4093 |
*
|
| 4094 |
* @param gyro_calib_u8 : The value of gyro calib status
|
| 4095 |
*
|
| 4096 |
*
|
| 4097 |
* @return results of bus communication function
|
| 4098 |
* @retval 0 -> BNO055_SUCCESS
|
| 4099 |
* @retval 1 -> BNO055_ERROR
|
| 4100 |
*
|
| 4101 |
*/
|
| 4102 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_calib_stat(u8 *gyro_calib_u8); |
| 4103 |
/*!
|
| 4104 |
* @brief This API used to read
|
| 4105 |
* system calibration status from register from 0x35 bit 6 and 7
|
| 4106 |
*
|
| 4107 |
* @param sys_calib_u8 : The value of system calib status
|
| 4108 |
*
|
| 4109 |
*
|
| 4110 |
* @return results of bus communication function
|
| 4111 |
* @retval 0 -> BNO055_SUCCESS
|
| 4112 |
* @retval 1 -> BNO055_ERROR
|
| 4113 |
*
|
| 4114 |
*/
|
| 4115 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_calib_stat(u8 *sys_calib_u8); |
| 4116 |
/******************************************************************/
|
| 4117 |
/**\name FUNCTIONS FOR READING ACCEL,MAG,GYRO AND SYSTEM SELF TEST */
|
| 4118 |
/******************************************************************/
|
| 4119 |
/*!
|
| 4120 |
* @brief This API used to read
|
| 4121 |
* self test of accel from register from 0x36 bit 0
|
| 4122 |
*
|
| 4123 |
* @param selftest_accel_u8 : The value of self test of accel
|
| 4124 |
*
|
| 4125 |
* selftest_accel_u8 | result
|
| 4126 |
* -------------------- | ---------------------
|
| 4127 |
* 0x00 | indicates test failed
|
| 4128 |
* 0x01 | indicated test passed
|
| 4129 |
*
|
| 4130 |
* @return results of bus communication function
|
| 4131 |
* @retval 0 -> BNO055_SUCCESS
|
| 4132 |
* @retval 1 -> BNO055_ERROR
|
| 4133 |
*
|
| 4134 |
*/
|
| 4135 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_accel(u8 *selftest_accel_u8); |
| 4136 |
/*!
|
| 4137 |
* @brief This API used to read
|
| 4138 |
* self test of mag from register from 0x36 bit 1
|
| 4139 |
*
|
| 4140 |
* @param selftest_mag_u8 : The value of self test of mag
|
| 4141 |
*
|
| 4142 |
* selftest_mag_u8 | result
|
| 4143 |
* -------------------- | ---------------------
|
| 4144 |
* 0x00 | indicates test failed
|
| 4145 |
* 0x01 | indicated test passed
|
| 4146 |
*
|
| 4147 |
* @return results of bus communication function
|
| 4148 |
* @retval 0 -> BNO055_SUCCESS
|
| 4149 |
* @retval 1 -> BNO055_ERROR
|
| 4150 |
*
|
| 4151 |
*/
|
| 4152 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mag(u8 *selftest_mag_u8); |
| 4153 |
/*!
|
| 4154 |
* @brief This API used to read
|
| 4155 |
* self test of gyro from register from 0x36 bit 2
|
| 4156 |
*
|
| 4157 |
* @param selftest_gyro_u8 : The value of self test of gyro
|
| 4158 |
*
|
| 4159 |
* selftest_gyro_u8 | result
|
| 4160 |
* -------------------- | ---------------------
|
| 4161 |
* 0x00 | indicates test failed
|
| 4162 |
* 0x01 | indicated test passed
|
| 4163 |
*
|
| 4164 |
* @return results of bus communication function
|
| 4165 |
* @retval 0 -> BNO055_SUCCESS
|
| 4166 |
* @retval 1 -> BNO055_ERROR
|
| 4167 |
*
|
| 4168 |
*/
|
| 4169 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_gyro(u8 *selftest_gyro_u8); |
| 4170 |
/*!
|
| 4171 |
* @brief This API used to read
|
| 4172 |
* self test of micro controller from register from 0x36 bit 3
|
| 4173 |
*
|
| 4174 |
* @param selftest_mcu_u8 : The value of self test of micro controller
|
| 4175 |
*
|
| 4176 |
* selftest_mcu_u8 | result
|
| 4177 |
* -------------------- | ---------------------
|
| 4178 |
* 0x00 | indicates test failed
|
| 4179 |
* 0x01 | indicated test passed
|
| 4180 |
*
|
| 4181 |
* @return results of bus communication function
|
| 4182 |
* @retval 0 -> BNO055_SUCCESS
|
| 4183 |
* @retval 1 -> BNO055_ERROR
|
| 4184 |
*
|
| 4185 |
*/
|
| 4186 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mcu(u8 *selftest_mcu_u8); |
| 4187 |
/*****************************************************/
|
| 4188 |
/**\name FUNCTIONS FOR READING GYRO INTERRUPT STATUS */
|
| 4189 |
/*****************************************************/
|
| 4190 |
/*!
|
| 4191 |
* @brief This API used to read the stat_s8 of
|
| 4192 |
* gyro anymotion interrupt from register from 0x37 bit 2
|
| 4193 |
*
|
| 4194 |
* @param gyro_any_motion_u8 : The value of gyro anymotion interrupt
|
| 4195 |
*
|
| 4196 |
* gyro_any_motion_u8 | result
|
| 4197 |
* -------------------- | ---------------------
|
| 4198 |
* 0x00 | indicates no interrupt triggered
|
| 4199 |
* 0x01 | indicates interrupt triggered
|
| 4200 |
*
|
| 4201 |
* @return results of bus communication function
|
| 4202 |
* @retval 0 -> BNO055_SUCCESS
|
| 4203 |
* @retval 1 -> BNO055_ERROR
|
| 4204 |
*
|
| 4205 |
* @note Gyro anymotion interrupt can be BNO055_BIT_ENABLE
|
| 4206 |
* by the following APIs
|
| 4207 |
*
|
| 4208 |
* bno055_set_intr_mask_gyro_any_motion()
|
| 4209 |
*
|
| 4210 |
* bno055_set_intr_gyro_any_motion()
|
| 4211 |
*
|
| 4212 |
*/
|
| 4213 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_any_motion( |
| 4214 |
u8 *gyro_any_motion_u8); |
| 4215 |
/*!
|
| 4216 |
* @brief This API used to read the stat_s8 of
|
| 4217 |
* gyro highrate interrupt from register from 0x37 bit 3
|
| 4218 |
*
|
| 4219 |
* @param gyro_highrate_u8 : The value of gyro highrate interrupt
|
| 4220 |
*
|
| 4221 |
* gyro_highrate_u8 | result
|
| 4222 |
* ------------------- | ---------------------
|
| 4223 |
* 0x00 | indicates no interrupt triggered
|
| 4224 |
* 0x01 | indicates interrupt triggered
|
| 4225 |
*
|
| 4226 |
* @return results of bus communication function
|
| 4227 |
* @retval 0 -> BNO055_SUCCESS
|
| 4228 |
* @retval 1 -> BNO055_ERROR
|
| 4229 |
*
|
| 4230 |
* @note Gyro highrate interrupt can be configured
|
| 4231 |
* by the following APIs
|
| 4232 |
*
|
| 4233 |
* bno055_set_intr_mask_gyro_highrate()
|
| 4234 |
*
|
| 4235 |
* bno055_set_intr_gyro_highrate()
|
| 4236 |
*/
|
| 4237 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_highrate( |
| 4238 |
u8 *gyro_highrate_u8); |
| 4239 |
/*****************************************************/
|
| 4240 |
/**\name FUNCTIONS FOR READING ACCEL INTERRUPT STATUS */
|
| 4241 |
/*****************************************************/
|
| 4242 |
/*!
|
| 4243 |
* @brief This API used to read the status of
|
| 4244 |
* accel highg interrupt from register from 0x37 bit 5
|
| 4245 |
*
|
| 4246 |
* @param accel_high_g_u8 : The value of accel highg interrupt
|
| 4247 |
*
|
| 4248 |
* accel_high_g_u8 | result
|
| 4249 |
* ------------------- | ---------------------
|
| 4250 |
* 0x00 | indicates no interrupt triggered
|
| 4251 |
* 0x01 | indicates interrupt triggered
|
| 4252 |
*
|
| 4253 |
* @return results of bus communication function
|
| 4254 |
* @retval 0 -> BNO055_SUCCESS
|
| 4255 |
* @retval 1 -> BNO055_ERROR
|
| 4256 |
*
|
| 4257 |
* @note Accel highg interrupt can be configured
|
| 4258 |
* by the following APIs
|
| 4259 |
*
|
| 4260 |
* bno055_set_intr_mask_accel_high_g()
|
| 4261 |
*
|
| 4262 |
* bno055_set_intr_accel_high_g()
|
| 4263 |
*
|
| 4264 |
*/
|
| 4265 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_high_g( |
| 4266 |
u8 *accel_high_g_u8); |
| 4267 |
/*!
|
| 4268 |
* @brief This API used to read the stat_s8 of
|
| 4269 |
* accel anymotion interrupt from register from 0x37 bit 6
|
| 4270 |
*
|
| 4271 |
* @param accel_any_motion_u8 : The value of accel anymotion interrupt
|
| 4272 |
*
|
| 4273 |
* accel_any_motion_u8 | result
|
| 4274 |
* ------------------- | ---------------------
|
| 4275 |
* 0x00 | indicates no interrupt triggered
|
| 4276 |
* 0x01 | indicates interrupt triggered
|
| 4277 |
*
|
| 4278 |
* @return results of bus communication function
|
| 4279 |
* @retval 0 -> BNO055_SUCCESS
|
| 4280 |
* @retval 1 -> BNO055_ERROR
|
| 4281 |
*
|
| 4282 |
* @note Accel anymotion interrupt can be configured
|
| 4283 |
* by the following APIs
|
| 4284 |
*
|
| 4285 |
* bno055_set_intr_mask_accel_any_motion()
|
| 4286 |
*
|
| 4287 |
* bno055_set_intr_accel_any_motion()
|
| 4288 |
*/
|
| 4289 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_any_motion( |
| 4290 |
u8 *accel_any_motion_u8); |
| 4291 |
/*!
|
| 4292 |
* @brief This API used to read the stat_s8 of
|
| 4293 |
* accel nomotion/slowmotion interrupt from register from 0x37 bit 6
|
| 4294 |
*
|
| 4295 |
* @param accel_no_motion_u8 :
|
| 4296 |
* The value of accel nomotion/slowmotion interrupt
|
| 4297 |
*
|
| 4298 |
* accel_no_motion_u8 | result
|
| 4299 |
* ------------------- | ---------------------
|
| 4300 |
* 0x00 | indicates no interrupt triggered
|
| 4301 |
* 0x01 | indicates interrupt triggered
|
| 4302 |
*
|
| 4303 |
* @return results of bus communication function
|
| 4304 |
* @retval 0 -> BNO055_SUCCESS
|
| 4305 |
* @retval 1 -> BNO055_ERROR
|
| 4306 |
*
|
| 4307 |
* @note Accel nomotion/slowmotion interrupt can be configured
|
| 4308 |
* by the following APIs
|
| 4309 |
*
|
| 4310 |
* bno055_set_intr_mask_accel_nomotion()
|
| 4311 |
*
|
| 4312 |
* bno055_set_intr_accel_nomotion()
|
| 4313 |
*/
|
| 4314 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_no_motion( |
| 4315 |
u8 *accel_no_motion_u8); |
| 4316 |
/**************************************************************************/
|
| 4317 |
/**\name FUNCTIONS FOR READING SYSTEM CLOCK, STATUS AND BNO055_ERROR CODE */
|
| 4318 |
/*************************************************************************/
|
| 4319 |
/*!
|
| 4320 |
* @brief This API is used to read status of main clock
|
| 4321 |
* from the register 0x38 bit 0
|
| 4322 |
*
|
| 4323 |
* @param stat_main_clk_u8 : the status of main clock
|
| 4324 |
*
|
| 4325 |
*
|
| 4326 |
* @return results of bus communication function
|
| 4327 |
* @retval 0 -> BNO055_SUCCESS
|
| 4328 |
* @retval 1 -> BNO055_ERROR
|
| 4329 |
*
|
| 4330 |
*/
|
| 4331 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_stat_main_clk(u8 *stat_main_clk_u8); |
| 4332 |
/*!
|
| 4333 |
* @brief This API is used to read system status
|
| 4334 |
* code from the register 0x39 it is a byte of data
|
| 4335 |
*
|
| 4336 |
* @param sys_stat_u8 : the status of system
|
| 4337 |
*
|
| 4338 |
*
|
| 4339 |
* @return results of bus communication function
|
| 4340 |
* @retval 0 -> BNO055_SUCCESS
|
| 4341 |
* @retval 1 -> BNO055_ERROR
|
| 4342 |
*
|
| 4343 |
*/
|
| 4344 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_stat_code(u8 *sys_stat_u8); |
| 4345 |
/*!
|
| 4346 |
* @brief This API is used to read system BNO055_ERROR
|
| 4347 |
* code from the register 0x3A it is a byte of data
|
| 4348 |
*
|
| 4349 |
* @param sys_error_u8 : The value of system BNO055_ERROR code
|
| 4350 |
*
|
| 4351 |
*
|
| 4352 |
* @return results of bus communication function
|
| 4353 |
* @retval 0 -> BNO055_SUCCESS
|
| 4354 |
* @retval 1 -> BNO055_ERROR
|
| 4355 |
*
|
| 4356 |
*
|
| 4357 |
*/
|
| 4358 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_error_code(u8 *sys_error_u8); |
| 4359 |
/********************************************/
|
| 4360 |
/**\name FUNCTIONS FOR ACCEL UNIT SELECTION */
|
| 4361 |
/********************************************/
|
| 4362 |
/*!
|
| 4363 |
* @brief This API used to read the accel unit
|
| 4364 |
* from register from 0x3B bit 0
|
| 4365 |
*
|
| 4366 |
* @param accel_unit_u8 : The value of accel unit
|
| 4367 |
*
|
| 4368 |
* accel_unit_u8 | result
|
| 4369 |
* ------------- | ---------------
|
| 4370 |
* 0x00 | BNO055_ACCEL_UNIT_MSQ
|
| 4371 |
* 0x01 | BNO055_ACCEL_UNIT_MG
|
| 4372 |
*
|
| 4373 |
* @return results of bus communication function
|
| 4374 |
* @retval 0 -> BNO055_SUCCESS
|
| 4375 |
* @retval 1 -> BNO055_ERROR
|
| 4376 |
*
|
| 4377 |
*/
|
| 4378 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_unit(u8 *accel_unit_u8); |
| 4379 |
/*!
|
| 4380 |
* @brief This API used to write the accel unit
|
| 4381 |
* from register from 0x3B bit 0
|
| 4382 |
*
|
| 4383 |
* @param accel_unit_u8 : The value of accel unit
|
| 4384 |
*
|
| 4385 |
* accel_unit_u8 | result
|
| 4386 |
* ------------- | ---------------
|
| 4387 |
* 0x00 | BNO055_ACCEL_UNIT_MSQ
|
| 4388 |
* 0x01 | BNO055_ACCEL_UNIT_MG
|
| 4389 |
*
|
| 4390 |
* @return results of bus communication function
|
| 4391 |
* @retval 0 -> BNO055_SUCCESS
|
| 4392 |
* @retval 1 -> BNO055_ERROR
|
| 4393 |
*
|
| 4394 |
*
|
| 4395 |
*/
|
| 4396 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_unit(u8 accel_unit_u8); |
| 4397 |
/********************************************/
|
| 4398 |
/**\name FUNCTIONS FOR GYRO UNIT SELECTION */
|
| 4399 |
/********************************************/
|
| 4400 |
/*!
|
| 4401 |
* @brief This API used to read the gyro unit
|
| 4402 |
* from register from 0x3B bit 1
|
| 4403 |
*
|
| 4404 |
* @param gyro_unit_u8 : The value of accel unit
|
| 4405 |
*
|
| 4406 |
* gyro_unit_u8 | result
|
| 4407 |
* ------------- | -----------
|
| 4408 |
* 0x00 | BNO055_GYRO_UNIT_DPS
|
| 4409 |
* 0x01 | BNO055_GYRO_UNIT_RPS
|
| 4410 |
*
|
| 4411 |
* @return results of bus communication function
|
| 4412 |
* @retval 0 -> BNO055_SUCCESS
|
| 4413 |
* @retval 1 -> BNO055_ERROR
|
| 4414 |
*
|
| 4415 |
*
|
| 4416 |
*/
|
| 4417 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_unit(u8 *gyro_unit_u8); |
| 4418 |
/*!
|
| 4419 |
* @brief This API used to write the gyro unit
|
| 4420 |
* from register from 0x3B bit 1
|
| 4421 |
*
|
| 4422 |
* @param gyro_unit_u8 : The value of accel unit
|
| 4423 |
*
|
| 4424 |
* gyro_unit_u8 | result
|
| 4425 |
* ------------- | -----------
|
| 4426 |
* 0x00 | BNO055_GYRO_UNIT_DPS
|
| 4427 |
* 0x01 | BNO055_GYRO_UNIT_RPS
|
| 4428 |
*
|
| 4429 |
* @return results of bus communication function
|
| 4430 |
* @retval 0 -> BNO055_SUCCESS
|
| 4431 |
* @retval 1 -> BNO055_ERROR
|
| 4432 |
*
|
| 4433 |
*
|
| 4434 |
*/
|
| 4435 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_unit(u8 gyro_unit_u8); |
| 4436 |
/********************************************/
|
| 4437 |
/**\name FUNCTIONS FOR EULER UNIT SELECTION */
|
| 4438 |
/********************************************/
|
| 4439 |
/*!
|
| 4440 |
* @brief This API used to read the Euler unit
|
| 4441 |
* from register from 0x3B bit 2
|
| 4442 |
*
|
| 4443 |
* @param euler_unit_u8 : The value of accel unit
|
| 4444 |
*
|
| 4445 |
* euler_unit_u8 | result
|
| 4446 |
* -------------- | -----------
|
| 4447 |
* 0x00 | BNO055_EULER_UNIT_DEG
|
| 4448 |
* 0x01 | BNO055_EULER_UNIT_RAD
|
| 4449 |
*
|
| 4450 |
* @return results of bus communication function
|
| 4451 |
* @retval 0 -> BNO055_SUCCESS
|
| 4452 |
* @retval 1 -> BNO055_ERROR
|
| 4453 |
*
|
| 4454 |
*
|
| 4455 |
*/
|
| 4456 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_euler_unit(u8 *euler_unit_u8); |
| 4457 |
/*!
|
| 4458 |
* @brief This API used to write the Euler unit
|
| 4459 |
* from register from 0x3B bit 2
|
| 4460 |
*
|
| 4461 |
* @param euler_unit_u8 : The value of Euler unit
|
| 4462 |
*
|
| 4463 |
* euler_unit_u8 | result
|
| 4464 |
* -------------- | -----------
|
| 4465 |
* 0x00 | BNO055_EULER_UNIT_DEG
|
| 4466 |
* 0x01 | BNO055_EULER_UNIT_RAD
|
| 4467 |
*
|
| 4468 |
* @return results of bus communication function
|
| 4469 |
* @retval 0 -> BNO055_SUCCESS
|
| 4470 |
* @retval 1 -> BNO055_ERROR
|
| 4471 |
*
|
| 4472 |
*
|
| 4473 |
*/
|
| 4474 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_euler_unit(u8 euler_unit_u8); |
| 4475 |
/********************************************/
|
| 4476 |
/**\name FUNCTIONS FOR TILT UNIT SELECTION */
|
| 4477 |
/********************************************/
|
| 4478 |
/*!
|
| 4479 |
* @brief This API used to write the tilt unit
|
| 4480 |
* from register from 0x3B bit 3
|
| 4481 |
*
|
| 4482 |
* @param tilt_unit_u8 : The value of tilt unit
|
| 4483 |
*
|
| 4484 |
* tilt_unit_u8 | result
|
| 4485 |
* --------------- | ---------
|
| 4486 |
* 0x00 | degrees
|
| 4487 |
* 0x01 | radians
|
| 4488 |
*
|
| 4489 |
* @return results of bus communication function
|
| 4490 |
* @retval 0 -> BNO055_SUCCESS
|
| 4491 |
* @retval 1 -> BNO055_ERROR
|
| 4492 |
*
|
| 4493 |
*
|
| 4494 |
*/
|
| 4495 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_tilt_unit(u8 *tilt_unit_u8); |
| 4496 |
/*!
|
| 4497 |
* @brief This API used to write the tilt unit
|
| 4498 |
* from register from 0x3B bit 3
|
| 4499 |
*
|
| 4500 |
* @param tilt_unit_u8 : The value of tilt unit
|
| 4501 |
*
|
| 4502 |
* tilt_unit_u8 | result
|
| 4503 |
* --------------- | ---------
|
| 4504 |
* 0x00 | degrees
|
| 4505 |
* 0x01 | radians
|
| 4506 |
*
|
| 4507 |
* @return results of bus communication function
|
| 4508 |
* @retval 0 -> BNO055_SUCCESS
|
| 4509 |
* @retval 1 -> BNO055_ERROR
|
| 4510 |
*
|
| 4511 |
*
|
| 4512 |
*
|
| 4513 |
* \return Communication results
|
| 4514 |
*
|
| 4515 |
*
|
| 4516 |
*/
|
| 4517 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_tilt_unit(u8 tilt_unit_u8); |
| 4518 |
/**************************************************/
|
| 4519 |
/**\name FUNCTIONS FOR TEMPERATURE UNIT SELECTION */
|
| 4520 |
/**************************************************/
|
| 4521 |
/*!
|
| 4522 |
* @brief This API used to read the temperature unit
|
| 4523 |
* from register from 0x3B bit 4
|
| 4524 |
*
|
| 4525 |
* @param temp_unit_u8 : The value of temperature unit
|
| 4526 |
*
|
| 4527 |
* temp_unit_u8 | result
|
| 4528 |
* ----------- | --------------
|
| 4529 |
* 0x00 | BNO055_TEMP_UNIT_CELSIUS
|
| 4530 |
* 0x01 | BNO055_TEMP_UNIT_FAHRENHEIT
|
| 4531 |
*
|
| 4532 |
* @return results of bus communication function
|
| 4533 |
* @retval 0 -> BNO055_SUCCESS
|
| 4534 |
* @retval 1 -> BNO055_ERROR
|
| 4535 |
*
|
| 4536 |
*/
|
| 4537 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_unit(u8 *temp_unit_u8); |
| 4538 |
/*!
|
| 4539 |
* @brief This API used to write the temperature unit
|
| 4540 |
* from register from 0x3B bit 4
|
| 4541 |
*
|
| 4542 |
* @param temp_unit_u8 : The value of temperature unit
|
| 4543 |
*
|
| 4544 |
* temp_unit_u8 | result
|
| 4545 |
* ----------- | --------------
|
| 4546 |
* 0x00 | BNO055_TEMP_UNIT_CELSIUS
|
| 4547 |
* 0x01 | BNO055_TEMP_UNIT_FAHRENHEIT
|
| 4548 |
*
|
| 4549 |
* @return results of bus communication function
|
| 4550 |
* @retval 0 -> BNO055_SUCCESS
|
| 4551 |
* @retval 1 -> BNO055_ERROR
|
| 4552 |
*
|
| 4553 |
*
|
| 4554 |
*/
|
| 4555 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_unit(u8 temp_unit_u8); |
| 4556 |
/**************************************************/
|
| 4557 |
/**\name FUNCTIONS FOR DATA OUTPUT FORMAT SELECT */
|
| 4558 |
/**************************************************/
|
| 4559 |
/*!
|
| 4560 |
* @brief This API used to read the current selected orientation mode
|
| 4561 |
* from register from 0x3B bit 7
|
| 4562 |
*
|
| 4563 |
* @param data_output_format_u8 : The value of data output format
|
| 4564 |
*
|
| 4565 |
* data_output_format_u8 | result
|
| 4566 |
* -------------------- | --------
|
| 4567 |
* 0x00 | Windows
|
| 4568 |
* 0x01 | Android
|
| 4569 |
*
|
| 4570 |
* @return results of bus communication function
|
| 4571 |
* @retval 0 -> BNO055_SUCCESS
|
| 4572 |
* @retval 1 -> BNO055_ERROR
|
| 4573 |
*
|
| 4574 |
*/
|
| 4575 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_data_output_format( |
| 4576 |
u8 *data_output_format_u8); |
| 4577 |
/*!
