BRIX5

  /* Set the output units */

  uint8_t unitsel = (0 << 7) | /* Orientation = Android */

                    (0 << 4) | /* Temperature = Celsius */

                    (0 << 2) | /* Euler = Degrees */

                    (1 << 1) | /* Gyro = Rads */

                    (0 << 0);  /* Accelerometer = m/s^2 */

  write8(BNO055_UNIT_SEL_ADDR, unitsel);

  /* Orientation = Android (0 << )*/

  /* Temperature = Celsisu (0 << 4)

  uint8_t unitsel = 

  /* Convert the value to an appropriate range (section 3.6.4) */

  /* and assign the value to the Vector type */

  switch(vector_type)

  {

    case VECTOR_MAGNETOMETER:

      /* 1uT = 16 LSB */

      xyz[0] = ((double)x)/16.0;

      xyz[1] = ((double)y)/16.0;

      xyz[2] = ((double)z)/16.0;

      break;

    case VECTOR_GYROSCOPE:

      /* 1rps = 900 LSB */

      xyz[0] = ((double)x)/900.0;

      xyz[1] = ((double)y)/900.0;

      xyz[2] = ((double)z)/900.0;

      break;

    case VECTOR_EULER:

      /* 1 degree = 16 LSB */

      xyz[0] = ((double)x)/16.0;

      xyz[1] = ((double)y)/16.0;

      xyz[2] = ((double)z)/16.0;

      break;

    case VECTOR_ACCELEROMETER:

    case VECTOR_LINEARACCEL:

    case VECTOR_GRAVITY:

      /* 1m/s^2 = 100 LSB */

      xyz[0] = ((double)x)/100.0;

      xyz[1] = ((double)y)/100.0;

      xyz[2] = ((double)z)/100.0;

      break;

  }