|
| 4578 |
* @brief This API used to read the current selected orientation mode
|
| 4579 |
* from register from 0x3B bit 7
|
| 4580 |
*
|
| 4581 |
* @param data_output_format_u8 : The value of data output format
|
| 4582 |
*
|
| 4583 |
* data_output_format_u8 | result
|
| 4584 |
* -------------------- | --------
|
| 4585 |
* 0x00 | Windows
|
| 4586 |
* 0x01 | Android
|
| 4587 |
*
|
| 4588 |
* @return results of bus communication function
|
| 4589 |
* @retval 0 -> BNO055_SUCCESS
|
| 4590 |
* @retval 1 -> BNO055_ERROR
|
| 4591 |
*
|
| 4592 |
*/
|
| 4593 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_data_output_format( |
| 4594 |
u8 data_output_format_u8); |
| 4595 |
/**************************************************/
|
| 4596 |
/**\name FUNCTIONS FOR DATA OPERATION MODE */
|
| 4597 |
/**************************************************/
|
| 4598 |
/*! @brief This API used to read the operation mode
|
| 4599 |
* from register from 0x3D bit 0 to 3
|
| 4600 |
*
|
| 4601 |
* @param operation_mode_u8 : The value of operation mode
|
| 4602 |
*
|
| 4603 |
* operation_mode_u8 | result | comments
|
| 4604 |
* ----------|----------------------------|----------------------------
|
| 4605 |
* 0x00 | BNO055_OPERATION_MODE_CONFIG | Configuration mode
|
| 4606 |
* 0x01 | BNO055_OPERATION_MODE_ACCONLY | Reads accel data alone
|
| 4607 |
* 0x02 | BNO055_OPERATION_MODE_MAGONLY | Reads mag data alone
|
| 4608 |
* 0x03 | BNO055_OPERATION_MODE_GYRONLY | Reads gyro data alone
|
| 4609 |
* 0x04 | BNO055_OPERATION_MODE_ACCMAG | Reads accel and mag data
|
| 4610 |
* 0x05 | BNO055_OPERATION_MODE_ACCGYRO | Reads accel and gyro data
|
| 4611 |
* 0x06 | BNO055_OPERATION_MODE_MAGGYRO | Reads accel and mag data
|
| 4612 |
* 0x07 | OPERATION_MODE_ANY_MOTION | Reads accel mag and gyro data
|
| 4613 |
* 0x08 | BNO055_OPERATION_MODE_IMUPLUS | Inertial measurement unit
|
| 4614 |
* - | - | Reads accel,gyro and fusion data
|
| 4615 |
* 0x09 | BNO055_OPERATION_MODE_COMPASS | Reads accel, mag data
|
| 4616 |
* - | - | and fusion data
|
| 4617 |
* 0x0A | BNO055_OPERATION_MODE_M4G | Reads accel, mag data
|
| 4618 |
* - | - | and fusion data
|
| 4619 |
* 0x0B | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with
|
| 4620 |
* - | - | fast magnetic calibration
|
| 4621 |
* - | - | Reads accel,mag, gyro
|
| 4622 |
* - | - | and fusion data
|
| 4623 |
* 0x0C | BNO055_OPERATION_MODE_NDOF | Nine degrees of freedom
|
| 4624 |
* - | - | Reads accel,mag, gyro
|
| 4625 |
* - | - | and fusion data
|
| 4626 |
*
|
| 4627 |
* @return results of bus communication function
|
| 4628 |
* @retval 0 -> BNO055_SUCCESS
|
| 4629 |
* @retval 1 -> BNO055_ERROR
|
| 4630 |
*
|
| 4631 |
* @note In the config mode, all sensor and fusion data
|
| 4632 |
* becomes zero and it is mainly derived
|
| 4633 |
* to configure the various settings of the BNO
|
| 4634 |
*
|
| 4635 |
*/
|
| 4636 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_operation_mode(u8 *operation_mode_u8); |
| 4637 |
/*! @brief This API used to write the operation mode
|
| 4638 |
* from register from 0x3D bit 0 to 3
|
| 4639 |
*
|
| 4640 |
* @param operation_mode_u8 : The value of operation mode
|
| 4641 |
*
|
| 4642 |
* operation_mode_u8 | result | comments
|
| 4643 |
* ---------|-----------------------------------|--------------------------
|
| 4644 |
* 0x00 | BNO055_OPERATION_MODE_CONFIG | Configuration mode
|
| 4645 |
* 0x01 | BNO055_OPERATION_MODE_ACCONLY | Reads accel data alone
|
| 4646 |
* 0x02 | BNO055_OPERATION_MODE_MAGONLY | Reads mag data alone
|
| 4647 |
* 0x03 | BNO055_OPERATION_MODE_GYRONLY | Reads gyro data alone
|
| 4648 |
* 0x04 | BNO055_OPERATION_MODE_ACCMAG | Reads accel and mag data
|
| 4649 |
* 0x05 | BNO055_OPERATION_MODE_ACCGYRO | Reads accel and gyro data
|
| 4650 |
* 0x06 | BNO055_OPERATION_MODE_MAGGYRO | Reads accel and mag data
|
| 4651 |
* 0x07 | OPERATION_MODE_ANY_MOTION | Reads accel mag and
|
| 4652 |
* | - | gyro data
|
| 4653 |
* 0x08 | BNO055_OPERATION_MODE_IMUPLUS | Inertial measurement unit
|
| 4654 |
* - | | Reads accel,gyro and
|
| 4655 |
* | - | fusion data
|
| 4656 |
* 0x09 | BNO055_OPERATION_MODE_COMPASS | Reads accel, mag data
|
| 4657 |
* - | - | and fusion data
|
| 4658 |
* 0x0A | BNO055_OPERATION_MODE_M4G | Reads accel, mag data
|
| 4659 |
* - | - | and fusion data
|
| 4660 |
* 0x0B | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with
|
| 4661 |
* - | - | fast magnetic calibration
|
| 4662 |
* - | - | Reads accel,mag, gyro
|
| 4663 |
* - | - | and fusion data
|
| 4664 |
* 0x0C | BNO055_OPERATION_MODE_NDOF | Nine degrees of freedom
|
| 4665 |
* - | - | Reads accel,mag, gyro
|
| 4666 |
* - | - | and fusion data
|
| 4667 |
*
|
| 4668 |
* @return results of bus communication function
|
| 4669 |
* @retval 0 -> BNO055_SUCCESS
|
| 4670 |
* @retval 1 -> BNO055_ERROR
|
| 4671 |
*
|
| 4672 |
* @note In the config mode, all sensor and fusion data
|
| 4673 |
* becomes zero and it is mainly derived
|
| 4674 |
* to configure the various settings of the BNO
|
| 4675 |
*
|
| 4676 |
*/
|
| 4677 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_operation_mode(u8 operation_mode_u8); |
| 4678 |
/**************************************************/
|
| 4679 |
/**\name FUNCTIONS FOR POWER MODE */
|
| 4680 |
/**************************************************/
|
| 4681 |
/*! @brief This API used to read the power mode
|
| 4682 |
* from register from 0x3E bit 0 to 1
|
| 4683 |
*
|
| 4684 |
* @param power_mode_u8 : The value of power mode
|
| 4685 |
*
|
| 4686 |
* power_mode_u8| result | comments
|
| 4687 |
* ---------|---------------------------|-------------------------------------
|
| 4688 |
* 0x00 |BNO055_POWER_MODE_NORMAL | In the NORMAL mode the register
|
| 4689 |
* - | - | map and the internal peripherals
|
| 4690 |
* - | - | of the MCU are always
|
| 4691 |
* - | - | operative in this mode
|
| 4692 |
* 0x01 |BNO055_POWER_MODE_LOWPOWER | This is first level of power
|
| 4693 |
* | - | saving mode
|
| 4694 |
* 0x02 |BNO055_POWER_MODE_SUSPEND | In suspend mode the system is
|
| 4695 |
* - | - | paused and all the sensors and
|
| 4696 |
* - | - | the micro controller are
|
| 4697 |
* - | - | put into sleep mode.
|
| 4698 |
*
|
| 4699 |
* @return results of bus communication function
|
| 4700 |
* @retval 0 -> BNO055_SUCCESS
|
| 4701 |
* @retval 1 -> BNO055_ERROR
|
| 4702 |
*
|
| 4703 |
* @note For detailed about LOWPOWER mode
|
| 4704 |
* refer data sheet 3.4.2
|
| 4705 |
*
|
| 4706 |
*/
|
| 4707 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_power_mode(u8 *power_mode_u8); |
| 4708 |
/*! @brief This API used to write the power mode
|
| 4709 |
* from register from 0x3E bit 0 to 1
|
| 4710 |
*
|
| 4711 |
* @param power_mode_u8 : The value of power mode
|
| 4712 |
*
|
| 4713 |
*
|
| 4714 |
* power_mode_u8| result | comments
|
| 4715 |
* -------|----------------------------|---------------------------------
|
| 4716 |
* 0x00 | BNO055_POWER_MODE_NORMAL | In the NORMAL mode the register
|
| 4717 |
* - | - | map and the internal peripherals
|
| 4718 |
* - | - | of the MCU are always
|
| 4719 |
* - | - | operative in this mode
|
| 4720 |
* 0x01 | BNO055_POWER_MODE_LOWPOWER | This is first level of power
|
| 4721 |
* | - | saving mode
|
| 4722 |
* 0x02 | BNO055_POWER_MODE_SUSPEND | In suspend mode the system is
|
| 4723 |
* - | - | paused and all the sensors and
|
| 4724 |
* - | - | the micro controller are
|
| 4725 |
* - | - | put into sleep mode.
|
| 4726 |
*
|
| 4727 |
* @return results of bus communication function
|
| 4728 |
* @retval 0 -> BNO055_SUCCESS
|
| 4729 |
* @retval 1 -> BNO055_ERROR
|
| 4730 |
*
|
| 4731 |
* @note For detailed about LOWPOWER mode
|
| 4732 |
* refer data sheet 3.4.2
|
| 4733 |
*
|
| 4734 |
*/
|
| 4735 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_power_mode(u8 power_mode_u8); |
| 4736 |
/**************************************************/
|
| 4737 |
/**\name FUNCTIONS FOR RESET INTERRUPT */
|
| 4738 |
/**************************************************/
|
| 4739 |
/*!
|
| 4740 |
* @brief This API used to read the reset interrupt
|
| 4741 |
* from register from 0x3F bit 6
|
| 4742 |
* It resets all the interrupt bit and interrupt output
|
| 4743 |
*
|
| 4744 |
* @param intr_rst_u8 : The value of reset interrupt
|
| 4745 |
*
|
| 4746 |
* intr_rst_u8 | result
|
| 4747 |
* -------------|----------
|
| 4748 |
* 0x01 | BNO055_BIT_ENABLE
|
| 4749 |
* 0x00 | BNO055_BIT_DISABLE
|
| 4750 |
*
|
| 4751 |
* @return results of bus communication function
|
| 4752 |
* @retval 0 -> BNO055_SUCCESS
|
| 4753 |
* @retval 1 -> BNO055_ERROR
|
| 4754 |
*
|
| 4755 |
*/
|
| 4756 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_rst(u8 *intr_rst_u8); |
| 4757 |
/*!
|
| 4758 |
* @brief This API used to write the reset interrupt
|
| 4759 |
* from register from 0x3F bit 6
|
| 4760 |
* It resets all the interrupt bit and interrupt output
|
| 4761 |
*
|
| 4762 |
* @param intr_rst_u8 : The value of reset interrupt
|
| 4763 |
*
|
| 4764 |
* intr_rst_u8 | result
|
| 4765 |
* -------------- |----------
|
| 4766 |
* 0x01 | BNO055_BIT_ENABLE
|
| 4767 |
* 0x00 | BNO055_BIT_DISABLE
|
| 4768 |
*
|
| 4769 |
* @return results of bus communication function
|
| 4770 |
* @retval 0 -> BNO055_SUCCESS
|
| 4771 |
* @retval 1 -> BNO055_ERROR
|
| 4772 |
*
|
| 4773 |
*/
|
| 4774 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_rst(u8 intr_rst_u8); |
| 4775 |
/**************************************************/
|
| 4776 |
/**\name FUNCTIONS FOR CLOCK SOURCE */
|
| 4777 |
/**************************************************/
|
| 4778 |
/*!
|
| 4779 |
* @brief This API used to read the clk source
|
| 4780 |
* from register from 0x3F bit 7
|
| 4781 |
*
|
| 4782 |
* @param clk_src_u8 : The value of clk source
|
| 4783 |
*
|
| 4784 |
* clk_src_u8 | result
|
| 4785 |
* -------------|----------
|
| 4786 |
* 0x01 | BNO055_BIT_ENABLE
|
| 4787 |
* 0x00 | BNO055_BIT_DISABLE
|
| 4788 |
*
|
| 4789 |
* @return results of bus communication function
|
| 4790 |
* @retval 0 -> BNO055_SUCCESS
|
| 4791 |
* @retval 1 -> BNO055_ERROR
|
| 4792 |
*
|
| 4793 |
*/
|
| 4794 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_clk_src(u8 *clk_src_u8); |
| 4795 |
/*!
|
| 4796 |
* @brief This API used to write the clk source
|
| 4797 |
* from register from 0x3F bit 7
|
| 4798 |
*
|
| 4799 |
* @param clk_src_u8 : The value of clk source
|
| 4800 |
*
|
| 4801 |
* clk_src_u8 | result
|
| 4802 |
* -------------- |----------
|
| 4803 |
* 0x01 | BNO055_BIT_ENABLE
|
| 4804 |
* 0x00 | BNO055_BIT_DISABLE
|
| 4805 |
*
|
| 4806 |
* @return results of bus communication function
|
| 4807 |
* @retval 0 -> BNO055_SUCCESS
|
| 4808 |
* @retval 1 -> BNO055_ERROR
|
| 4809 |
*
|
| 4810 |
*/
|
| 4811 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_clk_src(u8 clk_src_u8); |
| 4812 |
/**************************************************/
|
| 4813 |
/**\name FUNCTIONS FOR RESET SYSTEM */
|
| 4814 |
/**************************************************/
|
| 4815 |
/*!
|
| 4816 |
* @brief This API used to read the reset system
|
| 4817 |
* from register from 0x3F bit 5
|
| 4818 |
*
|
| 4819 |
* @param sys_rst_u8 : The value of reset system
|
| 4820 |
*
|
| 4821 |
* sys_rst_u8 | result
|
| 4822 |
* -------------- |----------
|
| 4823 |
* 0x01 | BNO055_BIT_ENABLE
|
| 4824 |
* 0x00 | BNO055_BIT_DISABLE
|
| 4825 |
*
|
| 4826 |
* @return results of bus communication function
|
| 4827 |
* @retval 0 -> BNO055_SUCCESS
|
| 4828 |
* @retval 1 -> BNO055_ERROR
|
| 4829 |
*
|
| 4830 |
* @note It resets the whole system
|
| 4831 |
*/
|
| 4832 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_rst(u8 *sys_rst_u8); |
| 4833 |
/*!
|
| 4834 |
* @brief This API used to write the reset system
|
| 4835 |
* from register from 0x3F bit 5
|
| 4836 |
*
|
| 4837 |
* @param sys_rst_u8 : The value of reset system
|
| 4838 |
*
|
| 4839 |
* sys_rst_u8 | result
|
| 4840 |
* -------------- |----------
|
| 4841 |
* 0x01 | BNO055_BIT_ENABLE
|
| 4842 |
* 0x00 | BNO055_BIT_DISABLE
|
| 4843 |
*
|
| 4844 |
* @return results of bus communication function
|
| 4845 |
* @retval 0 -> BNO055_SUCCESS
|
| 4846 |
* @retval 1 -> BNO055_ERROR
|
| 4847 |
*
|
| 4848 |
* @note It resets the whole system
|
| 4849 |
*/
|
| 4850 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_sys_rst(u8 sys_rst_u8); |
| 4851 |
/**************************************************/
|
| 4852 |
/**\name FUNCTIONS FOR SELF TEST */
|
| 4853 |
/**************************************************/
|
| 4854 |
/*!
|
| 4855 |
* @brief This API used to read the self test
|
| 4856 |
* from register from 0x3F bit 0
|
| 4857 |
*
|
| 4858 |
* @param selftest_u8 : The value of self test
|
| 4859 |
*
|
| 4860 |
* selftest_u8 | result
|
| 4861 |
* -------------- |----------
|
| 4862 |
* 0x01 | BNO055_BIT_ENABLE
|
| 4863 |
* 0x00 | BNO055_BIT_DISABLE
|
| 4864 |
*
|
| 4865 |
* @return results of bus communication function
|
| 4866 |
* @retval 0 -> BNO055_SUCCESS
|
| 4867 |
* @retval 1 -> BNO055_ERROR
|
| 4868 |
*
|
| 4869 |
* @note It triggers the self test
|
| 4870 |
*/
|
| 4871 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest(u8 *selftest_u8); |
| 4872 |
/*!
|
| 4873 |
* @brief This API used to write the self test
|
| 4874 |
* from register from 0x3F bit 0
|
| 4875 |
*
|
| 4876 |
* @param selftest_u8 : The value of self test
|
| 4877 |
*
|
| 4878 |
* selftest_u8 | result
|
| 4879 |
* -------------- |----------
|
| 4880 |
* 0x01 | BNO055_BIT_ENABLE
|
| 4881 |
* 0x00 | BNO055_BIT_DISABLE
|
| 4882 |
*
|
| 4883 |
* @return results of bus communication function
|
| 4884 |
* @retval 0 -> BNO055_SUCCESS
|
| 4885 |
* @retval 1 -> BNO055_ERROR
|
| 4886 |
*
|
| 4887 |
* @note It triggers the self test
|
| 4888 |
*
|
| 4889 |
*
|
| 4890 |
*/
|
| 4891 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_selftest(u8 selftest_u8); |
| 4892 |
/**************************************************/
|
| 4893 |
/**\name FUNCTIONS FOR TEMPERATURE SOURCE */
|
| 4894 |
/**************************************************/
|
| 4895 |
/*!
|
| 4896 |
* @brief This API used to read the temperature source
|
| 4897 |
* from register from 0x40 bit 0 and 1
|
| 4898 |
*
|
| 4899 |
* @param temp_source_u8 : The value of selected temperature source
|
| 4900 |
*
|
| 4901 |
* temp_source_u8 | result
|
| 4902 |
* ---------------- |---------------
|
| 4903 |
* 0x00 | BNO055_ACCEL_TEMP_EN
|
| 4904 |
* 0X01 | BNO055_GYRO_TEMP_EN
|
| 4905 |
* 0X03 | BNO055_MCU_TEMP_EN
|
| 4906 |
*
|
| 4907 |
* @return results of bus communication function
|
| 4908 |
* @retval 0 -> BNO055_SUCCESS
|
| 4909 |
* @retval 1 -> BNO055_ERROR
|
| 4910 |
*
|
| 4911 |
*/
|
| 4912 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_source(u8 *temp_source_u8); |
| 4913 |
/*!
|
| 4914 |
* @brief This API used to write the temperature source
|
| 4915 |
* from register from 0x40 bit 0 and 1
|
| 4916 |
*
|
| 4917 |
* @param temp_source_u8 : The value of selected temperature source
|
| 4918 |
*
|
| 4919 |
* temp_source_u8 | result
|
| 4920 |
* ---------------- |---------------
|
| 4921 |
* 0x00 | BNO055_ACCEL_TEMP_EN
|
| 4922 |
* 0X01 | BNO055_GYRO_TEMP_EN
|
| 4923 |
* 0X03 | BNO055_MCU_TEMP_EN
|
| 4924 |
*
|
| 4925 |
* @return results of bus communication function
|
| 4926 |
* @retval 0 -> BNO055_SUCCESS
|
| 4927 |
* @retval 1 -> BNO055_ERROR
|
| 4928 |
*
|
| 4929 |
*/
|
| 4930 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_source(u8 temp_source_u8); |
| 4931 |
/**************************************************/
|
| 4932 |
/**\name APIs FOR AXIS REMAP */
|
| 4933 |
/**************************************************/
|
| 4934 |
/*!
|
| 4935 |
* @brief This API used to read the axis remap value
|
| 4936 |
* from register from 0x41 bit 0 and 5
|
| 4937 |
*
|
| 4938 |
* @param remap_axis_u8 : The value of axis remapping
|
| 4939 |
*
|
| 4940 |
* remap_axis_u8 | result | comments
|
| 4941 |
* ------------|-------------------|------------
|
| 4942 |
* 0X21 | BNO055_REMAP_X_Y | Z=Z;X=Y;Y=X
|
| 4943 |
* 0X18 | BNO055_REMAP_Y_Z | X=X;Y=Z;Z=Y
|
| 4944 |
* 0X06 | BNO055_REMAP_Z_X | Y=Y;X=Z;Z=X
|
| 4945 |
* 0X12 | BNO055_REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y
|
| 4946 |
* 0X09 | BNO055_REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X
|
| 4947 |
* 0X24 | BNO055_DEFAULT_AXIS | X=X;Y=Y;Z=Z
|
| 4948 |
*
|
| 4949 |
* @return results of bus communication function
|
| 4950 |
* @retval 0 -> BNO055_SUCCESS
|
| 4951 |
* @retval 1 -> BNO055_ERROR
|
| 4952 |
*
|
| 4953 |
* @note : For axis sign remap refer the following APIs
|
| 4954 |
* x-axis :
|
| 4955 |
*
|
| 4956 |
* bno055_set_x_remap_sign()
|
| 4957 |
*
|
| 4958 |
* y-axis :
|
| 4959 |
*
|
| 4960 |
* bno055_set_y_remap_sign()
|
| 4961 |
*
|
| 4962 |
* z-axis :
|
| 4963 |
*
|
| 4964 |
* bno055_set_z_remap_sign()
|
| 4965 |
*
|
| 4966 |
*/
|
| 4967 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_axis_remap_value(u8 *remap_axis_u8); |
| 4968 |
/*!
|
| 4969 |
* @brief This API used to write the axis remap value
|
| 4970 |
* from register from 0x41 bit 0 and 5
|
| 4971 |
*
|
| 4972 |
* @param remap_axis_u8 : The value of axis remapping
|
| 4973 |
*
|
| 4974 |
* remap_axis_u8 | result | comments
|
| 4975 |
* ------------|--------------------------|------------
|
| 4976 |
* 0X21 | BNO055_REMAP_X_Y | Z=Z;X=Y;Y=X
|
| 4977 |
* 0X18 | BNO055_REMAP_Y_Z | X=X;Y=Z;Z=Y
|
| 4978 |
* 0X06 | BNO055_REMAP_Z_X | Y=Y;X=Z;Z=X
|
| 4979 |
* 0X12 | BNO055_REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y
|
| 4980 |
* 0X09 | BNO055_REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X
|
| 4981 |
* 0X24 | BNO055_DEFAULT_AXIS | X=X;Y=Y;Z=Z
|
| 4982 |
*
|
| 4983 |
* @return results of bus communication function
|
| 4984 |
* @retval 0 -> BNO055_SUCCESS
|
| 4985 |
* @retval 1 -> BNO055_ERROR
|
| 4986 |
*
|
| 4987 |
* @note : For axis sign remap refer the following APIs
|
| 4988 |
* x-axis :
|
| 4989 |
*
|
| 4990 |
* bno055_set_x_remap_sign()
|
| 4991 |
*
|
| 4992 |
* y-axis :
|
| 4993 |
*
|
| 4994 |
* bno055_set_y_remap_sign()
|
| 4995 |
*
|
| 4996 |
* z-axis :
|
| 4997 |
*
|
| 4998 |
* bno055_set_z_remap_sign()
|
| 4999 |
*
|
| 5000 |
*/
|
| 5001 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_axis_remap_value(u8 remap_axis_u8); |
| 5002 |
/**************************************************/
|
| 5003 |
/**\name APIs FOR AXIS REMAP SIGN */
|
| 5004 |
/**************************************************/
|
| 5005 |
/*!
|
| 5006 |
* @brief This API used to read the x-axis remap
|
| 5007 |
* sign from register from 0x42 bit 2
|
| 5008 |
*
|
| 5009 |
* @param remap_x_sign_u8 : The value of x-axis remap sign
|
| 5010 |
*
|
| 5011 |
* remap_x_sign_u8 | result
|
| 5012 |
* ------------------- |--------------------
|
| 5013 |
* 0X00 | BNO055_REMAP_AXIS_POSITIVE
|
| 5014 |
* 0X01 | BNO055_REMAP_AXIS_NEGATIVE
|
| 5015 |
*
|
| 5016 |
* @return results of bus communication function
|
| 5017 |
* @retval 0 -> BNO055_SUCCESS
|
| 5018 |
* @retval 1 -> BNO055_ERROR
|
| 5019 |
*
|
| 5020 |
*/
|
| 5021 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_x_sign(u8 *remap_x_sign_u8); |
| 5022 |
/*!
|
| 5023 |
* @brief This API used to write the x-axis remap
|
| 5024 |
* sign from register from 0x42 bit 2
|
| 5025 |
*
|
| 5026 |
* @param remap_x_sign_u8 : The value of x-axis remap sign
|
| 5027 |
*
|
| 5028 |
* remap_x_sign_u8 | result
|
| 5029 |
* ------------------- |--------------------
|
| 5030 |
* 0X00 | BNO055_REMAP_AXIS_POSITIVE
|
| 5031 |
* 0X01 | BNO055_REMAP_AXIS_NEGATIVE
|
| 5032 |
*
|
| 5033 |
* @return results of bus communication function
|
| 5034 |
* @retval 0 -> BNO055_SUCCESS
|
| 5035 |
* @retval 1 -> BNO055_ERROR
|
| 5036 |
*
|
| 5037 |
*/
|
| 5038 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_x_sign(u8 remap_x_sign_u8); |
| 5039 |
/*!
|
| 5040 |
* @brief This API used to read the y-axis remap
|
| 5041 |
* sign from register from 0x42 bit 1
|
| 5042 |
*
|
| 5043 |
* @param remap_y_sign_u8 : The value of y-axis remap sign
|
| 5044 |
*
|
| 5045 |
* remap_y_sign_u8 | result
|
| 5046 |
* ------------------- |--------------------
|
| 5047 |
* 0X00 | BNO055_REMAP_AXIS_POSITIVE
|
| 5048 |
* 0X01 | BNO055_REMAP_AXIS_NEGATIVE
|
| 5049 |
*
|
| 5050 |
* @return results of bus communication function
|
| 5051 |
* @retval 0 -> BNO055_SUCCESS
|
| 5052 |
* @retval 1 -> BNO055_ERROR
|
| 5053 |
*
|
| 5054 |
*/
|
| 5055 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_y_sign(u8 *remap_y_sign_u8); |
| 5056 |
/*!
|
| 5057 |
* @brief This API used to write the y-axis remap
|
| 5058 |
* sign from register from 0x42 bit 1
|
| 5059 |
*
|
| 5060 |
* @param remap_y_sign_u8 : The value of y-axis remap sign
|
| 5061 |
*
|
| 5062 |
* remap_y_sign_u8 | result
|
| 5063 |
* ------------------- |--------------------
|
| 5064 |
* 0X00 | BNO055_REMAP_AXIS_POSITIVE
|
| 5065 |
* 0X01 | BNO055_REMAP_AXIS_NEGATIVE
|
| 5066 |
*
|
| 5067 |
* @return results of bus communication function
|
| 5068 |
* @retval 0 -> BNO055_SUCCESS
|
| 5069 |
* @retval 1 -> BNO055_ERROR
|
| 5070 |
*
|
| 5071 |
*/
|
| 5072 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_y_sign(u8 remap_y_sign_u8); |
| 5073 |
/*!
|
| 5074 |
* @brief This API used to read the z-axis remap
|
| 5075 |
* sign from register from 0x42 bit 0
|
| 5076 |
*
|
| 5077 |
* @param remap_z_sign_u8 : The value of z-axis remap sign
|
| 5078 |
*
|
| 5079 |
* remap_z_sign_u8 | result
|
| 5080 |
* ------------------- |--------------------
|
| 5081 |
* 0X00 | BNO055_REMAP_AXIS_POSITIVE
|
| 5082 |
* 0X01 | BNO055_REMAP_AXIS_NEGATIVE
|
| 5083 |
*
|
| 5084 |
* @return results of bus communication function
|
| 5085 |
* @retval 0 -> BNO055_SUCCESS
|
| 5086 |
* @retval 1 -> BNO055_ERROR
|
| 5087 |
*
|
| 5088 |
*/
|
| 5089 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_z_sign(u8 *remap_z_sign_u8); |
| 5090 |
/*!
|
| 5091 |
* @brief This API used to write the z-axis remap
|
| 5092 |
* sign from register from 0x42 bit 0
|
| 5093 |
*
|
| 5094 |
* @param remap_z_sign_u8 : The value of z-axis remap sign
|
| 5095 |
*
|
| 5096 |
* remap_z_sign_u8 | result
|
| 5097 |
* ------------------|--------------------
|
| 5098 |
* 0X00 | BNO055_REMAP_AXIS_POSITIVE
|
| 5099 |
* 0X01 | BNO055_REMAP_AXIS_NEGATIVE
|
| 5100 |
*
|
| 5101 |
* @return results of bus communication function
|
| 5102 |
* @retval 0 -> BNO055_SUCCESS
|
| 5103 |
* @retval 1 -> BNO055_ERROR
|
| 5104 |
*
|
| 5105 |
*/
|
| 5106 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_z_sign(u8 remap_z_sign_u8); |
| 5107 |
/*****************************************************/
|
| 5108 |
/**\name FUNCTIONS FOR SOFT IRON CALIBRATION MATRIX */
|
| 5109 |
/*****************************************************/
|
| 5110 |
/*!
|
| 5111 |
* @brief This API is used to read soft iron calibration matrix
|
| 5112 |
* from the register 0x43 to 0x53 it is a 18 bytes of data
|
| 5113 |
*
|
| 5114 |
* @param sic_matrix : The value of soft iron calibration matrix
|
| 5115 |
*
|
| 5116 |
* sic_matrix | result
|
| 5117 |
* --------------------|----------------------------------
|
| 5118 |
* sic_0 | soft iron calibration matrix zero
|
| 5119 |
* sic_1 | soft iron calibration matrix one
|
| 5120 |
* sic_2 | soft iron calibration matrix two
|
| 5121 |
* sic_3 | soft iron calibration matrix three
|
| 5122 |
* sic_4 | soft iron calibration matrix four
|
| 5123 |
* sic_5 | soft iron calibration matrix five
|
| 5124 |
* sic_6 | soft iron calibration matrix six
|
| 5125 |
* sic_7 | soft iron calibration matrix seven
|
| 5126 |
* sic_8 | soft iron calibration matrix eight
|
| 5127 |
*
|
| 5128 |
*
|
| 5129 |
* @return results of bus communication function
|
| 5130 |
* @retval 0 -> BNO055_SUCCESS
|
| 5131 |
* @retval 1 -> BNO055_ERROR
|
| 5132 |
*
|
| 5133 |
* @note : Each soft iron calibration matrix range from -32768 to +32767
|
| 5134 |
*/
|
| 5135 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_sic_matrix( |
| 5136 |
struct bno055_sic_matrix_t *sic_matrix);
|
| 5137 |
/*!
|
| 5138 |
* @brief This API is used to write soft iron calibration matrix
|
| 5139 |
* from the register 0x43 to 0x53 it is a 18 bytes of data
|
| 5140 |
*
|
| 5141 |
* @param sic_matrix : The value of soft iron calibration matrix
|
| 5142 |
*
|
| 5143 |
* sic_matrix | result
|
| 5144 |
* --------------------|----------------------------------
|
| 5145 |
* sic_0 | soft iron calibration matrix zero
|
| 5146 |
* sic_1 | soft iron calibration matrix one
|
| 5147 |
* sic_2 | soft iron calibration matrix two
|
| 5148 |
* sic_3 | soft iron calibration matrix three
|
| 5149 |
* sic_4 | soft iron calibration matrix four
|
| 5150 |
* sic_5 | soft iron calibration matrix five
|
| 5151 |
* sic_6 | soft iron calibration matrix six
|
| 5152 |
* sic_7 | soft iron calibration matrix seven
|
| 5153 |
* sic_8 | soft iron calibration matrix eight
|
| 5154 |
*
|
| 5155 |
*
|
| 5156 |
* @return results of bus communication function
|
| 5157 |
* @retval 0 -> BNO055_SUCCESS
|
| 5158 |
* @retval 1 -> BNO055_ERROR
|
| 5159 |
*
|
| 5160 |
* @note : Each soft iron calibration matrix range from -32768 to +32767
|
| 5161 |
*/
|
| 5162 |
BNO055_RETURN_FUNCTION_TYPE bno055_write_sic_matrix( |
| 5163 |
struct bno055_sic_matrix_t *sic_matrix);
|
| 5164 |
/*****************************************************/
|
| 5165 |
/**\name FUNCTIONS FOR ACCEL OFFSET AND RADIUS */
|
| 5166 |
/*****************************************************/
|
| 5167 |
/*!
|
| 5168 |
* @brief This API is used to read accel offset and accel radius
|
| 5169 |
* offset form register 0x55 to 0x5A and radius form 0x67 and 0x68
|
| 5170 |
*
|
| 5171 |
* @param accel_offset : The value of accel offset and radius
|
| 5172 |
*
|
| 5173 |
* bno055_accel_offset_t | result
|
| 5174 |
* ------------------- | ----------------
|
| 5175 |
* x | accel offset x
|
| 5176 |
* y | accel offset y
|
| 5177 |
* z | accel offset z
|
| 5178 |
* r | accel offset r
|
| 5179 |
*
|
| 5180 |
*
|
| 5181 |
* @return results of bus communication function
|
| 5182 |
* @retval 0 -> BNO055_SUCCESS
|
| 5183 |
* @retval 1 -> BNO055_ERROR
|
| 5184 |
*
|
| 5185 |
* @note The range of the accel offset varies based on
|
| 5186 |
* the G-range of accel sensor.
|
| 5187 |
*
|
| 5188 |
* accel G range | offset range
|
| 5189 |
* --------------- | --------------
|
| 5190 |
* BNO055_ACCEL_RANGE_2G | +/-2000
|
| 5191 |
* BNO055_ACCEL_RANGE_4G | +/-4000
|
| 5192 |
* BNO055_ACCEL_RANGE_8G | +/-8000
|
| 5193 |
* BNO055_ACCEL_RANGE_16G | +/-16000
|
| 5194 |
*
|
| 5195 |
* accel G range can be configured by using the
|
| 5196 |
* bno055_set_accel_range() API
|
| 5197 |
*/
|
| 5198 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_offset( |
| 5199 |
struct bno055_accel_offset_t *accel_offset);
|
| 5200 |
/*!
|
| 5201 |
* @brief This API is used to write accel offset and accel radius
|
| 5202 |
* offset form register 0x55 to 0x5A and radius form 0x67 and 0x68
|
| 5203 |
*
|
| 5204 |
* @param accel_offset : The value of accel offset and radius
|
| 5205 |
*
|
| 5206 |
* bno055_accel_offset_t | result
|
| 5207 |
* ------------------- | ----------------
|
| 5208 |
* x | accel offset x
|
| 5209 |
* y | accel offset y
|
| 5210 |
* z | accel offset z
|
| 5211 |
* r | accel offset r
|
| 5212 |
*
|
| 5213 |
*
|
| 5214 |
* @return results of bus communication function
|
| 5215 |
* @retval 0 -> BNO055_SUCCESS
|
| 5216 |
* @retval 1 -> BNO055_ERROR
|
| 5217 |
*
|
| 5218 |
* @note The range of the accel offset varies based on
|
| 5219 |
* the G-range of accel sensor.
|
| 5220 |
*
|
| 5221 |
* accel G range | offset range
|
| 5222 |
* --------------- | --------------
|
| 5223 |
* BNO055_ACCEL_RANGE_2G | +/-2000
|
| 5224 |
* BNO055_ACCEL_RANGE_4G | +/-4000
|
| 5225 |
* BNO055_ACCEL_RANGE_8G | +/-8000
|
| 5226 |
* BNO055_ACCEL_RANGE_16G | +/-16000
|
| 5227 |
*
|
| 5228 |
* accel G range can be configured by using the
|
| 5229 |
* bno055_set_accel_range() API
|
| 5230 |
*/
|
| 5231 |
BNO055_RETURN_FUNCTION_TYPE bno055_write_accel_offset( |
| 5232 |
struct bno055_accel_offset_t *accel_offset);
|
| 5233 |
/*****************************************************/
|
| 5234 |
/**\name FUNCTIONS FOR MAG OFFSET AND RADIUS*/
|
| 5235 |
/*****************************************************/
|
| 5236 |
/*!
|
| 5237 |
* @brief This API is used to read mag offset
|
| 5238 |
* offset form register 0x69 to 0x6A
|
| 5239 |
*
|
| 5240 |
* @param mag_offset : The value of mag offset and radius
|
| 5241 |
*
|
| 5242 |
* bno055_mag_offset_t | result
|
| 5243 |
* ------------------- | ----------------
|
| 5244 |
* x | mag offset x
|
| 5245 |
* y | mag offset y
|
| 5246 |
* z | mag offset z
|
| 5247 |
* r | mag radius r
|
| 5248 |
*
|
| 5249 |
*
|
| 5250 |
* @return results of bus communication function
|
| 5251 |
* @retval 0 -> BNO055_SUCCESS
|
| 5252 |
* @retval 1 -> BNO055_ERROR
|
| 5253 |
*
|
| 5254 |
* @note The range of the magnetometer offset is +/-6400 in LSB
|
| 5255 |
*/
|
| 5256 |
|
| 5257 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_offset( |
| 5258 |
struct bno055_mag_offset_t *mag_offset);
|
| 5259 |
/*!
|
| 5260 |
* @brief This API is used to read mag offset
|
| 5261 |
* offset form register 0x69 to 0x6A
|
| 5262 |
*
|
| 5263 |
* @param mag_offset : The value of mag offset and radius
|
| 5264 |
*
|
| 5265 |
* bno055_mag_offset_t | result
|
| 5266 |
* ------------------- | ----------------
|
| 5267 |
* x | mag offset x
|
| 5268 |
* y | mag offset y
|
| 5269 |
* z | mag offset z
|
| 5270 |
* r | mag radius r
|
| 5271 |
*
|
| 5272 |
*
|
| 5273 |
* @return results of bus communication function
|
| 5274 |
* @retval 0 -> BNO055_SUCCESS
|
| 5275 |
* @retval 1 -> BNO055_ERROR
|
| 5276 |
*
|
| 5277 |
* @note The range of the magnetometer offset is +/-6400 in LSB
|
| 5278 |
*/
|
| 5279 |
BNO055_RETURN_FUNCTION_TYPE bno055_write_mag_offset( |
| 5280 |
struct bno055_mag_offset_t *mag_offset);
|
| 5281 |
/*****************************************************/
|
| 5282 |
/**\name FUNCTIONS FOR GYRO OFFSET */
|
| 5283 |
/*****************************************************/
|
| 5284 |
/*!
|
| 5285 |
* @brief This API is used to read gyro offset
|
| 5286 |
* offset form register 0x61 to 0x66
|
| 5287 |
*
|
| 5288 |
* @param gyro_offset : The value of gyro offset
|
| 5289 |
*
|
| 5290 |
* bno055_gyro_offset_t | result
|
| 5291 |
* ------------------- | ----------------
|
| 5292 |
* x | gyro offset x
|
| 5293 |
* y | gyro offset y
|
| 5294 |
* z | gyro offset z
|
| 5295 |
*
|
| 5296 |
*
|
| 5297 |
* @return results of bus communication function
|
| 5298 |
* @retval 0 -> BNO055_SUCCESS
|
| 5299 |
* @retval 1 -> BNO055_ERROR
|
| 5300 |
*
|
| 5301 |
* @note The range of the gyro offset varies based on
|
| 5302 |
* the range of gyro sensor
|
| 5303 |
*
|
| 5304 |
* gyro G range | offset range
|
| 5305 |
* -------------------- | ------------
|
| 5306 |
* BNO055_GYRO_RANGE_2000DPS | +/-32000
|
| 5307 |
* BNO055_GYRO_RANGE_1000DPS | +/-16000
|
| 5308 |
* BNO055_GYRO_RANGE_500DPS | +/-8000
|
| 5309 |
* BNO055_GYRO_RANGE_250DPS | +/-4000
|
| 5310 |
* BNO055_GYRO_RANGE_125DPS | +/-2000
|
| 5311 |
*
|
| 5312 |
* Gyro range can be configured by using the
|
| 5313 |
* bno055_set_gyro_range() API
|
| 5314 |
*/
|
| 5315 |
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_offset( |
| 5316 |
struct bno055_gyro_offset_t *gyro_offset);
|
| 5317 |
/*!
|
| 5318 |
* @brief This API is used to read gyro offset
|
| 5319 |
* offset form register 0x61 to 0x66
|
| 5320 |
*
|
| 5321 |
* @param gyro_offset : The value of gyro offset
|
| 5322 |
*
|
| 5323 |
* bno055_gyro_offset_t | result
|
| 5324 |
* ------------------- | ----------------
|
| 5325 |
* x | gyro offset x
|
| 5326 |
* y | gyro offset y
|
| 5327 |
* z | gyro offset z
|
| 5328 |
*
|
| 5329 |
*
|
| 5330 |
* @return results of bus communication function
|
| 5331 |
* @retval 0 -> BNO055_SUCCESS
|
| 5332 |
* @retval 1 -> BNO055_ERROR
|
| 5333 |
*
|
| 5334 |
* @note The range of the gyro offset varies based on
|
| 5335 |
* the range of gyro sensor
|
| 5336 |
*
|
| 5337 |
* gyro G range | offset range
|
| 5338 |
* -------------------- | ------------
|
| 5339 |
* BNO055_GYRO_RANGE_2000DPS | +/-32000
|
| 5340 |
* BNO055_GYRO_RANGE_1000DPS | +/-16000
|
| 5341 |
* BNO055_GYRO_RANGE_500DPS | +/-8000
|
| 5342 |
* BNO055_GYRO_RANGE_250DPS | +/-4000
|
| 5343 |
* BNO055_GYRO_RANGE_125DPS | +/-2000
|
| 5344 |
*
|
| 5345 |
* Gyro range can be configured by using the
|
| 5346 |
* bno055_set_gyro_range() API
|
| 5347 |
*/
|
| 5348 |
BNO055_RETURN_FUNCTION_TYPE bno055_write_gyro_offset( |
| 5349 |
struct bno055_gyro_offset_t *gyro_offset);
|
| 5350 |
/********************************************************/
|
| 5351 |
/************** PAGE1 Functions *********************/
|
| 5352 |
/********************************************************/
|
| 5353 |
/*****************************************************/
|
| 5354 |
/**\name FUNCTIONS FOR ACCEL CONFIGURATION */
|
| 5355 |
/*****************************************************/
|
| 5356 |
/*!
|
| 5357 |
* @brief This API used to read the accel range
|
| 5358 |
* from page one register from 0x08 bit 0 and 1
|
| 5359 |
*
|
| 5360 |
* @param accel_range_u8 : The value of accel range
|
| 5361 |
* accel_range_u8 | result
|
| 5362 |
* ----------------- | --------------
|
| 5363 |
* 0x00 | BNO055_ACCEL_RANGE_2G
|
| 5364 |
* 0x01 | BNO055_ACCEL_RANGE_4G
|
| 5365 |
* 0x02 | BNO055_ACCEL_RANGE_8G
|
| 5366 |
* 0x03 | BNO055_ACCEL_RANGE_16G
|
| 5367 |
*
|
| 5368 |
* @return results of bus communication function
|
| 5369 |
* @retval 0 -> BNO055_SUCCESS
|
| 5370 |
* @retval 1 -> BNO055_ERROR
|
| 5371 |
*
|
| 5372 |
*
|
| 5373 |
*/
|
| 5374 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_range(u8 *accel_range_u8); |
| 5375 |
/*!
|
| 5376 |
* @brief This API used to write the accel range
|
| 5377 |
* from page one register from 0x08 bit 0 and 1
|
| 5378 |
*
|
| 5379 |
* @param accel_range_u8 : The value of accel range
|
| 5380 |
*
|
| 5381 |
* accel_range_u8 | result
|
| 5382 |
* ----------------- | --------------
|
| 5383 |
* 0x00 | BNO055_ACCEL_RANGE_2G
|
| 5384 |
* 0x01 | BNO055_ACCEL_RANGE_4G
|
| 5385 |
* 0x02 | BNO055_ACCEL_RANGE_8G
|
| 5386 |
* 0x03 | BNO055_ACCEL_RANGE_16G
|
| 5387 |
*
|
| 5388 |
* @return results of bus communication function
|
| 5389 |
* @retval 0 -> BNO055_SUCCESS
|
| 5390 |
* @retval 1 -> BNO055_ERROR
|
| 5391 |
*
|
| 5392 |
*
|
| 5393 |
*/
|
| 5394 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_range(u8 accel_range_u8); |
| 5395 |
/*!
|
| 5396 |
* @brief This API used to read the accel bandwidth
|
| 5397 |
* from page one register from 0x08 bit 2 to 4
|
| 5398 |
*
|
| 5399 |
* @param accel_bw_u8 : The value of accel bandwidth
|
| 5400 |
*
|
| 5401 |
* accel_bw_u8 | result
|
| 5402 |
* ----------------- | ---------------
|
| 5403 |
* 0x00 | BNO055_ACCEL_BW_7_81HZ
|
| 5404 |
* 0x01 | BNO055_ACCEL_BW_15_63HZ
|
| 5405 |
* 0x02 | BNO055_ACCEL_BW_31_25HZ
|
| 5406 |
* 0x03 | BNO055_ACCEL_BW_62_5HZ
|
| 5407 |
* 0x04 | BNO055_ACCEL_BW_125HZ
|
| 5408 |
* 0x05 | BNO055_ACCEL_BW_250HZ
|
| 5409 |
* 0x06 | BNO055_ACCEL_BW_500HZ
|
| 5410 |
* 0x07 | BNO055_ACCEL_BW_1000HZ
|
| 5411 |
*
|
| 5412 |
* @return results of bus communication function
|
| 5413 |
* @retval 0 -> BNO055_SUCCESS
|
| 5414 |
* @retval 1 -> BNO055_ERROR
|
| 5415 |
*
|
| 5416 |
*
|
| 5417 |
*/
|
| 5418 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_bw(u8 *accel_bw_u8); |
| 5419 |
/*!
|
| 5420 |
* @brief This API used to write the accel bandwidth
|
| 5421 |
* from page one register from 0x08 bit 2 to 4
|
| 5422 |
*
|
| 5423 |
* @param accel_bw_u8 : The value of accel bandwidth
|
| 5424 |
*
|
| 5425 |
* accel_bw_u8 | result
|
| 5426 |
* ----------------- | ---------------
|
| 5427 |
* 0x00 | BNO055_ACCEL_BW_7_81HZ
|
| 5428 |
* 0x01 | BNO055_ACCEL_BW_15_63HZ
|
| 5429 |
* 0x02 | BNO055_ACCEL_BW_31_25HZ
|
| 5430 |
* 0x03 | BNO055_ACCEL_BW_62_5HZ
|
| 5431 |
* 0x04 | BNO055_ACCEL_BW_125HZ
|
| 5432 |
* 0x05 | BNO055_ACCEL_BW_250HZ
|
| 5433 |
* 0x06 | BNO055_ACCEL_BW_500HZ
|
| 5434 |
* 0x07 | BNO055_ACCEL_BW_1000HZ
|
| 5435 |
*
|
| 5436 |
* @return results of bus communication function
|
| 5437 |
* @retval 0 -> BNO055_SUCCESS
|
| 5438 |
* @retval 1 -> BNO055_ERROR
|
| 5439 |
*
|
| 5440 |
*
|
| 5441 |
*/
|
| 5442 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_bw(u8 accel_bw_u8); |
| 5443 |
/*!
|
| 5444 |
* @brief This API used to read the accel power mode
|
| 5445 |
* from page one register from 0x08 bit 5 to 7
|
| 5446 |
*
|
| 5447 |
* @param accel_power_mode_u8 : The value of accel power mode
|
| 5448 |
* accel_power_mode_u8 | result
|
| 5449 |
* ----------------- | -------------
|
| 5450 |
* 0x00 | BNO055_ACCEL_NORMAL
|
| 5451 |
* 0x01 | BNO055_ACCEL_SUSPEND
|
| 5452 |
* 0x02 | BNO055_ACCEL_LOWPOWER_1
|
| 5453 |
* 0x03 | BNO055_ACCEL_STANDBY
|
| 5454 |
* 0x04 | BNO055_ACCEL_LOWPOWER_2
|
| 5455 |
* 0x05 | BNO055_ACCEL_DEEPSUSPEND
|
| 5456 |
*
|
| 5457 |
* @return results of bus communication function
|
| 5458 |
* @retval 0 -> BNO055_SUCCESS
|
| 5459 |
* @retval 1 -> BNO055_ERROR
|
| 5460 |
*
|
| 5461 |
*
|
| 5462 |
*/
|
| 5463 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_power_mode(u8 *accel_power_mode_u8); |
| 5464 |
/*!
|
| 5465 |
* @brief This API used to write the accel power mode
|
| 5466 |
* from page one register from 0x08 bit 5 to 7
|
| 5467 |
*
|
| 5468 |
* @param accel_power_mode_u8 : The value of accel power mode
|
| 5469 |
* accel_power_mode_u8 | result
|
| 5470 |
* ----------------- | -------------
|
| 5471 |
* 0x00 | BNO055_ACCEL_NORMAL
|
| 5472 |
* 0x01 | BNO055_ACCEL_SUSPEND
|
| 5473 |
* 0x02 | BNO055_ACCEL_LOWPOWER_1
|
| 5474 |
* 0x03 | BNO055_ACCEL_STANDBY
|
| 5475 |
* 0x04 | BNO055_ACCEL_LOWPOWER_2
|
| 5476 |
* 0x05 | BNO055_ACCEL_DEEPSUSPEND
|
| 5477 |
*
|
| 5478 |
* @return results of bus communication function
|
| 5479 |
* @retval 0 -> BNO055_SUCCESS
|
| 5480 |
* @retval 1 -> BNO055_ERROR
|
| 5481 |
*
|
| 5482 |
*
|
| 5483 |
*/
|
| 5484 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_power_mode(u8 accel_power_mode_u8); |
| 5485 |
/*****************************************************/
|
| 5486 |
/**\name FUNCTIONS FOR MAG CONFIGURATION */
|
| 5487 |
/*****************************************************/
|
| 5488 |
/*!
|
| 5489 |
* @brief This API used to read the mag output data rate
|
| 5490 |
* from page one register from 0x09 bit 0 to 2
|
| 5491 |
*
|
| 5492 |
* @param mag_data_output_rate_u8 : The value of mag output data rate
|
| 5493 |
*
|
| 5494 |
* mag_data_output_rate_u8 | result
|
| 5495 |
* ---------------------- |----------------------
|
| 5496 |
* 0x00 | MAG_DATA_OUTPUT_RATE_2HZ
|
| 5497 |
* 0x01 | MAG_DATA_OUTPUT_RATE_6HZ
|
| 5498 |
* 0x02 | MAG_DATA_OUTPUT_RATE_8HZ
|
| 5499 |
* 0x03 | MAG_DATA_OUTPUT_RATE_10HZ
|
| 5500 |
* 0x04 | MAG_DATA_OUTPUT_RATE_15HZ
|
| 5501 |
* 0x05 | MAG_DATA_OUTPUT_RATE_20HZ
|
| 5502 |
* 0x06 | MAG_DATA_OUTPUT_RATE_25HZ
|
| 5503 |
* 0x07 | MAG_DATA_OUTPUT_RATE_30HZ
|
| 5504 |
*
|
| 5505 |
* @return results of bus communication function
|
| 5506 |
* @retval 0 -> BNO055_SUCCESS
|
| 5507 |
* @retval 1 -> BNO055_ERROR
|
| 5508 |
*
|
| 5509 |
*
|
| 5510 |
*/
|
| 5511 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_data_output_rate( |
| 5512 |
u8 *mag_data_output_rate_u8); |
| 5513 |
/*!
|
| 5514 |
* @brief This API used to write the mag output data rate
|
| 5515 |
* from page one register from 0x09 bit 0 to 2
|
| 5516 |
*
|
| 5517 |
* @param mag_data_output_rate_u8 : The value of mag output data rate
|
| 5518 |
*
|
| 5519 |
* mag_data_output_rate_u8 | result
|
| 5520 |
* ---------------------- |----------------------
|
| 5521 |
* 0x00 | MAG_DATA_OUTPUT_RATE_2HZ
|
| 5522 |
* 0x01 | MAG_DATA_OUTPUT_RATE_6HZ
|
| 5523 |
* 0x02 | MAG_DATA_OUTPUT_RATE_8HZ
|
| 5524 |
* 0x03 | MAG_DATA_OUTPUT_RATE_10HZ
|
| 5525 |
* 0x04 | MAG_DATA_OUTPUT_RATE_15HZ
|
| 5526 |
* 0x05 | MAG_DATA_OUTPUT_RATE_20HZ
|
| 5527 |
* 0x06 | MAG_DATA_OUTPUT_RATE_25HZ
|
| 5528 |
* 0x07 | MAG_DATA_OUTPUT_RATE_30HZ
|
| 5529 |
*
|
| 5530 |
* @return results of bus communication function
|
| 5531 |
* @retval 0 -> BNO055_SUCCESS
|
| 5532 |
* @retval 1 -> BNO055_ERROR
|
| 5533 |
*
|
| 5534 |
*
|
| 5535 |
*/
|
| 5536 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_data_output_rate( |
| 5537 |
u8 mag_data_output_rate_u8); |
| 5538 |
/*!
|
| 5539 |
* @brief This API used to read the mag operation mode
|
| 5540 |
* from page one register from 0x09 bit 3 to 4
|
| 5541 |
*
|
| 5542 |
* @param mag_operation_mode_u8 : The value of mag operation mode
|
| 5543 |
*
|
| 5544 |
* mag_operation_mode_u8 | result
|
| 5545 |
* ------------------------|--------------------------
|
| 5546 |
* 0x00 | MAG_OPR_MODE_LOWPOWER
|
| 5547 |
* 0x01 | MAG_OPR_MODE_REGULAR
|
| 5548 |
* 0x02 | MAG_OPR_MODE_ENHANCED_REGULAR
|
| 5549 |
* 0x03 | MAG_OPR_MODE_HIGH_ACCURACY
|
| 5550 |
*
|
| 5551 |
* @return results of bus communication function
|
| 5552 |
* @retval 0 -> BNO055_SUCCESS
|
| 5553 |
* @retval 1 -> BNO055_ERROR
|
| 5554 |
*
|
| 5555 |
*
|
| 5556 |
*/
|
| 5557 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_operation_mode( |
| 5558 |
u8 *mag_operation_mode_u8); |
| 5559 |
/*!
|
| 5560 |
* @brief This API used to write the mag operation mode
|
| 5561 |
* from page one register from 0x09 bit 3 to 4
|
| 5562 |
*
|
| 5563 |
* @param mag_operation_mode_u8 : The value of mag operation mode
|
| 5564 |
*
|
| 5565 |
* mag_operation_mode_u8 | result
|
| 5566 |
* ------------------------|--------------------------
|
| 5567 |
* 0x00 | MAG_OPR_MODE_LOWPOWER
|
| 5568 |
* 0x01 | MAG_OPR_MODE_REGULAR
|
| 5569 |
* 0x02 | MAG_OPR_MODE_ENHANCED_REGULAR
|
| 5570 |
* 0x03 | MAG_OPR_MODE_HIGH_ACCURACY
|
| 5571 |
*
|
| 5572 |
* @return results of bus communication function
|
| 5573 |
* @retval 0 -> BNO055_SUCCESS
|
| 5574 |
* @retval 1 -> BNO055_ERROR
|
| 5575 |
*
|
| 5576 |
*
|
| 5577 |
*/
|
| 5578 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_operation_mode( |
| 5579 |
u8 mag_operation_mode_u8); |
| 5580 |
/*!
|
| 5581 |
* @brief This API used to read the mag power mode
|
| 5582 |
* from page one register from 0x09 bit 4 to 6
|
| 5583 |
*
|
| 5584 |
* @param mag_power_mode_u8 : The value of mag power mode
|
| 5585 |
*
|
| 5586 |
* mag_power_mode_u8 | result
|
| 5587 |
* --------------------|-----------------
|
| 5588 |
* 0x00 | BNO055_MAG_POWER_MODE_NORMAL
|
| 5589 |
* 0x01 | BNO055_MAG_POWER_MODE_SLEEP
|
| 5590 |
* 0x02 | BNO055_MAG_POWER_MODE_SUSPEND
|
| 5591 |
* 0x03 | BNO055_MAG_POWER_MODE_FORCE_MODE
|
| 5592 |
*
|
| 5593 |
* @return results of bus communication function
|
| 5594 |
* @retval 0 -> BNO055_SUCCESS
|
| 5595 |
* @retval 1 -> BNO055_ERROR
|
| 5596 |
*
|
| 5597 |
*
|
| 5598 |
*/
|
| 5599 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_power_mode(u8 *mag_power_mode_u8); |
| 5600 |
/*!
|
| 5601 |
* @brief This API used to write the mag power mode
|
| 5602 |
* from page one register from 0x09 bit 4 to 6
|
| 5603 |
*
|
| 5604 |
* @param mag_power_mode_u8 : The value of mag power mode
|
| 5605 |
*
|
| 5606 |
* mag_power_mode_u8 | result
|
| 5607 |
* ------------------|-----------------
|
| 5608 |
* 0x00 | BNO055_MAG_POWER_MODE_NORMAL
|
| 5609 |
* 0x01 | BNO055_MAG_POWER_MODE_SLEEP
|
| 5610 |
* 0x02 | BNO055_MAG_POWER_MODE_SUSPEND
|
| 5611 |
* 0x03 | BNO055_MAG_POWER_MODE_FORCE_MODE
|
| 5612 |
*
|
| 5613 |
* @return results of bus communication function
|
| 5614 |
* @retval 0 -> BNO055_SUCCESS
|
| 5615 |
* @retval 1 -> BNO055_ERROR
|
| 5616 |
*
|
| 5617 |
*
|
| 5618 |
*/
|
| 5619 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_power_mode(u8 mag_power_mode_u8); |
| 5620 |
/*****************************************************/
|
| 5621 |
/**\name FUNCTIONS FOR GYRO CONFIGURATION */
|
| 5622 |
/*****************************************************/
|
| 5623 |
/*!
|
| 5624 |
* @brief This API used to read the gyro range
|
| 5625 |
* from page one register from 0x0A bit 0 to 3
|
| 5626 |
*
|
| 5627 |
* @param gyro_range_u8 : The value of gyro range
|
| 5628 |
*
|
| 5629 |
* gyro_range_u8 | result
|
| 5630 |
* --------------------|-----------------
|
| 5631 |
* 0x00 | BNO055_GYRO_RANGE_2000DPS
|
| 5632 |
* 0x01 | BNO055_GYRO_RANGE_1000DPS
|
| 5633 |
* 0x02 | BNO055_GYRO_RANGE_500DPS
|
| 5634 |
* 0x03 | BNO055_GYRO_RANGE_250DPS
|
| 5635 |
* 0x04 | BNO055_GYRO_RANGE_125DPS
|
| 5636 |
*
|
| 5637 |
* @return results of bus communication function
|
| 5638 |
* @retval 0 -> BNO055_SUCCESS
|
| 5639 |
* @retval 1 -> BNO055_ERROR
|
| 5640 |
*
|
| 5641 |
*
|
| 5642 |
*/
|
| 5643 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_range(u8 *gyro_range_u8); |
| 5644 |
/*!
|
| 5645 |
* @brief This API used to write the gyro range
|
| 5646 |
* from page one register from 0x0A bit 0 to 3
|
| 5647 |
*
|
| 5648 |
* @param gyro_range_u8 : The value of gyro range
|
| 5649 |
*
|
| 5650 |
* gyro_range_u8 | result
|
| 5651 |
* --------------------|-----------------
|
| 5652 |
* 0x00 | BNO055_GYRO_RANGE_2000DPS
|
| 5653 |
* 0x01 | BNO055_GYRO_RANGE_1000DPS
|
| 5654 |
* 0x02 | BNO055_GYRO_RANGE_500DPS
|
| 5655 |
* 0x03 | BNO055_GYRO_RANGE_250DPS
|
| 5656 |
* 0x04 | BNO055_GYRO_RANGE_125DPS
|
| 5657 |
*
|
| 5658 |
* @return results of bus communication function
|
| 5659 |
* @retval 0 -> BNO055_SUCCESS
|
| 5660 |
* @retval 1 -> BNO055_ERROR
|
| 5661 |
*
|
| 5662 |
*
|
| 5663 |
*/
|
| 5664 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_range(u8 gyro_range_u8); |
| 5665 |
/*!
|
| 5666 |
* @brief This API used to read the gyro bandwidth
|
| 5667 |
* from page one register from 0x0A bit 3 to 5
|
| 5668 |
*
|
| 5669 |
* @param gyro_bw_u8 : The value of gyro bandwidth
|
| 5670 |
*
|
| 5671 |
* gyro_bw_u8 | result
|
| 5672 |
* --------------------|-----------------
|
| 5673 |
* 0x00 | BNO055_GYRO_BW_523HZ
|
| 5674 |
* 0x01 | BNO055_GYRO_BW_230HZ
|
| 5675 |
* 0x02 | BNO055_GYRO_BW_116HZ
|
| 5676 |
* 0x03 | BNO055_GYRO_BW_47HZ
|
| 5677 |
* 0x04 | BNO055_GYRO_BW_23HZ
|
| 5678 |
* 0x05 | BNO055_GYRO_BW_12HZ
|
| 5679 |
* 0x06 | BNO055_GYRO_BW_64HZ
|
| 5680 |
* 0x07 | BNO055_GYRO_BW_32HZ
|
| 5681 |
*
|
| 5682 |
* @return results of bus communication function
|
| 5683 |
* @retval 0 -> BNO055_SUCCESS
|
| 5684 |
* @retval 1 -> BNO055_ERROR
|
| 5685 |
*
|
| 5686 |
*
|
| 5687 |
*/
|
| 5688 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_bw(u8 *gyro_bw_u8); |
| 5689 |
/*!
|
| 5690 |
* @brief This API used to write the gyro bandwidth
|
| 5691 |
* from page one register from 0x0A bit 3 to 5
|
| 5692 |
*
|
| 5693 |
* @param gyro_bw_u8 : The value of gyro bandwidth
|
| 5694 |
*
|
| 5695 |
* gyro_bw_u8 | result
|
| 5696 |
* --------------------|-----------------
|
| 5697 |
* 0x00 | BNO055_GYRO_BW_523HZ
|
| 5698 |
* 0x01 | BNO055_GYRO_BW_230HZ
|
| 5699 |
* 0x02 | BNO055_GYRO_BW_116HZ
|
| 5700 |
* 0x03 | BNO055_GYRO_BW_47HZ
|
| 5701 |
* 0x04 | BNO055_GYRO_BW_23HZ
|
| 5702 |
* 0x05 | BNO055_GYRO_BW_12HZ
|
| 5703 |
* 0x06 | BNO055_GYRO_BW_64HZ
|
| 5704 |
* 0x07 | BNO055_GYRO_BW_32HZ
|
| 5705 |
*
|
| 5706 |
* @return results of bus communication function
|
| 5707 |
* @retval 0 -> BNO055_SUCCESS
|
| 5708 |
* @retval 1 -> BNO055_ERROR
|
| 5709 |
*
|
| 5710 |
*
|
| 5711 |
*/
|
| 5712 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_bw(u8 gyro_bw_u8); |
| 5713 |
/*!
|
| 5714 |
* @brief This API used to read the gyro power mode
|
| 5715 |
* from page one register from 0x0B bit 0 to 2
|
| 5716 |
*
|
| 5717 |
* @param gyro_power_mode_u8 : The value of gyro power mode
|
| 5718 |
*
|
| 5719 |
* gyro_power_mode_u8 | result
|
| 5720 |
* ----------------------|----------------------------
|
| 5721 |
* 0x00 | GYRO_OPR_MODE_NORMAL
|
| 5722 |
* 0x01 | GYRO_OPR_MODE_FASTPOWERUP
|
| 5723 |
* 0x02 | GYRO_OPR_MODE_DEEPSUSPEND
|
| 5724 |
* 0x03 | GYRO_OPR_MODE_SUSPEND
|
| 5725 |
* 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE
|
| 5726 |
*
|
| 5727 |
* @return results of bus communication function
|
| 5728 |
* @retval 0 -> BNO055_SUCCESS
|
| 5729 |
* @retval 1 -> BNO055_ERROR
|
| 5730 |
*
|
| 5731 |
*
|
| 5732 |
*/
|
| 5733 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_power_mode(u8 *gyro_power_mode_u8); |
| 5734 |
/*!
|
| 5735 |
* @brief This API used to write the gyro power mode
|
| 5736 |
* from page one register from 0x0B bit 0 to 2
|
| 5737 |
*
|
| 5738 |
* @param gyro_power_mode_u8 : The value of gyro power mode
|
| 5739 |
*
|
| 5740 |
* gyro_power_mode_u8 | result
|
| 5741 |
* ----------------------|----------------------------
|
| 5742 |
* 0x00 | GYRO_OPR_MODE_NORMAL
|
| 5743 |
* 0x01 | GYRO_OPR_MODE_FASTPOWERUP
|
| 5744 |
* 0x02 | GYRO_OPR_MODE_DEEPSUSPEND
|
| 5745 |
* 0x03 | GYRO_OPR_MODE_SUSPEND
|
| 5746 |
* 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE
|
| 5747 |
*
|
| 5748 |
* @return results of bus communication function
|
| 5749 |
* @retval 0 -> BNO055_SUCCESS
|
| 5750 |
* @retval 1 -> BNO055_ERROR
|
| 5751 |
*
|
| 5752 |
*
|
| 5753 |
*/
|
| 5754 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_power_mode(u8 gyro_power_mode_u8); |
| 5755 |
/*****************************************************/
|
| 5756 |
/**\name FUNCTIONS FOR ACCEL SLEEP SETTINGS */
|
| 5757 |
/*****************************************************/
|
| 5758 |
/*!
|
| 5759 |
* @brief This API used to read the accel sleep mode
|
| 5760 |
* from page one register from 0x0C bit 0
|
| 5761 |
*
|
| 5762 |
* @param sleep_tmr_u8 : The value of accel sleep mode
|
| 5763 |
*
|
| 5764 |
* sleep_tmr_u8 | result
|
| 5765 |
* ----------------- |------------------------------------
|
| 5766 |
* 0x00 | enable EventDrivenSampling(EDT)
|
| 5767 |
* 0x01 | enable Equidistant sampling mode(EST)
|
| 5768 |
*
|
| 5769 |
* @return results of bus communication function
|
| 5770 |
* @retval 0 -> BNO055_SUCCESS
|
| 5771 |
* @retval 1 -> BNO055_ERROR
|
| 5772 |
*
|
| 5773 |
*
|
| 5774 |
*/
|
| 5775 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_tmr_mode(u8 *sleep_tmr_u8); |
| 5776 |
/*!
|
| 5777 |
* @brief This API used to write the accel sleep mode
|
| 5778 |
* from page one register from 0x0C bit 0
|
| 5779 |
*
|
| 5780 |
* @param sleep_tmr_u8 : The value of accel sleep mode
|
| 5781 |
*
|
| 5782 |
* sleep_tmr_u8 | result
|
| 5783 |
* ----------------- |------------------------------------
|
| 5784 |
* 0x00 | enable EventDrivenSampling(EDT)
|
| 5785 |
* 0x01 | enable Equidistant sampling mode(EST)
|
| 5786 |
*
|
| 5787 |
* @return results of bus communication function
|
| 5788 |
* @retval 0 -> BNO055_SUCCESS
|
| 5789 |
* @retval 1 -> BNO055_ERROR
|
| 5790 |
*
|
| 5791 |
*
|
| 5792 |
*/
|
| 5793 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_tmr_mode(u8 sleep_tmr_u8); |
| 5794 |
/*!
|
| 5795 |
* @brief This API used to read the accel sleep duration
|
| 5796 |
* from page one register from 0x0C bit 1 to 4
|
| 5797 |
*
|
| 5798 |
* @param sleep_durn_u8 : The value of accel sleep duration
|
| 5799 |
*
|
| 5800 |
* sleep_durn_u8 | result
|
| 5801 |
* ---------------- |-----------------------------
|
| 5802 |
* 0x05 | BNO055_ACCEL_SLEEP_DURN_0_5MS
|
| 5803 |
* 0x06 | BNO055_ACCEL_SLEEP_DURN_1MS
|
| 5804 |
* 0x07 | BNO055_ACCEL_SLEEP_DURN_2MS
|
| 5805 |
* 0x08 | BNO055_ACCEL_SLEEP_DURN_4MS
|
| 5806 |
* 0x09 | BNO055_ACCEL_SLEEP_DURN_6MS
|
| 5807 |
* 0x0A | BNO055_ACCEL_SLEEP_DURN_10MS
|
| 5808 |
* 0x0B | BNO055_ACCEL_SLEEP_DURN_25MS
|
| 5809 |
* 0x0C | BNO055_ACCEL_SLEEP_DURN_50MS
|
| 5810 |
* 0x0D | BNO055_ACCEL_SLEEP_DURN_100MS
|
| 5811 |
* 0x0E | BNO055_ACCEL_SLEEP_DURN_500MS
|
| 5812 |
* 0x0F | BNO055_ACCEL_SLEEP_DURN_1S
|
| 5813 |
*
|
| 5814 |
* @return results of bus communication function
|
| 5815 |
* @retval 0 -> BNO055_SUCCESS
|
| 5816 |
* @retval 1 -> BNO055_ERROR
|
| 5817 |
*
|
| 5818 |
*
|
| 5819 |
*/
|
| 5820 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_durn(u8 *sleep_durn_u8); |
| 5821 |
/*!
|
| 5822 |
* @brief This API used to write the accel sleep duration
|
| 5823 |
* from page one register from 0x0C bit 1 to 4
|
| 5824 |
*
|
| 5825 |
* @param sleep_durn_u8 : The value of accel sleep duration
|
| 5826 |
*
|
| 5827 |
* sleep_durn_u8 | result
|
| 5828 |
* ---------------- |-----------------------------
|
| 5829 |
* 0x05 | BNO055_ACCEL_SLEEP_DURN_0_5MS
|
| 5830 |
* 0x06 | BNO055_ACCEL_SLEEP_DURN_1MS
|
| 5831 |
* 0x07 | BNO055_ACCEL_SLEEP_DURN_2MS
|
| 5832 |
* 0x08 | BNO055_ACCEL_SLEEP_DURN_4MS
|
| 5833 |
* 0x09 | BNO055_ACCEL_SLEEP_DURN_6MS
|
| 5834 |
* 0x0A | BNO055_ACCEL_SLEEP_DURN_10MS
|
| 5835 |
* 0x0B | BNO055_ACCEL_SLEEP_DURN_25MS
|
| 5836 |
* 0x0C | BNO055_ACCEL_SLEEP_DURN_50MS
|
| 5837 |
* 0x0D | BNO055_ACCEL_SLEEP_DURN_100MS
|
| 5838 |
* 0x0E | BNO055_ACCEL_SLEEP_DURN_500MS
|
| 5839 |
* 0x0F | BNO055_ACCEL_SLEEP_DURN_1S
|
| 5840 |
*
|
| 5841 |
* @return results of bus communication function
|
| 5842 |
* @retval 0 -> BNO055_SUCCESS
|
| 5843 |
* @retval 1 -> BNO055_ERROR
|
| 5844 |
*
|
| 5845 |
*
|
| 5846 |
*/
|
| 5847 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_durn(u8 sleep_durn_u8); |
| 5848 |
/*****************************************************/
|
| 5849 |
/**\name FUNCTIONS FOR GYRO SLEEP SETTINGS */
|
| 5850 |
/*****************************************************/
|
| 5851 |
/*!
|
| 5852 |
* @brief This API used to write the gyro sleep duration
|
| 5853 |
* from page one register from 0x0D bit 0 to 2
|
| 5854 |
*
|
| 5855 |
* @param sleep_durn_u8 : The value of gyro sleep duration
|
| 5856 |
*
|
| 5857 |
* @return results of bus communication function
|
| 5858 |
* @retval 0 -> BNO055_SUCCESS
|
| 5859 |
* @retval 1 -> BNO055_ERROR
|
| 5860 |
*
|
| 5861 |
*
|
| 5862 |
*/
|
| 5863 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_sleep_durn(u8 *sleep_durn_u8); |
| 5864 |
/*!
|
| 5865 |
* @brief This API used to write the gyro sleep duration
|
| 5866 |
* from page one register from 0x0D bit 0 to 2
|
| 5867 |
*
|
| 5868 |
* @param sleep_durn_u8 : The value of gyro sleep duration
|
| 5869 |
*
|
| 5870 |
* @return results of bus communication function
|
| 5871 |
* @retval 0 -> BNO055_SUCCESS
|
| 5872 |
* @retval 1 -> BNO055_ERROR
|
| 5873 |
*
|
| 5874 |
*
|
| 5875 |
*/
|
| 5876 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_sleep_durn(u8 sleep_durn); |
| 5877 |
/*!
|
| 5878 |
* @brief This API used to read the gyro auto sleep duration
|
| 5879 |
* from page one register from 0x0D bit 3 to 5
|
| 5880 |
*
|
| 5881 |
* @param auto_sleep_durn_u8 : The value of gyro auto sleep duration
|
| 5882 |
*
|
| 5883 |
* @return results of bus communication function
|
| 5884 |
* @retval 0 -> BNO055_SUCCESS
|
| 5885 |
* @retval 1 -> BNO055_ERROR
|
| 5886 |
*
|
| 5887 |
*
|
| 5888 |
*/
|
| 5889 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_auto_sleep_durn( |
| 5890 |
u8 *auto_sleep_durn_u8); |
| 5891 |
/*!
|
| 5892 |
* @brief This API used to write the gyro auto sleep duration
|
| 5893 |
* from page one register from 0x0D bit 3 to 5
|
| 5894 |
*
|
| 5895 |
* @param auto_sleep_durn_u8 : The value of gyro auto sleep duration
|
| 5896 |
* @param bw : The value of gyro bandwidth
|
| 5897 |
*
|
| 5898 |
* @return results of bus communication function
|
| 5899 |
* @retval 0 -> BNO055_SUCCESS
|
| 5900 |
* @retval 1 -> BNO055_ERROR
|
| 5901 |
*
|
| 5902 |
*
|
| 5903 |
*/
|
| 5904 |
BNO055_RETURN_FUNCTION_TYPE bno055_gyro_set_auto_sleep_durn( |
| 5905 |
u8 auto_sleep_durn_u8, u8 bw); |
| 5906 |
/*****************************************************/
|
| 5907 |
/**\name FUNCTIONS FOR MAG SLEEP SETTINGS */
|
| 5908 |
/*****************************************************/
|
| 5909 |
/*!
|
| 5910 |
* @brief This API used to read the mag sleep mode
|
| 5911 |
* from page one register from 0x0E bit 0
|
| 5912 |
*
|
| 5913 |
* @param sleep_mode_u8 : The value of mag sleep mode
|
| 5914 |
*
|
| 5915 |
* @return results of bus communication function
|
| 5916 |
* @retval 0 -> BNO055_SUCCESS
|
| 5917 |
* @retval 1 -> BNO055_ERROR
|
| 5918 |
*
|
| 5919 |
*
|
| 5920 |
*/
|
| 5921 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_mode(u8 *sleep_mode_u8); |
| 5922 |
/*!
|
| 5923 |
* @brief This API used to write the mag sleep mode
|
| 5924 |
* from page one register from 0x0E bit 0
|
| 5925 |
*
|
| 5926 |
* @param sleep_mode_u8 : The value of mag sleep mode
|
| 5927 |
*
|
| 5928 |
* @return results of bus communication function
|
| 5929 |
* @retval 0 -> BNO055_SUCCESS
|
| 5930 |
* @retval 1 -> BNO055_ERROR
|
| 5931 |
*
|
| 5932 |
*
|
| 5933 |
*/
|
| 5934 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_mode(u8 sleep_mode_u8); |
| 5935 |
/*!
|
| 5936 |
* @brief This API used to read the mag sleep duration
|
| 5937 |
* from page one register from 0x0E bit 1 to 4
|
| 5938 |
*
|
| 5939 |
* @param sleep_durn_u8 : The value of mag sleep duration
|
| 5940 |
*
|
| 5941 |
* @return results of bus communication function
|
| 5942 |
* @retval 0 -> BNO055_SUCCESS
|
| 5943 |
* @retval 1 -> BNO055_ERROR
|
| 5944 |
*
|
| 5945 |
*
|
| 5946 |
*/
|
| 5947 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_durn(u8 *sleep_durn_u8); |
| 5948 |
/*!
|
| 5949 |
* @brief This API used to write the mag sleep duration
|
| 5950 |
* from page one register from 0x0E bit 1 to 4
|
| 5951 |
*
|
| 5952 |
* @param sleep_durn_u8 : The value of mag sleep duration
|
| 5953 |
*
|
| 5954 |
* @return results of bus communication function
|
| 5955 |
* @retval 0 -> BNO055_SUCCESS
|
| 5956 |
* @retval 1 -> BNO055_ERROR
|
| 5957 |
*
|
| 5958 |
*
|
| 5959 |
*/
|
| 5960 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_durn(u8 sleep_durn_u8); |
| 5961 |
/*****************************************************/
|
| 5962 |
/**\name FUNCTIONS FOR GYRO INTERRUPT MASK */
|
| 5963 |
/*****************************************************/
|
| 5964 |
/*!
|
| 5965 |
* @brief This API used to read the gyro anymotion interrupt mask
|
| 5966 |
* from page one register from 0x0F bit 2
|
| 5967 |
*
|
| 5968 |
* @param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask
|
| 5969 |
* gyro_any_motion_u8 | result
|
| 5970 |
* -------------------- |------------
|
| 5971 |
* 0x01 | BNO055_BIT_ENABLE
|
| 5972 |
* 0x00 | BNO055_BIT_DISABLE
|
| 5973 |
*
|
| 5974 |
* @return results of bus communication function
|
| 5975 |
* @retval 0 -> BNO055_SUCCESS
|
| 5976 |
* @retval 1 -> BNO055_ERROR
|
| 5977 |
*
|
| 5978 |
* @note While enabling the gyro anymotion interrupt
|
| 5979 |
* configure the following settings
|
| 5980 |
*
|
| 5981 |
* Axis:
|
| 5982 |
* bno055_set_gyro_any_motion_axis_enable()
|
| 5983 |
*
|
| 5984 |
* Filter setting:
|
| 5985 |
* bno055_set_gyro_any_motion_filter()
|
| 5986 |
*
|
| 5987 |
* Threshold :
|
| 5988 |
*
|
| 5989 |
* bno055_set_gyro_any_motion_thres()
|
| 5990 |
*
|
| 5991 |
* Slope samples :
|
| 5992 |
*
|
| 5993 |
* bno055_set_gyro_any_motion_slope_samples()
|
| 5994 |
*
|
| 5995 |
* Awake duration :
|
| 5996 |
*
|
| 5997 |
* bno055_set_gyro_any_motion_awake_durn()
|
| 5998 |
*
|
| 5999 |
*/
|
| 6000 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_any_motion( |
| 6001 |
u8 *gyro_any_motion_u8); |
| 6002 |
/*!
|
| 6003 |
* @brief This API used to write the gyro anymotion interrupt mask
|
| 6004 |
* from page one register from 0x0F bit 2
|
| 6005 |
*
|
| 6006 |
* @param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask
|
| 6007 |
* gyro_any_motion_u8 | result
|
| 6008 |
* -------------------- |------------
|
| 6009 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6010 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6011 |
*
|
| 6012 |
* @return results of bus communication function
|
| 6013 |
* @retval 0 -> BNO055_SUCCESS
|
| 6014 |
* @retval 1 -> BNO055_ERROR
|
| 6015 |
*
|
| 6016 |
* @note While enabling the gyro anymotion interrupt
|
| 6017 |
* configure the following settings
|
| 6018 |
*
|
| 6019 |
* Axis:
|
| 6020 |
* bno055_set_gyro_any_motion_axis_enable()
|
| 6021 |
*
|
| 6022 |
* Filter setting:
|
| 6023 |
* bno055_set_gyro_any_motion_filter()
|
| 6024 |
*
|
| 6025 |
* Threshold :
|
| 6026 |
*
|
| 6027 |
* bno055_set_gyro_any_motion_thres()
|
| 6028 |
*
|
| 6029 |
* Slope samples :
|
| 6030 |
*
|
| 6031 |
* bno055_set_gyro_any_motion_slope_samples()
|
| 6032 |
*
|
| 6033 |
* Awake duration :
|
| 6034 |
*
|
| 6035 |
* bno055_set_gyro_any_motion_awake_durn()
|
| 6036 |
*
|
| 6037 |
*/
|
| 6038 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_any_motion( |
| 6039 |
u8 gyro_any_motion_u8); |
| 6040 |
/*!
|
| 6041 |
* @brief This API used to read the gyro highrate interrupt mask
|
| 6042 |
* from page one register from 0x0F bit 3
|
| 6043 |
*
|
| 6044 |
* @param gyro_highrate_u8 : The value of gyro highrate interrupt mask
|
| 6045 |
* gyro_highrate_u8 | result
|
| 6046 |
* -------------------- |------------
|
| 6047 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6048 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6049 |
*
|
| 6050 |
* @return results of bus communication function
|
| 6051 |
* @retval 0 -> BNO055_SUCCESS
|
| 6052 |
* @retval 1 -> BNO055_ERROR
|
| 6053 |
*
|
| 6054 |
* @note While enabling the gyro highrate interrupt
|
| 6055 |
* configure the below settings by using
|
| 6056 |
* the following APIs
|
| 6057 |
*
|
| 6058 |
* Axis :
|
| 6059 |
*
|
| 6060 |
* bno055_set_gyro_highrate_axis_enable()
|
| 6061 |
*
|
| 6062 |
* Filter :
|
| 6063 |
*
|
| 6064 |
* bno055_set_gyro_highrate_filter()
|
| 6065 |
*
|
| 6066 |
* Threshold :
|
| 6067 |
*
|
| 6068 |
* bno055_get_gyro_highrate_x_thres()
|
| 6069 |
*
|
| 6070 |
* bno055_get_gyro_highrate_y_thres()
|
| 6071 |
*
|
| 6072 |
* bno055_get_gyro_highrate_z_thres()
|
| 6073 |
*
|
| 6074 |
* Hysteresis :
|
| 6075 |
*
|
| 6076 |
* bno055_set_gyro_highrate_x_hyst()
|
| 6077 |
*
|
| 6078 |
* bno055_set_gyro_highrate_y_hyst()
|
| 6079 |
*
|
| 6080 |
* bno055_set_gyro_highrate_z_hyst()
|
| 6081 |
*
|
| 6082 |
* Duration :
|
| 6083 |
*
|
| 6084 |
* bno055_set_gyro_highrate_x_durn()
|
| 6085 |
*
|
| 6086 |
* bno055_set_gyro_highrate_y_durn()
|
| 6087 |
*
|
| 6088 |
* bno055_set_gyro_highrate_z_durn()
|
| 6089 |
*
|
| 6090 |
*/
|
| 6091 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_highrate( |
| 6092 |
u8 *gyro_highrate_u8); |
| 6093 |
/*!
|
| 6094 |
* @brief This API used to write the gyro highrate interrupt mask
|
| 6095 |
* from page one register from 0x0F bit 3
|
| 6096 |
*
|
| 6097 |
* @param gyro_highrate_u8 : The value of gyro highrate interrupt mask
|
| 6098 |
* gyro_highrate_u8 | result
|
| 6099 |
* -------------------- |------------
|
| 6100 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6101 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6102 |
*
|
| 6103 |
* @return results of bus communication function
|
| 6104 |
* @retval 0 -> BNO055_SUCCESS
|
| 6105 |
* @retval 1 -> BNO055_ERROR
|
| 6106 |
*
|
| 6107 |
* @note While enabling the gyro highrate interrupt
|
| 6108 |
* configure the below settings by using
|
| 6109 |
* the following APIs
|
| 6110 |
*
|
| 6111 |
* Axis :
|
| 6112 |
*
|
| 6113 |
* bno055_set_gyro_highrate_axis_enable()
|
| 6114 |
*
|
| 6115 |
* Filter :
|
| 6116 |
*
|
| 6117 |
* bno055_set_gyro_highrate_filter()
|
| 6118 |
*
|
| 6119 |
* Threshold :
|
| 6120 |
*
|
| 6121 |
* bno055_get_gyro_highrate_x_thres()
|
| 6122 |
*
|
| 6123 |
* bno055_get_gyro_highrate_y_thres()
|
| 6124 |
*
|
| 6125 |
* bno055_get_gyro_highrate_z_thres()
|
| 6126 |
*
|
| 6127 |
* Hysteresis :
|
| 6128 |
*
|
| 6129 |
* bno055_set_gyro_highrate_x_hyst()
|
| 6130 |
*
|
| 6131 |
* bno055_set_gyro_highrate_y_hyst()
|
| 6132 |
*
|
| 6133 |
* bno055_set_gyro_highrate_z_hyst()
|
| 6134 |
*
|
| 6135 |
* Duration :
|
| 6136 |
*
|
| 6137 |
* bno055_set_gyro_highrate_x_durn()
|
| 6138 |
*
|
| 6139 |
* bno055_set_gyro_highrate_y_durn()
|
| 6140 |
*
|
| 6141 |
* bno055_set_gyro_highrate_z_durn()
|
| 6142 |
*
|
| 6143 |
*/
|
| 6144 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_highrate( |
| 6145 |
u8 gyro_highrate_u8); |
| 6146 |
/*****************************************************/
|
| 6147 |
/**\name APIs FOR ACCEL INTERRUPT MASK */
|
| 6148 |
/*****************************************************/
|
| 6149 |
/*!
|
| 6150 |
* @brief This API used to read the accel highg interrupt mask
|
| 6151 |
* from page one register from 0x0F bit 5
|
| 6152 |
*
|
| 6153 |
* @param accel_high_g_u8 : The value of accel highg interrupt mask
|
| 6154 |
* accel_high_g_u8 | result
|
| 6155 |
* -------------------- |------------
|
| 6156 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6157 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6158 |
*
|
| 6159 |
* @return results of bus communication function
|
| 6160 |
* @retval 0 -> BNO055_SUCCESS
|
| 6161 |
* @retval 1 -> BNO055_ERROR
|
| 6162 |
*
|
| 6163 |
* @note While enabling the accel highg interrupt
|
| 6164 |
* configure the below settings by using
|
| 6165 |
* the following APIs
|
| 6166 |
*
|
| 6167 |
* Axis :
|
| 6168 |
*
|
| 6169 |
* bno055_set_accel_high_g_axis_enable()
|
| 6170 |
*
|
| 6171 |
* Threshold :
|
| 6172 |
*
|
| 6173 |
* bno055_set_accel_high_g_thres()
|
| 6174 |
*
|
| 6175 |
* Duration :
|
| 6176 |
*
|
| 6177 |
* bno055_set_accel_high_g_durn()
|
| 6178 |
*
|
| 6179 |
*/
|
| 6180 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_high_g( |
| 6181 |
u8 *accel_high_g_u8); |
| 6182 |
/*!
|
| 6183 |
* @brief This API used to write the accel highg interrupt mask
|
| 6184 |
* from page one register from 0x0F bit 5
|
| 6185 |
*
|
| 6186 |
* @param accel_high_g_u8 : The value of accel highg interrupt mask
|
| 6187 |
* accel_high_g_u8 | result
|
| 6188 |
* -------------------- |------------
|
| 6189 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6190 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6191 |
*
|
| 6192 |
* @return results of bus communication function
|
| 6193 |
* @retval 0 -> BNO055_SUCCESS
|
| 6194 |
* @retval 1 -> BNO055_ERROR
|
| 6195 |
*
|
| 6196 |
* @note While enabling the accel highg interrupt
|
| 6197 |
* configure the below settings by using
|
| 6198 |
* the following APIs
|
| 6199 |
*
|
| 6200 |
* Axis :
|
| 6201 |
*
|
| 6202 |
* bno055_set_accel_high_g_axis_enable()
|
| 6203 |
*
|
| 6204 |
* Threshold :
|
| 6205 |
*
|
| 6206 |
* bno055_set_accel_high_g_thres()
|
| 6207 |
*
|
| 6208 |
* Duration :
|
| 6209 |
*
|
| 6210 |
* bno055_set_accel_high_g_durn()
|
| 6211 |
*
|
| 6212 |
*/
|
| 6213 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_high_g( |
| 6214 |
u8 accel_high_g_u8); |
| 6215 |
/*!
|
| 6216 |
* @brief This API used to read the accel anymotion interrupt mask
|
| 6217 |
* from page one register from 0x0F bit 6
|
| 6218 |
*
|
| 6219 |
* @param accel_any_motion_u8 : The value of accel anymotion interrupt mask
|
| 6220 |
* accel_any_motion_u8 | result
|
| 6221 |
* -------------------- |------------
|
| 6222 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6223 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6224 |
*
|
| 6225 |
* @return results of bus communication function
|
| 6226 |
* @retval 0 -> BNO055_SUCCESS
|
| 6227 |
* @retval 1 -> BNO055_ERROR
|
| 6228 |
*
|
| 6229 |
* @note While enabling the accel highg interrupt
|
| 6230 |
* configure the below settings by using
|
| 6231 |
* the following APIs
|
| 6232 |
*
|
| 6233 |
* Axis :
|
| 6234 |
*
|
| 6235 |
* bno055_set_accel_high_g_axis_enable()
|
| 6236 |
*
|
| 6237 |
* Threshold :
|
| 6238 |
*
|
| 6239 |
* bno055_set_accel_high_g_thres()
|
| 6240 |
*
|
| 6241 |
* Duration :
|
| 6242 |
*
|
| 6243 |
* bno055_set_accel_high_g_durn()
|
| 6244 |
*
|
| 6245 |
*/
|
| 6246 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_any_motion( |
| 6247 |
u8 *accel_any_motion_u8); |
| 6248 |
/*!
|
| 6249 |
* @brief This API used to write the accel anymotion interrupt mask
|
| 6250 |
* from page one register from 0x0F bit 6
|
| 6251 |
*
|
| 6252 |
* @param accel_any_motion_u8 : The value of accel anymotion interrupt mask
|
| 6253 |
* accel_any_motion_u8 | result
|
| 6254 |
* -------------------- |------------
|
| 6255 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6256 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6257 |
*
|
| 6258 |
* @return results of bus communication function
|
| 6259 |
* @retval 0 -> BNO055_SUCCESS
|
| 6260 |
* @retval 1 -> BNO055_ERROR
|
| 6261 |
*
|
| 6262 |
* @note While enabling the accel anymotion interrupt
|
| 6263 |
* configure the following settings
|
| 6264 |
*
|
| 6265 |
* Axis:
|
| 6266 |
*
|
| 6267 |
* bno055_set_accel_any_motion_no_motion_axis_enable()
|
| 6268 |
*
|
| 6269 |
* Duration:
|
| 6270 |
*
|
| 6271 |
* bno055_set_accel_any_motion_durn()
|
| 6272 |
*
|
| 6273 |
* Threshold:
|
| 6274 |
*
|
| 6275 |
* bno055_set_accel_any_motion_thres()
|
| 6276 |
*
|
| 6277 |
*/
|
| 6278 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_any_motion( |
| 6279 |
u8 accel_any_motion_u8); |
| 6280 |
/*!
|
| 6281 |
* @brief This API used to read the accel nomotion interrupt mask
|
| 6282 |
* from page one register from 0x0F bit 7
|
| 6283 |
*
|
| 6284 |
* @param accel_nomotion_u8 : The value of accel nomotion interrupt mask
|
| 6285 |
* accel_nomotion_u8 | result
|
| 6286 |
* -------------------- |------------
|
| 6287 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6288 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6289 |
*
|
| 6290 |
* @return results of bus communication function
|
| 6291 |
* @retval 0 -> BNO055_SUCCESS
|
| 6292 |
*
|
| 6293 |
* @note While enabling the accel anymotion interrupt
|
| 6294 |
* configure the following settings
|
| 6295 |
*
|
| 6296 |
* Axis:
|
| 6297 |
*
|
| 6298 |
* bno055_set_accel_any_motion_no_motion_axis_enable()
|
| 6299 |
*
|
| 6300 |
* Duration:
|
| 6301 |
*
|
| 6302 |
* bno055_set_accel_any_motion_durn()
|
| 6303 |
*
|
| 6304 |
* Threshold:
|
| 6305 |
*
|
| 6306 |
* bno055_set_accel_any_motion_thres())
|
| 6307 |
*
|
| 6308 |
*/
|
| 6309 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_no_motion( |
| 6310 |
u8 *accel_nomotion_u8); |
| 6311 |
/*!
|
| 6312 |
* @brief This API used to write the accel nomotion interrupt mask
|
| 6313 |
* from page one register from 0x0F bit 7
|
| 6314 |
*
|
| 6315 |
* @param accel_nomotion_u8 : The value of accel nomotion interrupt mask
|
| 6316 |
* accel_nomotion_u8 | result
|
| 6317 |
* -------------------- |------------
|
| 6318 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6319 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6320 |
*
|
| 6321 |
* @return results of bus communication function
|
| 6322 |
* @retval 0 -> BNO055_SUCCESS
|
| 6323 |
* @retval 1 -> BNO055_ERROR
|
| 6324 |
*
|
| 6325 |
* @note While enabling the accel nomotion interrupt
|
| 6326 |
* configure the following settings
|
| 6327 |
*
|
| 6328 |
* Axis:
|
| 6329 |
*
|
| 6330 |
* bno055_set_accel_any_motion_no_motion_axis_enable()
|
| 6331 |
*
|
| 6332 |
* Threshold :
|
| 6333 |
*
|
| 6334 |
* bno055_set_accel_slow_no_motion_thres()
|
| 6335 |
*
|
| 6336 |
* Duration :
|
| 6337 |
*
|
| 6338 |
* bno055_set_accel_slow_no_motion_durn()
|
| 6339 |
*
|
| 6340 |
* Slow/no motion enable:
|
| 6341 |
*
|
| 6342 |
* bno055_set_accel_slow_no_motion_enable()
|
| 6343 |
*
|
| 6344 |
*/
|
| 6345 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_no_motion( |
| 6346 |
u8 accel_nomotion_u8); |
| 6347 |
/*****************************************************/
|
| 6348 |
/**\name FUNCTIONS FOR GYRO INTERRUPT */
|
| 6349 |
/*****************************************************/
|
| 6350 |
/*!
|
| 6351 |
* @brief This API used to read the gyro anymotion interrupt
|
| 6352 |
* from page one register from 0x10 bit 2
|
| 6353 |
*
|
| 6354 |
* @param gyro_any_motion_u8 : The value of gyro anymotion interrupt
|
| 6355 |
* gyro_any_motion_u8 | result
|
| 6356 |
* -------------------- |------------
|
| 6357 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6358 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6359 |
*
|
| 6360 |
* @return results of bus communication function
|
| 6361 |
* @retval 0 -> BNO055_SUCCESS
|
| 6362 |
* @retval 1 -> BNO055_ERROR
|
| 6363 |
*
|
| 6364 |
* @note While enabling the gyro anymotion interrupt
|
| 6365 |
* configure the following settings
|
| 6366 |
*
|
| 6367 |
* Axis:
|
| 6368 |
* bno055_set_gyro_any_motion_axis_enable()
|
| 6369 |
*
|
| 6370 |
* Filter setting:
|
| 6371 |
* bno055_set_gyro_any_motion_filter()
|
| 6372 |
*
|
| 6373 |
* Threshold :
|
| 6374 |
*
|
| 6375 |
* bno055_set_gyro_any_motion_thres()
|
| 6376 |
*
|
| 6377 |
* Slope samples :
|
| 6378 |
*
|
| 6379 |
* bno055_set_gyro_any_motion_slope_samples()
|
| 6380 |
*
|
| 6381 |
* Awake duration :
|
| 6382 |
*
|
| 6383 |
* bno055_set_gyro_any_motion_awake_durn()
|
| 6384 |
*/
|
| 6385 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_any_motion( |
| 6386 |
u8 *gyro_any_motion_u8); |
| 6387 |
/*!
|
| 6388 |
* @brief This API used to write the gyro anymotion interrupt
|
| 6389 |
* from page one register from 0x10 bit 2
|
| 6390 |
*
|
| 6391 |
* @param gyro_any_motion_u8 : The value of gyro anymotion interrupt
|
| 6392 |
* gyro_any_motion_u8 | result
|
| 6393 |
* -------------------- |------------
|
| 6394 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6395 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6396 |
*
|
| 6397 |
* @return results of bus communication function
|
| 6398 |
* @retval 0 -> BNO055_SUCCESS
|
| 6399 |
* @retval 1 -> BNO055_ERROR
|
| 6400 |
*
|
| 6401 |
* @note While enabling the gyro anymotion interrupt
|
| 6402 |
* configure the following settings
|
| 6403 |
*
|
| 6404 |
* Axis:
|
| 6405 |
* bno055_set_gyro_any_motion_axis_enable()
|
| 6406 |
*
|
| 6407 |
* Filter setting:
|
| 6408 |
* bno055_set_gyro_any_motion_filter()
|
| 6409 |
*
|
| 6410 |
* Threshold :
|
| 6411 |
*
|
| 6412 |
* bno055_set_gyro_any_motion_thres()
|
| 6413 |
*
|
| 6414 |
* Slope samples :
|
| 6415 |
*
|
| 6416 |
* bno055_set_gyro_any_motion_slope_samples()
|
| 6417 |
*
|
| 6418 |
* Awake duration :
|
| 6419 |
*
|
| 6420 |
* bno055_set_gyro_any_motion_awake_durn()
|
| 6421 |
*/
|
| 6422 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_any_motion( |
| 6423 |
u8 gyro_any_motion_u8); |
| 6424 |
/*!
|
| 6425 |
* @brief This API used to read the gyro highrate interrupt
|
| 6426 |
* from page one register from 0x10 bit 3
|
| 6427 |
*
|
| 6428 |
* @param gyro_highrate_u8 : The value of gyro highrate interrupt
|
| 6429 |
* gyro_highrate_u8 | result
|
| 6430 |
* -------------------- |------------
|
| 6431 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6432 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6433 |
*
|
| 6434 |
* @return results of bus communication function
|
| 6435 |
* @retval 0 -> BNO055_SUCCESS
|
| 6436 |
* @retval 1 -> BNO055_ERROR
|
| 6437 |
*
|
| 6438 |
* @note While enabling the gyro highrate interrupt
|
| 6439 |
* configure the below settings by using
|
| 6440 |
* the following APIs
|
| 6441 |
*
|
| 6442 |
* Axis :
|
| 6443 |
*
|
| 6444 |
* bno055_set_gyro_highrate_axis_enable()
|
| 6445 |
*
|
| 6446 |
* Filter :
|
| 6447 |
*
|
| 6448 |
* bno055_set_gyro_highrate_filter()
|
| 6449 |
*
|
| 6450 |
* Threshold :
|
| 6451 |
*
|
| 6452 |
* bno055_get_gyro_highrate_x_thres()
|
| 6453 |
*
|
| 6454 |
* bno055_get_gyro_highrate_y_thres()
|
| 6455 |
*
|
| 6456 |
* bno055_get_gyro_highrate_z_thres()
|
| 6457 |
*
|
| 6458 |
* Hysteresis :
|
| 6459 |
*
|
| 6460 |
* bno055_set_gyro_highrate_x_hyst()
|
| 6461 |
*
|
| 6462 |
* bno055_set_gyro_highrate_y_hyst()
|
| 6463 |
*
|
| 6464 |
* bno055_set_gyro_highrate_z_hyst()
|
| 6465 |
*
|
| 6466 |
* Duration :
|
| 6467 |
*
|
| 6468 |
* bno055_set_gyro_highrate_x_durn()
|
| 6469 |
*
|
| 6470 |
* bno055_set_gyro_highrate_y_durn()
|
| 6471 |
*
|
| 6472 |
* bno055_set_gyro_highrate_z_durn()
|
| 6473 |
*
|
| 6474 |
*/
|
| 6475 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_highrate(u8 *gyro_highrate_u8); |
| 6476 |
/*!
|
| 6477 |
* @brief This API used to write the gyro highrate interrupt
|
| 6478 |
* from page one register from 0x10 bit 3
|
| 6479 |
*
|
| 6480 |
* @param gyro_highrate_u8 : The value of gyro highrate interrupt
|
| 6481 |
* gyro_highrate_u8 | result
|
| 6482 |
* -------------------- |------------
|
| 6483 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6484 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6485 |
*
|
| 6486 |
* @return results of bus communication function
|
| 6487 |
* @retval 0 -> BNO055_SUCCESS
|
| 6488 |
* @retval 1 -> BNO055_ERROR
|
| 6489 |
*
|
| 6490 |
* @note While enabling the gyro highrate interrupt
|
| 6491 |
* configure the below settings by using
|
| 6492 |
* the following APIs
|
| 6493 |
*
|
| 6494 |
* Axis :
|
| 6495 |
*
|
| 6496 |
* bno055_set_gyro_highrate_axis_enable()
|
| 6497 |
*
|
| 6498 |
* Filter :
|
| 6499 |
*
|
| 6500 |
* bno055_set_gyro_highrate_filter()
|
| 6501 |
*
|
| 6502 |
* Threshold :
|
| 6503 |
*
|
| 6504 |
* bno055_get_gyro_highrate_x_thres()
|
| 6505 |
*
|
| 6506 |
* bno055_get_gyro_highrate_y_thres()
|
| 6507 |
*
|
| 6508 |
* bno055_get_gyro_highrate_z_thres()
|
| 6509 |
*
|
| 6510 |
* Hysteresis :
|
| 6511 |
*
|
| 6512 |
* bno055_set_gyro_highrate_x_hyst()
|
| 6513 |
*
|
| 6514 |
* bno055_set_gyro_highrate_y_hyst()
|
| 6515 |
*
|
| 6516 |
* bno055_set_gyro_highrate_z_hyst()
|
| 6517 |
*
|
| 6518 |
* Duration :
|
| 6519 |
*
|
| 6520 |
* bno055_set_gyro_highrate_x_durn()
|
| 6521 |
*
|
| 6522 |
* bno055_set_gyro_highrate_y_durn()
|
| 6523 |
*
|
| 6524 |
* bno055_set_gyro_highrate_z_durn()
|
| 6525 |
*
|
| 6526 |
*/
|
| 6527 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_highrate(u8 gyro_highrate_u8); |
| 6528 |
/*****************************************************/
|
| 6529 |
/**\name FUNCTIONS FOR ACCEL INTERRUPT */
|
| 6530 |
/*****************************************************/
|
| 6531 |
/*!
|
| 6532 |
* @brief This API used to read the accel highg interrupt
|
| 6533 |
* from page one register from 0x10 bit 5
|
| 6534 |
*
|
| 6535 |
* @param accel_high_g_u8 : The value of accel highg interrupt
|
| 6536 |
* accel_high_g_u8 | result
|
| 6537 |
* -------------------- |------------
|
| 6538 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6539 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6540 |
*
|
| 6541 |
* @return results of bus communication function
|
| 6542 |
* @retval 0 -> BNO055_SUCCESS
|
| 6543 |
* @retval 1 -> BNO055_ERROR
|
| 6544 |
*
|
| 6545 |
* @note While enabling the accel highg interrupt
|
| 6546 |
* configure the below settings by using
|
| 6547 |
* the following APIs
|
| 6548 |
*
|
| 6549 |
* Axis :
|
| 6550 |
*
|
| 6551 |
* bno055_set_accel_high_g_axis_enable()
|
| 6552 |
*
|
| 6553 |
* Threshold :
|
| 6554 |
*
|
| 6555 |
* bno055_set_accel_high_g_thres()
|
| 6556 |
*
|
| 6557 |
* Duration :
|
| 6558 |
*
|
| 6559 |
* bno055_set_accel_high_g_durn()
|
| 6560 |
*
|
| 6561 |
*/
|
| 6562 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_high_g(u8 *accel_high_g_u8); |
| 6563 |
/*!
|
| 6564 |
* @brief This API used to write the accel highg interrupt
|
| 6565 |
* from page one register from 0x10 bit 5
|
| 6566 |
*
|
| 6567 |
* @param accel_high_g_u8 : The value of accel highg interrupt
|
| 6568 |
* accel_high_g_u8 | result
|
| 6569 |
* -------------------- |------------
|
| 6570 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6571 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6572 |
*
|
| 6573 |
* @return results of bus communication function
|
| 6574 |
* @retval 0 -> BNO055_SUCCESS
|
| 6575 |
* @retval 1 -> BNO055_ERROR
|
| 6576 |
*
|
| 6577 |
* @note While enabling the accel highg interrupt
|
| 6578 |
* configure the below settings by using
|
| 6579 |
* the following APIs
|
| 6580 |
*
|
| 6581 |
* Axis :
|
| 6582 |
*
|
| 6583 |
* bno055_set_accel_high_g_axis_enable()
|
| 6584 |
*
|
| 6585 |
* Threshold :
|
| 6586 |
*
|
| 6587 |
* bno055_set_accel_high_g_thres()
|
| 6588 |
*
|
| 6589 |
* Duration :
|
| 6590 |
*
|
| 6591 |
* bno055_set_accel_high_g_durn()
|
| 6592 |
*
|
| 6593 |
*/
|
| 6594 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_high_g(u8 accel_high_g_u8); |
| 6595 |
/*!
|
| 6596 |
* @brief This API used to read the accel anymotion interrupt
|
| 6597 |
* from page one register from 0x10 bit 6
|
| 6598 |
*
|
| 6599 |
* @param accel_any_motion_u8 : The value of accel anymotion interrupt
|
| 6600 |
* accel_any_motion_u8 | result
|
| 6601 |
* -------------------- |------------
|
| 6602 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6603 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6604 |
*
|
| 6605 |
* @return results of bus communication function
|
| 6606 |
* @retval 0 -> BNO055_SUCCESS
|
| 6607 |
* @retval 1 -> BNO055_ERROR
|
| 6608 |
*
|
| 6609 |
* @note While enabling the accel anymotion interrupt
|
| 6610 |
* configure the following settings
|
| 6611 |
*
|
| 6612 |
* Axis:
|
| 6613 |
*
|
| 6614 |
* bno055_set_accel_any_motion_no_motion_axis_enable()
|
| 6615 |
*
|
| 6616 |
* Duration:
|
| 6617 |
*
|
| 6618 |
* bno055_set_accel_any_motion_durn()
|
| 6619 |
*
|
| 6620 |
* Threshold:
|
| 6621 |
*
|
| 6622 |
* bno055_set_accel_any_motion_thres()
|
| 6623 |
*
|
| 6624 |
*/
|
| 6625 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_any_motion( |
| 6626 |
u8 *accel_any_motion_u8); |
| 6627 |
/*!
|
| 6628 |
* @brief This API used to write the accel anymotion interrupt
|
| 6629 |
* from page one register from 0x10 bit 6
|
| 6630 |
*
|
| 6631 |
* @param accel_any_motion_u8 : The value of accel anymotion interrupt
|
| 6632 |
* accel_any_motion_u8 | result
|
| 6633 |
* -------------------- |------------
|
| 6634 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6635 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6636 |
*
|
| 6637 |
* @return results of bus communication function
|
| 6638 |
* @retval 0 -> BNO055_SUCCESS
|
| 6639 |
* @retval 1 -> BNO055_ERROR
|
| 6640 |
*
|
| 6641 |
* @note While enabling the accel anymotion interrupt
|
| 6642 |
* configure the following settings
|
| 6643 |
*
|
| 6644 |
* Axis:
|
| 6645 |
*
|
| 6646 |
* bno055_set_accel_any_motion_no_motion_axis_enable()
|
| 6647 |
*
|
| 6648 |
* Duration:
|
| 6649 |
*
|
| 6650 |
* bno055_set_accel_any_motion_durn()
|
| 6651 |
*
|
| 6652 |
* Threshold:
|
| 6653 |
*
|
| 6654 |
* bno055_set_accel_any_motion_thres()
|
| 6655 |
*
|
| 6656 |
*/
|
| 6657 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_any_motion( |
| 6658 |
u8 accel_any_motion_u8); |
| 6659 |
/*!
|
| 6660 |
* @brief This API used to read the accel nomotion interrupt
|
| 6661 |
* from page one register from 0x10 bit 6
|
| 6662 |
*
|
| 6663 |
* @param accel_nomotion_u8 : The value of accel nomotion interrupt
|
| 6664 |
* accel_nomotion_u8 | result
|
| 6665 |
* -------------------- |------------
|
| 6666 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6667 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6668 |
*
|
| 6669 |
* @return results of bus communication function
|
| 6670 |
* @retval 0 -> BNO055_SUCCESS
|
| 6671 |
* @retval 1 -> BNO055_ERROR
|
| 6672 |
*
|
| 6673 |
* @note While enabling the accel nomotion interrupt
|
| 6674 |
* configure the following settings
|
| 6675 |
*
|
| 6676 |
* Axis:
|
| 6677 |
*
|
| 6678 |
* bno055_set_accel_any_motion_no_motion_axis_enable()
|
| 6679 |
*
|
| 6680 |
* Threshold :
|
| 6681 |
*
|
| 6682 |
* bno055_set_accel_slow_no_motion_thres()
|
| 6683 |
*
|
| 6684 |
* Duration :
|
| 6685 |
*
|
| 6686 |
* bno055_set_accel_slow_no_motion_durn()
|
| 6687 |
*
|
| 6688 |
* Slow/no motion enable:
|
| 6689 |
*
|
| 6690 |
* bno055_set_accel_slow_no_motion_enable()
|
| 6691 |
*
|
| 6692 |
*/
|
| 6693 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_no_motion( |
| 6694 |
u8 *accel_nomotion_u8); |
| 6695 |
/*!
|
| 6696 |
* @brief This API used to write the accel nomotion interrupt
|
| 6697 |
* from page one register from 0x10 bit 6
|
| 6698 |
*
|
| 6699 |
* @param accel_nomotion_u8 : The value of accel nomotion interrupt
|
| 6700 |
* accel_nomotion_u8 | result
|
| 6701 |
* -------------------- |------------
|
| 6702 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6703 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6704 |
*
|
| 6705 |
* @return results of bus communication function
|
| 6706 |
* @retval 0 -> BNO055_SUCCESS
|
| 6707 |
* @retval 1 -> BNO055_ERROR
|
| 6708 |
*
|
| 6709 |
* @note While enabling the accel nomotion interrupt
|
| 6710 |
* configure the following settings
|
| 6711 |
*
|
| 6712 |
* Axis:
|
| 6713 |
*
|
| 6714 |
* bno055_set_accel_any_motion_no_motion_axis_enable()
|
| 6715 |
*
|
| 6716 |
* Threshold :
|
| 6717 |
*
|
| 6718 |
* bno055_set_accel_slow_no_motion_thres()
|
| 6719 |
*
|
| 6720 |
* Duration :
|
| 6721 |
*
|
| 6722 |
* bno055_set_accel_slow_no_motion_durn()
|
| 6723 |
*
|
| 6724 |
* Slow/no motion enable:
|
| 6725 |
*
|
| 6726 |
* bno055_set_accel_slow_no_motion_enable()
|
| 6727 |
*
|
| 6728 |
*/
|
| 6729 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_no_motion( |
| 6730 |
u8 accel_nomotion_u8); |
| 6731 |
/*****************************************************/
|
| 6732 |
/**\name FUNCTIONS FOR ACCEL ANY_MOTION THRESHOLD */
|
| 6733 |
/*****************************************************/
|
| 6734 |
/*!
|
| 6735 |
* @brief This API used to read the accel any motion threshold
|
| 6736 |
* from page one register from 0x11 bit 0 to 7
|
| 6737 |
*
|
| 6738 |
* @param accel_any_motion_thres_u8 : The value of any motion threshold
|
| 6739 |
* accel_any_motion_thres_u8 | result
|
| 6740 |
* ------------------------ | -------------
|
| 6741 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6742 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6743 |
*
|
| 6744 |
* @return results of bus communication function
|
| 6745 |
* @retval 0 -> BNO055_SUCCESS
|
| 6746 |
* @retval 1 -> BNO055_ERROR
|
| 6747 |
*
|
| 6748 |
* @note Accel anymotion threshold dependent on the
|
| 6749 |
* range values
|
| 6750 |
*
|
| 6751 |
* accel_range_u8 | threshold | LSB
|
| 6752 |
* ------------- | ------------- | ---------
|
| 6753 |
* 2g | 3.19mg | 1LSB
|
| 6754 |
* 4g | 7.81mg | 1LSB
|
| 6755 |
* 8g | 15.63mg | 1LSB
|
| 6756 |
* 16g | 31.25mg | 1LSB
|
| 6757 |
*
|
| 6758 |
*/
|
| 6759 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_thres( |
| 6760 |
u8 *accel_any_motion_thres_u8); |
| 6761 |
/*!
|
| 6762 |
* @brief This API used to write the accel any motion threshold
|
| 6763 |
* from page one register from 0x11 bit 0 to 7
|
| 6764 |
*
|
| 6765 |
* @param accel_any_motion_thres_u8 : The value of any motion threshold
|
| 6766 |
* accel_any_motion_thres_u8 | result
|
| 6767 |
* ------------------------ | -------------
|
| 6768 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6769 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6770 |
*
|
| 6771 |
* @return results of bus communication function
|
| 6772 |
* @retval 0 -> BNO055_SUCCESS
|
| 6773 |
* @retval 1 -> BNO055_ERROR
|
| 6774 |
*
|
| 6775 |
* @note Accel anymotion threshold dependent on the
|
| 6776 |
* range values
|
| 6777 |
*
|
| 6778 |
* accel_range_u8 | threshold | LSB
|
| 6779 |
* ------------- | ------------- | ---------
|
| 6780 |
* 2g | 3.19mg | 1LSB
|
| 6781 |
* 4g | 7.81mg | 1LSB
|
| 6782 |
* 8g | 15.63mg | 1LSB
|
| 6783 |
* 16g | 31.25mg | 1LSB
|
| 6784 |
*
|
| 6785 |
*/
|
| 6786 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_thres( |
| 6787 |
u8 accel_any_motion_thres_u8); |
| 6788 |
/*****************************************************/
|
| 6789 |
/**\name FUNCTIONS FOR ACCEL ANY_MOTION DURATION */
|
| 6790 |
/*****************************************************/
|
| 6791 |
/*!
|
| 6792 |
* @brief This API used to read the accel anymotion duration
|
| 6793 |
* from page one register from 0x12 bit 0 to 1
|
| 6794 |
*
|
| 6795 |
* @param accel_any_motion_durn_u8 : The value of accel anymotion duration
|
| 6796 |
* accel_any_motion_durn_u8 | result
|
| 6797 |
* ------------------------- | -------------
|
| 6798 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6799 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6800 |
*
|
| 6801 |
* @return results of bus communication function
|
| 6802 |
* @retval 0 -> BNO055_SUCCESS
|
| 6803 |
* @retval 1 -> BNO055_ERROR
|
| 6804 |
*
|
| 6805 |
*
|
| 6806 |
*/
|
| 6807 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_durn( |
| 6808 |
u8 *accel_any_motion_durn_u8); |
| 6809 |
/*!
|
| 6810 |
* @brief This API used to write the accel anymotion duration
|
| 6811 |
* from page one register from 0x12 bit 0 to 1
|
| 6812 |
*
|
| 6813 |
* @param accel_any_motion_durn_u8 : The value of accel anymotion duration
|
| 6814 |
*
|
| 6815 |
* accel_any_motion_durn_u8 | result
|
| 6816 |
* ------------------------- | -------------
|
| 6817 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6818 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6819 |
*
|
| 6820 |
* @return results of bus communication function
|
| 6821 |
* @retval 0 -> BNO055_SUCCESS
|
| 6822 |
* @retval 1 -> BNO055_ERROR
|
| 6823 |
*
|
| 6824 |
*
|
| 6825 |
*/
|
| 6826 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_durn( |
| 6827 |
u8 accel_any_motion_durn_u8); |
| 6828 |
/*****************************************************/
|
| 6829 |
/**\name FUNCTIONS FOR ACCEL ANY_MOTION AXIS ENABLE */
|
| 6830 |
/*****************************************************/
|
| 6831 |
/*!
|
| 6832 |
* @brief This API used to read the accel anymotion enable
|
| 6833 |
* from page one register from 0x12 bit 2 to 4
|
| 6834 |
*
|
| 6835 |
* @param data_u8 : The value of accel anymotion enable
|
| 6836 |
* data_u8 | result
|
| 6837 |
* ------------ | -------------
|
| 6838 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6839 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6840 |
* @param channel_u8 : The value of accel anymotion axis selection
|
| 6841 |
* channel_u8 | value
|
| 6842 |
* -------------------------- | ----------
|
| 6843 |
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS | 0
|
| 6844 |
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 1
|
| 6845 |
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 2
|
| 6846 |
*
|
| 6847 |
* @return results of bus communication function
|
| 6848 |
* @retval 0 -> BNO055_SUCCESS
|
| 6849 |
* @retval 1 -> BNO055_ERROR
|
| 6850 |
*
|
| 6851 |
*
|
| 6852 |
*/
|
| 6853 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_no_motion_axis_enable( |
| 6854 |
u8 channel_u8, u8 *data_u8); |
| 6855 |
/*!
|
| 6856 |
* @brief This API used to write the accel anymotion enable
|
| 6857 |
* from page one register from 0x12 bit 2 to 4
|
| 6858 |
*
|
| 6859 |
* @param data_u8 : The value of accel anymotion enable
|
| 6860 |
* data_u8 | result
|
| 6861 |
* ------------ | -------------
|
| 6862 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6863 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6864 |
* @param channel_u8 : The value of accel anymotion axis selection
|
| 6865 |
* channel_u8 | value
|
| 6866 |
* -------------------------- | ----------
|
| 6867 |
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS | 0
|
| 6868 |
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 1
|
| 6869 |
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 2
|
| 6870 |
*
|
| 6871 |
* @return results of bus communication function
|
| 6872 |
* @retval 0 -> BNO055_SUCCESS
|
| 6873 |
* @retval 1 -> BNO055_ERROR
|
| 6874 |
*
|
| 6875 |
*
|
| 6876 |
*/
|
| 6877 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_no_motion_axis_enable( |
| 6878 |
u8 channel_u8, u8 data_u8); |
| 6879 |
/*****************************************************/
|
| 6880 |
/**\name FUNCTIONS FOR ACCEL HIGHG AXIS ENABLE */
|
| 6881 |
/*****************************************************/
|
| 6882 |
/*!
|
| 6883 |
* @brief This API used to read the accel highg enable
|
| 6884 |
* from page one register from 0x12 bit 5 to 7
|
| 6885 |
*
|
| 6886 |
* @param data_u8 : The value of accel highg enable
|
| 6887 |
* data_u8| result
|
| 6888 |
* ------------ | -------------
|
| 6889 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6890 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6891 |
* @param channel_u8 : The value of accel highg axis selection
|
| 6892 |
* channel_u8 | value
|
| 6893 |
* -------------------------- | ----------
|
| 6894 |
* BNO055_ACCEL_HIGH_G_X_AXIS | 0
|
| 6895 |
* BNO055_ACCEL_HIGH_G_Y_AXIS | 1
|
| 6896 |
* BNO055_ACCEL_HIGH_G_Z_AXIS | 2
|
| 6897 |
*
|
| 6898 |
* @return results of bus communication function
|
| 6899 |
* @retval 0 -> BNO055_SUCCESS
|
| 6900 |
* @retval 1 -> BNO055_ERROR
|
| 6901 |
*
|
| 6902 |
*
|
| 6903 |
*/
|
| 6904 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_axis_enable(u8 channel_u8, |
| 6905 |
u8 *data_u8); |
| 6906 |
/*!
|
| 6907 |
* @brief This API used to write the accel highg enable
|
| 6908 |
* from page one register from 0x12 bit 5 to 7
|
| 6909 |
*
|
| 6910 |
* @param data_u8 : The value of accel highg enable
|
| 6911 |
* data_u8| result
|
| 6912 |
* ------------ | -------------
|
| 6913 |
* 0x01 | BNO055_BIT_ENABLE
|
| 6914 |
* 0x00 | BNO055_BIT_DISABLE
|
| 6915 |
* @param channel_u8 : The value of accel highg axis selection
|
| 6916 |
* channel_u8 | value
|
| 6917 |
* -------------------------- | ----------
|
| 6918 |
* BNO055_ACCEL_HIGH_G_X_AXIS | 0
|
| 6919 |
* BNO055_ACCEL_HIGH_G_Y_AXIS | 1
|
| 6920 |
* BNO055_ACCEL_HIGH_G_Z_AXIS | 2
|
| 6921 |
*
|
| 6922 |
* @return results of bus communication function
|
| 6923 |
* @retval 0 -> BNO055_SUCCESS
|
| 6924 |
* @retval 1 -> BNO055_ERROR
|
| 6925 |
*
|
| 6926 |
*
|
| 6927 |
*/
|
| 6928 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_axis_enable(u8 channel_u8, |
| 6929 |
u8 data_u8); |
| 6930 |
/*****************************************************/
|
| 6931 |
/**\name FUNCTIONS FOR ACCEL HIGHG DURATION */
|
| 6932 |
/*****************************************************/
|
| 6933 |
/*!
|
| 6934 |
* @brief This API used to read the accel highg duration
|
| 6935 |
* from page one register from 0x13 bit 0 to 7
|
| 6936 |
*
|
| 6937 |
* @param accel_high_g_durn_u8 : The value of accel highg duration
|
| 6938 |
*
|
| 6939 |
* @return results of bus communication function
|
| 6940 |
* @retval 0 -> BNO055_SUCCESS
|
| 6941 |
* @retval 1 -> BNO055_ERROR
|
| 6942 |
*
|
| 6943 |
* @note The high-g interrupt trigger delay according
|
| 6944 |
* to [highg duration + 1] * 2 ms
|
| 6945 |
*
|
| 6946 |
* in a range from 2 ms to 512 ms
|
| 6947 |
*
|
| 6948 |
*/
|
| 6949 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_durn( |
| 6950 |
u8 *accel_high_g_durn_u8); |
| 6951 |
/*!
|
| 6952 |
* @brief This API used to write the accel highg duration
|
| 6953 |
* from page one register from 0x13 bit 0 to 7
|
| 6954 |
*
|
| 6955 |
* @param accel_high_g_durn_u8 : The value of accel highg duration
|
| 6956 |
*
|
| 6957 |
* @return results of bus communication function
|
| 6958 |
* @retval 0 -> BNO055_SUCCESS
|
| 6959 |
* @retval 1 -> BNO055_ERROR
|
| 6960 |
*
|
| 6961 |
* @note The high-g interrupt trigger delay according
|
| 6962 |
* to [highg duration + 1] * 2 ms
|
| 6963 |
*
|
| 6964 |
* in a range from 2 ms to 512 ms
|
| 6965 |
*
|
| 6966 |
*/
|
| 6967 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_durn( |
| 6968 |
u8 accel_high_g_durn_u8); |
| 6969 |
/*****************************************************/
|
| 6970 |
/**\name FUNCTIONS FOR ACCEL HIGHG THRESHOLD */
|
| 6971 |
/*****************************************************/
|
| 6972 |
/*!
|
| 6973 |
* @brief This API used to read the accel highg threshold
|
| 6974 |
* from page one register from 0x14 bit 0 to 7
|
| 6975 |
*
|
| 6976 |
* @param accel_high_g_thres_u8 : The value of accel highg threshold
|
| 6977 |
*
|
| 6978 |
* @return results of bus communication function
|
| 6979 |
* @retval 0 -> BNO055_SUCCESS
|
| 6980 |
* @retval 1 -> BNO055_ERROR
|
| 6981 |
*
|
| 6982 |
* @note Accel highg interrupt threshold dependent
|
| 6983 |
* for accel g range
|
| 6984 |
*
|
| 6985 |
* accel_range_u8 | threshold | LSB
|
| 6986 |
* ------------- | ------------- | ---------
|
| 6987 |
* 2g | 7.81mg | 1LSB
|
| 6988 |
* 4g | 15.63mg | 1LSB
|
| 6989 |
* 8g | 31.25mg | 1LSB
|
| 6990 |
* 16g | 62.5mg | 1LSB
|
| 6991 |
*
|
| 6992 |
*/
|
| 6993 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_thres( |
| 6994 |
u8 *accel_high_g_thres_u8); |
| 6995 |
/*!
|
| 6996 |
* @brief This API used to write the accel highg threshold
|
| 6997 |
* from page one register from 0x14 bit 0 to 7
|
| 6998 |
*
|
| 6999 |
* @param accel_high_g_thres_u8 : The value of accel highg threshold
|
| 7000 |
*
|
| 7001 |
* @return results of bus communication function
|
| 7002 |
* @retval 0 -> BNO055_SUCCESS
|
| 7003 |
* @retval 1 -> BNO055_ERROR
|
| 7004 |
*
|
| 7005 |
* @note Accel highg interrupt threshold dependent
|
| 7006 |
* for accel g range
|
| 7007 |
*
|
| 7008 |
* accel_range_u8 | threshold | LSB
|
| 7009 |
* ------------- | ------------- | ---------
|
| 7010 |
* 2g | 7.81mg | 1LSB
|
| 7011 |
* 4g | 15.63mg | 1LSB
|
| 7012 |
* 8g | 31.25mg | 1LSB
|
| 7013 |
* 16g | 62.5mg | 1LSB
|
| 7014 |
*
|
| 7015 |
*/
|
| 7016 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_thres( |
| 7017 |
u8 accel_high_g_thres_u8); |
| 7018 |
/**************************************************************/
|
| 7019 |
/**\name FUNCTIONS FOR ACCEL SLOWNOMOTION THRESHOLD */
|
| 7020 |
/**************************************************************/
|
| 7021 |
/*!
|
| 7022 |
* @brief This API used to read the accel slownomotion threshold
|
| 7023 |
* from page one register from 0x15 bit 0 to 7
|
| 7024 |
*
|
| 7025 |
* @param accel_slow_no_motion_thres_u8 :
|
| 7026 |
* The value of accel slownomotion threshold
|
| 7027 |
*
|
| 7028 |
* @return results of bus communication function
|
| 7029 |
* @retval 0 -> BNO055_SUCCESS
|
| 7030 |
* @retval 1 -> BNO055_ERROR
|
| 7031 |
*
|
| 7032 |
* @note Accel slow no motion interrupt threshold dependent
|
| 7033 |
* for accel g range
|
| 7034 |
*
|
| 7035 |
* accel_range_u8 | threshold | LSB
|
| 7036 |
* ------------- | ------------- | ---------
|
| 7037 |
* 2g | 3.19mg | 1LSB
|
| 7038 |
* 4g | 7.81mg | 1LSB
|
| 7039 |
* 8g | 15.63mg | 1LSB
|
| 7040 |
* 16g | 31.25mg | 1LSB
|
| 7041 |
*/
|
| 7042 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_thres( |
| 7043 |
u8 *accel_slow_no_motion_thres_u8); |
| 7044 |
/*!
|
| 7045 |
* @brief This API used to write the accel slownomotion threshold
|
| 7046 |
* from page one register from 0x15 bit 0 to 7
|
| 7047 |
*
|
| 7048 |
* @param accel_slow_no_motion_thres_u8 :
|
| 7049 |
* The value of accel slownomotion threshold
|
| 7050 |
*
|
| 7051 |
* @return results of bus communication function
|
| 7052 |
* @retval 0 -> BNO055_SUCCESS
|
| 7053 |
* @retval 1 -> BNO055_ERROR
|
| 7054 |
*
|
| 7055 |
* @note Accel slow no motion interrupt threshold dependent
|
| 7056 |
* for accel g range
|
| 7057 |
*
|
| 7058 |
* accel_range_u8 | threshold | LSB
|
| 7059 |
* ------------- | ------------- | ---------
|
| 7060 |
* 2g | 3.19mg | 1LSB
|
| 7061 |
* 4g | 7.81mg | 1LSB
|
| 7062 |
* 8g | 15.63mg | 1LSB
|
| 7063 |
* 16g | 31.25mg | 1LSB
|
| 7064 |
*/
|
| 7065 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_thres( |
| 7066 |
u8 accel_slow_no_motion_thres_u8); |
| 7067 |
/**************************************************************/
|
| 7068 |
/**\name FUNCTIONS FOR ACCEL SLOWNOMOTION ENABLE */
|
| 7069 |
/**************************************************************/
|
| 7070 |
/*!
|
| 7071 |
* @brief This API used to read accel slownomotion enable
|
| 7072 |
* from page one register from 0x16 bit 0
|
| 7073 |
*
|
| 7074 |
* @param accel_slow_no_motion_en_u8 : The value of accel slownomotion enable
|
| 7075 |
* accel_slow_no_motion_en_u8 | result
|
| 7076 |
* ------------------------ | --------
|
| 7077 |
* 0x01 | Slow motion
|
| 7078 |
* 0x00 | No motion
|
| 7079 |
*
|
| 7080 |
* @return results of bus communication function
|
| 7081 |
* @retval 0 -> BNO055_SUCCESS
|
| 7082 |
* @retval 1 -> BNO055_ERROR
|
| 7083 |
*
|
| 7084 |
*/
|
| 7085 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_enable( |
| 7086 |
u8 *accel_slow_no_motion_en_u8); |
| 7087 |
/*!
|
| 7088 |
* @brief This API used to write accel slownomotion enable
|
| 7089 |
* from page one register from 0x16 bit 0
|
| 7090 |
*
|
| 7091 |
* @param accel_slow_no_motion_en_u8 : The value of accel slownomotion enable
|
| 7092 |
* accel_slow_no_motion_en_u8 | result
|
| 7093 |
* ------------------------ | --------
|
| 7094 |
* 0x01 | Slow motion
|
| 7095 |
* 0x00 | No motion
|
| 7096 |
*
|
| 7097 |
* @return results of bus communication function
|
| 7098 |
* @retval 0 -> BNO055_SUCCESS
|
| 7099 |
* @retval 1 -> BNO055_ERROR
|
| 7100 |
*
|
| 7101 |
*/
|
| 7102 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_enable( |
| 7103 |
u8 accel_slow_no_motion_en_u8); |
| 7104 |
/**************************************************************/
|
| 7105 |
/**\name FUNCTIONS FOR ACCEL SLOWNOMOTION DURATION */
|
| 7106 |
/**************************************************************/
|
| 7107 |
/*!
|
| 7108 |
* @brief This API used to read accel slownomotion duration
|
| 7109 |
* from page one register from 0x16 bit 1 to 6
|
| 7110 |
*
|
| 7111 |
* @param accel_slow_no_motion_durn_u8 :
|
| 7112 |
* The value of accel slownomotion duration
|
| 7113 |
*
|
| 7114 |
* @return results of bus communication function
|
| 7115 |
* @retval 0 -> BNO055_SUCCESS
|
| 7116 |
* @retval 1 -> BNO055_ERROR
|
| 7117 |
*
|
| 7118 |
*/
|
| 7119 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_durn( |
| 7120 |
u8 *accel_slow_no_motion_durn_u8); |
| 7121 |
/*!
|
| 7122 |
* @brief This API used to write accel slownomotion duration
|
| 7123 |
* from page one register from 0x16 bit 1 to 6
|
| 7124 |
*
|
| 7125 |
* @param accel_slow_no_motion_durn_u8 :
|
| 7126 |
* The value of accel slownomotion duration
|
| 7127 |
*
|
| 7128 |
* @return results of bus communication function
|
| 7129 |
* @retval 0 -> BNO055_SUCCESS
|
| 7130 |
* @retval 1 -> BNO055_ERROR
|
| 7131 |
*
|
| 7132 |
*/
|
| 7133 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_durn( |
| 7134 |
u8 accel_slow_no_motion_durn_u8); |
| 7135 |
/**************************************************************/
|
| 7136 |
/**\name FUNCTIONS FOR GYRO ANY_MOTION AXIS ENABLE */
|
| 7137 |
/**************************************************************/
|
| 7138 |
/*!
|
| 7139 |
* @brief This API used to read the gyro anymotion enable
|
| 7140 |
* from page one register from 0x17 bit 0 to 2
|
| 7141 |
*
|
| 7142 |
* @param data_u8 : The value of gyro anymotion enable
|
| 7143 |
* data_u8 | result
|
| 7144 |
* ----------------- |-------------
|
| 7145 |
* 0x01 | BNO055_BIT_ENABLE
|
| 7146 |
* 0x00 | BNO055_BIT_DISABLE
|
| 7147 |
* @param channel_u8 : The value of gyro anymotion axis selection
|
| 7148 |
* channel_u8 | value
|
| 7149 |
* --------------------------- | ----------
|
| 7150 |
* BNO055_GYRO_ANY_MOTIONX_AXIS | 0
|
| 7151 |
* BNO055_GYRO_ANY_MOTIONY_AXIS | 1
|
| 7152 |
* BNO055_GYRO_ANY_MOTIONZ_AXIS | 2
|
| 7153 |
*
|
| 7154 |
*
|
| 7155 |
* @return results of bus communication function
|
| 7156 |
* @retval 0 -> BNO055_SUCCESS
|
| 7157 |
* @retval 1 -> BNO055_ERROR
|
| 7158 |
*
|
| 7159 |
*
|
| 7160 |
*/
|
| 7161 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_axis_enable( |
| 7162 |
u8 channel_u8, u8 *data_u8); |
| 7163 |
/*!
|
| 7164 |
* @brief This API used to write the gyro anymotion enable
|
| 7165 |
* from page one register from 0x17 bit 0 to 2
|
| 7166 |
*
|
| 7167 |
* @param data_u8 : The value of gyro anymotion enable
|
| 7168 |
* data_u8 | result
|
| 7169 |
* ----------------- |-------------
|
| 7170 |
* 0x01 | BNO055_BIT_ENABLE
|
| 7171 |
* 0x00 | BNO055_BIT_DISABLE
|
| 7172 |
* @param channel_u8 : The value of gyro anymotion axis selection
|
| 7173 |
* channel_u8 | value
|
| 7174 |
* --------------------------- | ----------
|
| 7175 |
* BNO055_GYRO_ANY_MOTIONX_AXIS | 0
|
| 7176 |
* BNO055_GYRO_ANY_MOTIONY_AXIS | 1
|
| 7177 |
* BNO055_GYRO_ANY_MOTIONZ_AXIS | 2
|
| 7178 |
*
|
| 7179 |
* @return results of bus communication function
|
| 7180 |
* @retval 0 -> BNO055_SUCCESS
|
| 7181 |
* @retval 1 -> BNO055_ERROR
|
| 7182 |
*
|
| 7183 |
*
|
| 7184 |
*/
|
| 7185 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_axis_enable( |
| 7186 |
u8 channel_u8, u8 data_u8); |
| 7187 |
/**************************************************************/
|
| 7188 |
/**\name FUNCTIONS FOR GYRO HIGHRATE ENABLE */
|
| 7189 |
/**************************************************************/
|
| 7190 |
/*!
|
| 7191 |
* @brief This API used to read the gyro highrate enable
|
| 7192 |
* from page one register from 0x17 bit 3 to 5
|
| 7193 |
*
|
| 7194 |
* @param data_u8 : The value of gyro highrate enable
|
| 7195 |
* data_u8 | result
|
| 7196 |
* ---------------- |-------------
|
| 7197 |
* 0x01 | BNO055_BIT_ENABLE
|
| 7198 |
* 0x00 | BNO055_BIT_DISABLE
|
| 7199 |
* @param channel_u8 : The value of gyro highrate axis selection
|
| 7200 |
* channel_u8 | value
|
| 7201 |
* ------------------------ | ----------
|
| 7202 |
* BNO055_GYRO_HIGHRATE_X_AXIS | 0
|
| 7203 |
* BNO055_GYRO_HIGHRATE_Y_AXIS | 1
|
| 7204 |
* BNO055_GYRO_HIGHRATE_Z_AXIS | 2
|
| 7205 |
*
|
| 7206 |
*
|
| 7207 |
* @return results of bus communication function
|
| 7208 |
* @retval 0 -> BNO055_SUCCESS
|
| 7209 |
* @retval 1 -> BNO055_ERROR
|
| 7210 |
*
|
| 7211 |
*
|
| 7212 |
*/
|
| 7213 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_axis_enable(u8 channel_u8, |
| 7214 |
u8 *data_u8); |
| 7215 |
/**************************************************************/
|
| 7216 |
/**\name FUNCTIONS FOR GYRO HIGHRATE AXIS ENABLE */
|
| 7217 |
/**************************************************************/
|
| 7218 |
/*!
|
| 7219 |
* @brief This API used to write the gyro highrate enable
|
| 7220 |
* from page one register from 0x17 bit 3 to 5
|
| 7221 |
*
|
| 7222 |
* @param data_u8 : The value of gyro highrate enable
|
| 7223 |
* data_u8 | result
|
| 7224 |
* ---------------- |-------------
|
| 7225 |
* 0x01 | BNO055_BIT_ENABLE
|
| 7226 |
* 0x00 | BNO055_BIT_DISABLE
|
| 7227 |
* @param channel_u8 : The value of gyro highrate axis selection
|
| 7228 |
* channel_u8 | value
|
| 7229 |
* ------------------------ | ----------
|
| 7230 |
* BNO055_GYRO_HIGHRATE_X_AXIS | 0
|
| 7231 |
* BNO055_GYRO_HIGHRATE_Y_AXIS | 1
|
| 7232 |
* BNO055_GYRO_HIGHRATE_Z_AXIS | 2
|
| 7233 |
*
|
| 7234 |
* @return results of bus communication function
|
| 7235 |
* @retval 0 -> BNO055_SUCCESS
|
| 7236 |
* @retval 1 -> BNO055_ERROR
|
| 7237 |
*
|
| 7238 |
*
|
| 7239 |
*/
|
| 7240 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_axis_enable(u8 channel_u8, |
| 7241 |
u8 data_u8); |
| 7242 |
/**************************************************************/
|
| 7243 |
/**\name FUNCTIONS FOR GYRO ANY_MOTION FILTER */
|
| 7244 |
/**************************************************************/
|
| 7245 |
/*!
|
| 7246 |
* @brief This API used to read gyro anymotion filter
|
| 7247 |
* from page one register from 0x17 bit 6
|
| 7248 |
*
|
| 7249 |
* @param gyro_any_motion_filter_u8 : The value of gyro anymotion filter
|
| 7250 |
* gyro_any_motion_filter_u8 | result
|
| 7251 |
* --------------------------- |------------
|
| 7252 |
* 0x00 | BNO055_GYRO_FILTERED_CONFIG
|
| 7253 |
* 0x01 | BNO055_GYRO_UNFILTERED_CONFIG
|
| 7254 |
*
|
| 7255 |
* @return results of bus communication function
|
| 7256 |
* @retval 0 -> BNO055_SUCCESS
|
| 7257 |
* @retval 1 -> BNO055_ERROR
|
| 7258 |
*
|
| 7259 |
*/
|
| 7260 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_filter( |
| 7261 |
u8 *gyro_any_motion_filter_u8); |
| 7262 |
/*!
|
| 7263 |
* @brief This API used to write gyro anymotion filter
|
| 7264 |
* from page one register from 0x17 bit 6
|
| 7265 |
*
|
| 7266 |
* @param gyro_any_motion_filter_u8 : The value of gyro anymotion filter
|
| 7267 |
* gyro_any_motion_filter_u8 | result
|
| 7268 |
* --------------------------- |------------
|
| 7269 |
* 0x00 | BNO055_GYRO_FILTERED_CONFIG
|
| 7270 |
* 0x01 | BNO055_GYRO_UNFILTERED_CONFIG
|
| 7271 |
*
|
| 7272 |
* @return results of bus communication function
|
| 7273 |
* @retval 0 -> BNO055_SUCCESS
|
| 7274 |
* @retval 1 -> BNO055_ERROR
|
| 7275 |
*
|
| 7276 |
*/
|
| 7277 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_filter( |
| 7278 |
u8 gyro_any_motion_filter_u8); |
| 7279 |
/**************************************************************/
|
| 7280 |
/**\name FUNCTIONS FOR GYRO HIGHRATE FILTER */
|
| 7281 |
/**************************************************************/
|
| 7282 |
/*!
|
| 7283 |
* @brief This API used to read gyro highrate filter
|
| 7284 |
* from page one register from 0x17 bit 7
|
| 7285 |
*
|
| 7286 |
* @param gyro_highrate_filter_u8 : The value of gyro highrate filter
|
| 7287 |
* gyro_highrate_filter_u8 | result
|
| 7288 |
* --------------------------- |------------
|
| 7289 |
* 0x00 | BNO055_GYRO_FILTERED_CONFIG
|
| 7290 |
* 0x01 | BNO055_GYRO_UNFILTERED_CONFIG
|
| 7291 |
*
|
| 7292 |
* @return results of bus communication function
|
| 7293 |
* @retval 0 -> BNO055_SUCCESS
|
| 7294 |
* @retval 1 -> BNO055_ERROR
|
| 7295 |
*
|
| 7296 |
*/
|
| 7297 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_filter( |
| 7298 |
u8 *gyro_highrate_filter_u8); |
| 7299 |
/*!
|
| 7300 |
* @brief This API used to write gyro highrate filter
|
| 7301 |
* from page one register from 0x17 bit 7
|
| 7302 |
*
|
| 7303 |
* @param gyro_highrate_filter_u8 : The value of gyro highrate filter
|
| 7304 |
* gyro_highrate_filter_u8 | result
|
| 7305 |
* --------------------------- |------------
|
| 7306 |
* 0x00 | BNO055_GYRO_FILTERED_CONFIG
|
| 7307 |
* 0x01 | BNO055_GYRO_UNFILTERED_CONFIG
|
| 7308 |
*
|
| 7309 |
* @return results of bus communication function
|
| 7310 |
* @retval 0 -> BNO055_SUCCESS
|
| 7311 |
* @retval 1 -> BNO055_ERROR
|
| 7312 |
*
|
| 7313 |
*/
|
| 7314 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_filter( |
| 7315 |
u8 gyro_highrate_filter_u8); |
| 7316 |
/**************************************************************/
|
| 7317 |
/**\name FUNCTIONS FOR GYRO HIGHRATE X THRESHOLD */
|
| 7318 |
/**************************************************************/
|
| 7319 |
/*!
|
| 7320 |
* @brief This API used to read gyro highrate x threshold
|
| 7321 |
* from page one register from 0x18 bit 0 to 4
|
| 7322 |
*
|
| 7323 |
* @param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold
|
| 7324 |
*
|
| 7325 |
* @return results of bus communication function
|
| 7326 |
* @retval 0 -> BNO055_SUCCESS
|
| 7327 |
* @retval 1 -> BNO055_ERROR
|
| 7328 |
*
|
| 7329 |
* @note Gyro highrate threshold dependent on the
|
| 7330 |
* selection of gyro range
|
| 7331 |
*
|
| 7332 |
* gyro_range_u8 | threshold | LSB
|
| 7333 |
* ----------------- | ------------- | ---------
|
| 7334 |
* 2000 | 62.5dps | 1LSB
|
| 7335 |
* 1000 | 31.25dps | 1LSB
|
| 7336 |
* 500 | 15.625dps | 1LSB
|
| 7337 |
* 125 | 7.8125dps | 1LSB
|
| 7338 |
*
|
| 7339 |
*/
|
| 7340 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_thres( |
| 7341 |
u8 *gyro_highrate_x_thres_u8); |
| 7342 |
/*!
|
| 7343 |
* @brief This API used to write gyro highrate x threshold
|
| 7344 |
* from page one register from 0x18 bit 0 to 4
|
| 7345 |
*
|
| 7346 |
* @param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold
|
| 7347 |
*
|
| 7348 |
* @return results of bus communication function
|
| 7349 |
* @retval 0 -> BNO055_SUCCESS
|
| 7350 |
* @retval 1 -> BNO055_ERROR
|
| 7351 |
*
|
| 7352 |
* @note Gyro highrate threshold dependent on the
|
| 7353 |
* selection of gyro range
|
| 7354 |
*
|
| 7355 |
* gyro_range_u8 | threshold | LSB
|
| 7356 |
* ----------------- | ------------- | ---------
|
| 7357 |
* 2000 | 62.5dps | 1LSB
|
| 7358 |
* 1000 | 31.25dps | 1LSB
|
| 7359 |
* 500 | 15.625dps | 1LSB
|
| 7360 |
* 125 | 7.8125dps | 1LSB
|
| 7361 |
*
|
| 7362 |
*/
|
| 7363 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_thres( |
| 7364 |
u8 gyro_highrate_x_thres_u8); |
| 7365 |
/**************************************************************/
|
| 7366 |
/**\name FUNCTIONS FOR GYRO HIGHRATE X HYSTERESIS */
|
| 7367 |
/**************************************************************/
|
| 7368 |
/*!
|
| 7369 |
* @brief This API used to read gyro highrate x hysteresis
|
| 7370 |
* from page one register from 0x18 bit 5 to 6
|
| 7371 |
*
|
| 7372 |
* @param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis
|
| 7373 |
*
|
| 7374 |
* @return results of bus communication function
|
| 7375 |
* @retval 0 -> BNO055_SUCCESS
|
| 7376 |
* @retval 1 -> BNO055_ERROR
|
| 7377 |
*
|
| 7378 |
* @note Gyro high rate hysteresis calculated by
|
| 7379 |
*
|
| 7380 |
* using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB
|
| 7381 |
*
|
| 7382 |
* The high rate value scales with the range setting
|
| 7383 |
*
|
| 7384 |
* gyro_range_u8 | hysteresis | LSB
|
| 7385 |
* ----------------- | ------------- | ---------
|
| 7386 |
* 2000 | 62.26dps | 1LSB
|
| 7387 |
* 1000 | 31.13dps | 1LSB
|
| 7388 |
* 500 | 15.56dps | 1LSB
|
| 7389 |
*
|
| 7390 |
*/
|
| 7391 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_hyst( |
| 7392 |
u8 *gyro_highrate_x_hyst_u8); |
| 7393 |
/*!
|
| 7394 |
* @brief This API used to write gyro highrate x hysteresis
|
| 7395 |
* from page one register from 0x18 bit 5 to 6
|
| 7396 |
*
|
| 7397 |
* @param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis
|
| 7398 |
*
|
| 7399 |
* @return results of bus communication function
|
| 7400 |
* @retval 0 -> BNO055_SUCCESS
|
| 7401 |
* @retval 1 -> BNO055_ERROR
|
| 7402 |
*
|
| 7403 |
* @note Gyro high rate hysteresis calculated by
|
| 7404 |
*
|
| 7405 |
* using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB
|
| 7406 |
*
|
| 7407 |
* The high rate value scales with the range setting
|
| 7408 |
*
|
| 7409 |
* gyro_range_u8 | hysteresis | LSB
|
| 7410 |
* ----------------- | ------------- | ---------
|
| 7411 |
* 2000 | 62.26dps | 1LSB
|
| 7412 |
* 1000 | 31.13dps | 1LSB
|
| 7413 |
* 500 | 15.56dps | 1LSB
|
| 7414 |
*
|
| 7415 |
*/
|
| 7416 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_hyst( |
| 7417 |
u8 gyro_highrate_x_hyst_u8); |
| 7418 |
/**************************************************************/
|
| 7419 |
/**\name FUNCTIONS FOR GYRO HIGHRATE X DURATION */
|
| 7420 |
/**************************************************************/
|
| 7421 |
/*!
|
| 7422 |
* @brief This API used to read gyro highrate x duration
|
| 7423 |
* from page one register from 0x19 bit 0 to 7
|
| 7424 |
*
|
| 7425 |
* @param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration
|
| 7426 |
*
|
| 7427 |
* @return results of bus communication function
|
| 7428 |
* @retval 0 -> BNO055_SUCCESS
|
| 7429 |
* @retval 1 -> BNO055_ERROR
|
| 7430 |
*
|
| 7431 |
* @note Gyro highrate duration calculate by using the formula
|
| 7432 |
*
|
| 7433 |
* (1 + gyro_highrate_x_durn_u8)*2.5ms
|
| 7434 |
*
|
| 7435 |
*/
|
| 7436 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_durn( |
| 7437 |
u8 *gyro_highrate_x_durn_u8); |
| 7438 |
/*!
|
| 7439 |
* @brief This API used to write gyro highrate x duration
|
| 7440 |
* from page one register from 0x19 bit 0 to 7
|
| 7441 |
*
|
| 7442 |
* @param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration
|
| 7443 |
*
|
| 7444 |
* @return results of bus communication function
|
| 7445 |
* @retval 0 -> BNO055_SUCCESS
|
| 7446 |
* @retval 1 -> BNO055_ERROR
|
| 7447 |
*
|
| 7448 |
* @note Gyro highrate duration calculate by using the formula
|
| 7449 |
*
|
| 7450 |
* (1 + gyro_highrate_x_durn_u8)*2.5ms
|
| 7451 |
*/
|
| 7452 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_durn( |
| 7453 |
u8 gyro_highrate_x_durn_u8); |
| 7454 |
/**************************************************************/
|
| 7455 |
/**\name FUNCTIONS FOR GYRO HIGHRATE Y THRESHOLD */
|
| 7456 |
/**************************************************************/
|
| 7457 |
/*!
|
| 7458 |
* @brief This API used to read gyro highrate y threshold
|
| 7459 |
* from page one register from 0x1A bit 0 to 4
|
| 7460 |
*
|
| 7461 |
* @param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold
|
| 7462 |
*
|
| 7463 |
* @return results of bus communication function
|
| 7464 |
* @retval 0 -> BNO055_SUCCESS
|
| 7465 |
* @retval 1 -> BNO055_ERROR
|
| 7466 |
*
|
| 7467 |
* @note Gyro highrate threshold dependent on the
|
| 7468 |
* selection of gyro range
|
| 7469 |
*
|
| 7470 |
* gyro_range_u8 | threshold | LSB
|
| 7471 |
* ----------------- | ------------- | ---------
|
| 7472 |
* 2000 | 62.5dps | 1LSB
|
| 7473 |
* 1000 | 31.25dps | 1LSB
|
| 7474 |
* 500 | 15.625dps | 1LSB
|
| 7475 |
* 125 | 7.8125dps | 1LSB
|
| 7476 |
*
|
| 7477 |
*/
|
| 7478 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_thres( |
| 7479 |
u8 *gyro_highrate_y_thres_u8); |
| 7480 |
/*!
|
| 7481 |
* @brief This API used to write gyro highrate y threshold
|
| 7482 |
* from page one register from 0x1A bit 0 to 4
|
| 7483 |
*
|
| 7484 |
* @param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold
|
| 7485 |
*
|
| 7486 |
* @return results of bus communication function
|
| 7487 |
* @retval 0 -> BNO055_SUCCESS
|
| 7488 |
* @retval 1 -> BNO055_ERROR
|
| 7489 |
*
|
| 7490 |
* @note Gyro highrate threshold dependent on the
|
| 7491 |
* selection of gyro range
|
| 7492 |
*
|
| 7493 |
* gyro_range_u8 | threshold | LSB
|
| 7494 |
* ----------------- | ------------- | ---------
|
| 7495 |
* 2000 | 62.5dps | 1LSB
|
| 7496 |
* 1000 | 31.25dps | 1LSB
|
| 7497 |
* 500 | 15.625dps | 1LSB
|
| 7498 |
* 125 | 7.8125dps | 1LSB
|
| 7499 |
*
|
| 7500 |
*/
|
| 7501 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_thres( |
| 7502 |
u8 gyro_highrate_y_thres_u8); |
| 7503 |
/**************************************************************/
|
| 7504 |
/**\name FUNCTIONS FOR GYRO HIGHRATE Y HYSTERESIS */
|
| 7505 |
/**************************************************************/
|
| 7506 |
/*!
|
| 7507 |
* @brief This API used to read gyro highrate y hysteresis
|
| 7508 |
* from page one register from 0x1A bit 5 to 6
|
| 7509 |
*
|
| 7510 |
* @param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis
|
| 7511 |
*
|
| 7512 |
* @return results of bus communication function
|
| 7513 |
* @retval 0 -> BNO055_SUCCESS
|
| 7514 |
* @retval 1 -> BNO055_ERROR
|
| 7515 |
*
|
| 7516 |
* @note Gyro high rate hysteresis calculated by
|
| 7517 |
*
|
| 7518 |
* using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB
|
| 7519 |
*
|
| 7520 |
* The high rate value scales with the range setting
|
| 7521 |
*
|
| 7522 |
* gyro_range_u8 | hysteresis | LSB
|
| 7523 |
* ----------------- | ------------- | ---------
|
| 7524 |
* 2000 | 62.26dps | 1LSB
|
| 7525 |
* 1000 | 31.13dps | 1LSB
|
| 7526 |
* 500 | 15.56dps | 1LSB
|
| 7527 |
*/
|
| 7528 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_hyst( |
| 7529 |
u8 *gyro_highrate_y_hyst_u8); |
| 7530 |
/*!
|
| 7531 |
* @brief This API used to write gyro highrate y hysteresis
|
| 7532 |
* from page one register from 0x1A bit 5 to 6
|
| 7533 |
*
|
| 7534 |
* @param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis
|
| 7535 |
*
|
| 7536 |
* @return results of bus communication function
|
| 7537 |
* @retval 0 -> BNO055_SUCCESS
|
| 7538 |
* @retval 1 -> BNO055_ERROR
|
| 7539 |
*
|
| 7540 |
* @note Gyro high rate hysteresis calculated by
|
| 7541 |
*
|
| 7542 |
* using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB
|
| 7543 |
*
|
| 7544 |
* The high rate value scales with the range setting
|
| 7545 |
*
|
| 7546 |
* gyro_range_u8 | hysteresis | LSB
|
| 7547 |
* ----------------- | ------------- | ---------
|
| 7548 |
* 2000 | 62.26dps | 1LSB
|
| 7549 |
* 1000 | 31.13dps | 1LSB
|
| 7550 |
* 500 | 15.56dps | 1LSB
|
| 7551 |
*/
|
| 7552 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_hyst( |
| 7553 |
u8 gyro_highrate_y_hyst_u8); |
| 7554 |
/**************************************************************/
|
| 7555 |
/**\name FUNCTIONS FOR GYRO HIGHRATE Y DURATION */
|
| 7556 |
/**************************************************************/
|
| 7557 |
/*!
|
| 7558 |
* @brief This API used to read gyro highrate y duration
|
| 7559 |
* from page one register from 0x1B bit 0 to 7
|
| 7560 |
*
|
| 7561 |
* @param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration
|
| 7562 |
*
|
| 7563 |
* @return results of bus communication function
|
| 7564 |
* @retval 0 -> BNO055_SUCCESS
|
| 7565 |
* @retval 1 -> BNO055_ERROR
|
| 7566 |
*
|
| 7567 |
* @note Gyro highrate duration calculate by using the formula
|
| 7568 |
*
|
| 7569 |
* (1 + gyro_highrate_y_durn_u8)*2.5ms
|
| 7570 |
*/
|
| 7571 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_durn( |
| 7572 |
u8 *gyro_highrate_y_durn_u8); |
| 7573 |
/*!
|
| 7574 |
* @brief This API used to write gyro highrate y duration
|
| 7575 |
* from page one register from 0x1B bit 0 to 7
|
| 7576 |
*
|
| 7577 |
* @param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration
|
| 7578 |
*
|
| 7579 |
* @return results of bus communication function
|
| 7580 |
* @retval 0 -> BNO055_SUCCESS
|
| 7581 |
* @retval 1 -> BNO055_ERROR
|
| 7582 |
*
|
| 7583 |
* @note Gyro highrate duration calculate by using the formula
|
| 7584 |
*
|
| 7585 |
* (1 + gyro_highrate_y_durn_u8)*2.5ms
|
| 7586 |
*/
|
| 7587 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_durn( |
| 7588 |
u8 gyro_highrate_y_durn_u8); |
| 7589 |
/**************************************************************/
|
| 7590 |
/**\name FUNCTIONS FOR GYRO HIGHRATE Z THRESHOLD */
|
| 7591 |
/**************************************************************/
|
| 7592 |
/*!
|
| 7593 |
* @brief This API used to read gyro highrate z threshold
|
| 7594 |
* from page one register from 0x1C bit 0 to 4
|
| 7595 |
*
|
| 7596 |
* @param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold
|
| 7597 |
*
|
| 7598 |
* @return results of bus communication function
|
| 7599 |
* @retval 0 -> BNO055_SUCCESS
|
| 7600 |
* @retval 1 -> BNO055_ERROR
|
| 7601 |
*
|
| 7602 |
* @note Gyro highrate threshold dependent on the
|
| 7603 |
* selection of gyro range
|
| 7604 |
*
|
| 7605 |
* gyro_range_u8 | threshold | LSB
|
| 7606 |
* ----------------- | ------------- | ---------
|
| 7607 |
* 2000 | 62.5dps | 1LSB
|
| 7608 |
* 1000 | 31.25dps | 1LSB
|
| 7609 |
* 500 | 15.625dps | 1LSB
|
| 7610 |
* 125 | 7.8125dps | 1LSB
|
| 7611 |
*
|
| 7612 |
*/
|
| 7613 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_thres( |
| 7614 |
u8 *gyro_highrate_z_thres_u8); |
| 7615 |
/*!
|
| 7616 |
* @brief This API used to write gyro highrate z threshold
|
| 7617 |
* from page one register from 0x1C bit 0 to 4
|
| 7618 |
*
|
| 7619 |
* @param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold
|
| 7620 |
*
|
| 7621 |
* @return results of bus communication function
|
| 7622 |
* @retval 0 -> BNO055_SUCCESS
|
| 7623 |
* @retval 1 -> BNO055_ERROR
|
| 7624 |
*
|
| 7625 |
* @note Gyro highrate threshold dependent on the
|
| 7626 |
* selection of gyro range
|
| 7627 |
*
|
| 7628 |
* gyro_range_u8 | threshold | LSB
|
| 7629 |
* ----------------- | ------------- | ---------
|
| 7630 |
* 2000 | 62.5dps | 1LSB
|
| 7631 |
* 1000 | 31.25dps | 1LSB
|
| 7632 |
* 500 | 15.625dps | 1LSB
|
| 7633 |
* 125 | 7.8125dps | 1LSB
|
| 7634 |
*
|
| 7635 |
*/
|
| 7636 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_thres( |
| 7637 |
u8 gyro_highrate_z_thres_u8); |
| 7638 |
/**************************************************************/
|
| 7639 |
/**\name FUNCTIONS FOR GYRO HIGHRATE Z HYSTERESIS */
|
| 7640 |
/**************************************************************/
|
| 7641 |
/*!
|
| 7642 |
* @brief This API used to read gyro highrate z hysteresis
|
| 7643 |
* from page one register from 0x1C bit 5 to 6
|
| 7644 |
*
|
| 7645 |
* @param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis
|
| 7646 |
*
|
| 7647 |
* @return results of bus communication function
|
| 7648 |
* @retval 0 -> BNO055_SUCCESS
|
| 7649 |
* @retval 1 -> BNO055_ERROR
|
| 7650 |
*
|
| 7651 |
* @note Gyro high rate hysteresis calculated by
|
| 7652 |
*
|
| 7653 |
* using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB
|
| 7654 |
*
|
| 7655 |
* The high rate value scales with the range setting
|
| 7656 |
*
|
| 7657 |
* gyro_range_u8 | hysteresis | LSB
|
| 7658 |
* ----------------- | ------------- | ---------
|
| 7659 |
* 2000 | 62.26dps | 1LSB
|
| 7660 |
* 1000 | 31.13dps | 1LSB
|
| 7661 |
* 500 | 15.56dps | 1LSB
|
| 7662 |
*/
|
| 7663 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_hyst( |
| 7664 |
u8 *gyro_highrate_z_hyst_u8); |
| 7665 |
/*!
|
| 7666 |
* @brief This API used to write gyro highrate z hysteresis
|
| 7667 |
* from page one register from 0x1C bit 5 to 6
|
| 7668 |
*
|
| 7669 |
* @param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis
|
| 7670 |
*
|
| 7671 |
* @return results of bus communication function
|
| 7672 |
* @retval 0 -> BNO055_SUCCESS
|
| 7673 |
* @retval 1 -> BNO055_ERROR
|
| 7674 |
*
|
| 7675 |
* @note Gyro high rate hysteresis calculated by
|
| 7676 |
*
|
| 7677 |
* using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB
|
| 7678 |
*
|
| 7679 |
* The high rate value scales with the range setting
|
| 7680 |
*
|
| 7681 |
* gyro_range_u8 | hysteresis | LSB
|
| 7682 |
* ----------------- | ------------- | ---------
|
| 7683 |
* 2000 | 62.26dps | 1LSB
|
| 7684 |
* 1000 | 31.13dps | 1LSB
|
| 7685 |
* 500 | 15.56dps | 1LSB
|
| 7686 |
*/
|
| 7687 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_hyst( |
| 7688 |
u8 gyro_highrate_z_hyst_u8); |
| 7689 |
/**************************************************************/
|
| 7690 |
/**\name FUNCTIONS FOR GYRO HIGHRATE Z DURATION */
|
| 7691 |
/**************************************************************/
|
| 7692 |
/*!
|
| 7693 |
* @brief This API used to read gyro highrate z duration
|
| 7694 |
* from page one register from 0x1D bit 0 to 7
|
| 7695 |
*
|
| 7696 |
* @param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration
|
| 7697 |
*
|
| 7698 |
* @return results of bus communication function
|
| 7699 |
* @retval 0 -> BNO055_SUCCESS
|
| 7700 |
* @retval 1 -> BNO055_ERROR
|
| 7701 |
*
|
| 7702 |
* @note Gyro highrate duration calculate by using the formula
|
| 7703 |
*
|
| 7704 |
* (1 + gyro_highrate_z_durn_u8)*2.5ms
|
| 7705 |
*/
|
| 7706 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_durn( |
| 7707 |
u8 *gyro_highrate_z_durn_u8); |
| 7708 |
/*!
|
| 7709 |
* @brief This API used to write gyro highrate z duration
|
| 7710 |
* from page one register from 0x1D bit 0 to 7
|
| 7711 |
*
|
| 7712 |
* @param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration
|
| 7713 |
*
|
| 7714 |
* @return results of bus communication function
|
| 7715 |
* @retval 0 -> BNO055_SUCCESS
|
| 7716 |
* @retval 1 -> BNO055_ERROR
|
| 7717 |
*
|
| 7718 |
* @note Gyro highrate duration calculate by using the formula
|
| 7719 |
*
|
| 7720 |
* (1 + gyro_highrate_z_durn_u8)*2.5ms
|
| 7721 |
*/
|
| 7722 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_durn( |
| 7723 |
u8 gyro_highrate_z_durn_u8); |
| 7724 |
/**************************************************************/
|
| 7725 |
/**\name FUNCTIONS FOR GYRO ANY_MOTION THRESHOLD */
|
| 7726 |
/**************************************************************/
|
| 7727 |
/*!
|
| 7728 |
* @brief This API used to read gyro anymotion threshold
|
| 7729 |
* from page one register from 0x1E bit 0 to 6
|
| 7730 |
*
|
| 7731 |
* @param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold
|
| 7732 |
*
|
| 7733 |
* @return results of bus communication function
|
| 7734 |
* @retval 0 -> BNO055_SUCCESS
|
| 7735 |
* @retval 1 -> BNO055_ERROR
|
| 7736 |
*
|
| 7737 |
* @note Gyro anymotion interrupt threshold dependent
|
| 7738 |
* on the selection of gyro range
|
| 7739 |
*
|
| 7740 |
* gyro_range_u8 | threshold | LSB
|
| 7741 |
* ----------------- | ------------- | ---------
|
| 7742 |
* 2000 | 1dps | 1LSB
|
| 7743 |
* 1000 | 0.5dps | 1LSB
|
| 7744 |
* 500 | 0.25dps | 1LSB
|
| 7745 |
*
|
| 7746 |
*/
|
| 7747 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_thres( |
| 7748 |
u8 *gyro_any_motion_thres_u8); |
| 7749 |
/*!
|
| 7750 |
* @brief This API used to write gyro anymotion threshold
|
| 7751 |
* from page one register from 0x1E bit 0 to 6
|
| 7752 |
*
|
| 7753 |
* @param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold
|
| 7754 |
*
|
| 7755 |
* @return results of bus communication function
|
| 7756 |
* @retval 0 -> BNO055_SUCCESS
|
| 7757 |
* @retval 1 -> BNO055_ERROR
|
| 7758 |
*
|
| 7759 |
* @note Gyro anymotion interrupt threshold dependent
|
| 7760 |
* on the selection of gyro range
|
| 7761 |
*
|
| 7762 |
* gyro_range_u8 | threshold | LSB
|
| 7763 |
* ----------------- | ------------- | ---------
|
| 7764 |
* 2000 | 1dps | 1LSB
|
| 7765 |
* 1000 | 0.5dps | 1LSB
|
| 7766 |
* 500 | 0.25dps | 1LSB
|
| 7767 |
*
|
| 7768 |
*/
|
| 7769 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_thres( |
| 7770 |
u8 gyro_any_motion_thres_u8); |
| 7771 |
/**************************************************************/
|
| 7772 |
/**\name FUNCTIONS FOR GYRO ANY_MOTION SLOPE SAMPLES */
|
| 7773 |
/**************************************************************/
|
| 7774 |
/*!
|
| 7775 |
* @brief This API used to read gyro anymotion slope samples
|
| 7776 |
* from page one register from 0x1F bit 0 to 1
|
| 7777 |
*
|
| 7778 |
* @param gyro_any_motion_slope_samples_u8 :
|
| 7779 |
* The value of gyro anymotion slope samples
|
| 7780 |
* gyro_any_motion_slope_samples_u8 | result
|
| 7781 |
* ---------------------------------- | -----------
|
| 7782 |
* 0 | 8 samples
|
| 7783 |
* 1 | 16 samples
|
| 7784 |
* 2 | 32 samples
|
| 7785 |
* 3 | 64 samples
|
| 7786 |
*
|
| 7787 |
* @return results of bus communication function
|
| 7788 |
* @retval 0 -> BNO055_SUCCESS
|
| 7789 |
* @retval 1 -> BNO055_ERROR
|
| 7790 |
*
|
| 7791 |
*/
|
| 7792 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_slope_samples( |
| 7793 |
u8 *gyro_any_motion_slope_samples_u8); |
| 7794 |
/*!
|
| 7795 |
* @brief This API used to write gyro anymotion slope samples
|
| 7796 |
* from page one register from 0x1F bit 0 to 1
|
| 7797 |
*
|
| 7798 |
* @param gyro_any_motion_slope_samples_u8 :
|
| 7799 |
* The value of gyro anymotion slope samples
|
| 7800 |
* gyro_any_motion_slope_samples_u8 | result
|
| 7801 |
* ---------------------------------- | -----------
|
| 7802 |
* 0 | 8 samples
|
| 7803 |
* 1 | 16 samples
|
| 7804 |
* 2 | 32 samples
|
| 7805 |
* 3 | 64 samples
|
| 7806 |
*
|
| 7807 |
* @return results of bus communication function
|
| 7808 |
* @retval 0 -> BNO055_SUCCESS
|
| 7809 |
* @retval 1 -> BNO055_ERROR
|
| 7810 |
*
|
| 7811 |
*/
|
| 7812 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_slope_samples( |
| 7813 |
u8 gyro_any_motion_slope_samples_u8); |
| 7814 |
/**************************************************************/
|
| 7815 |
/**\name FUNCTIONS FOR GYRO ANY_MOTION AWAKE DURATION */
|
| 7816 |
/**************************************************************/
|
| 7817 |
/*!
|
| 7818 |
* @brief This API used to read gyro anymotion awake duration
|
| 7819 |
* from page one register from 0x1F bit 2 to 3
|
| 7820 |
*
|
| 7821 |
* @param gyro_awake_durn_u8 : The value of gyro anymotion awake duration
|
| 7822 |
*
|
| 7823 |
* @return results of bus communication function
|
| 7824 |
* @retval 0 -> BNO055_SUCCESS
|
| 7825 |
* @retval 1 -> BNO055_ERROR
|
| 7826 |
*
|
| 7827 |
*/
|
| 7828 |
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_awake_durn( |
| 7829 |
u8 *gyro_awake_durn_u8); |
| 7830 |
/*!
|
| 7831 |
* @brief This API used to write gyro anymotion awake duration
|
| 7832 |
* from page one register from 0x1F bit 2 to 3
|
| 7833 |
*
|
| 7834 |
* @param gyro_awake_durn_u8 : The value of gyro anymotion awake duration
|
| 7835 |
*
|
| 7836 |
* @return results of bus communication function
|
| 7837 |
* @retval 0 -> BNO055_SUCCESS
|
| 7838 |
* @retval 1 -> BNO055_ERROR
|
| 7839 |
*
|
| 7840 |
*/
|
| 7841 |
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_awake_durn( |
| 7842 |
u8 gyro_awake_durn_u8); |
| 7843 |
#endif
|