commit 55e2f6d1a857d9524c1cfa886280c04aa15430ed
Author: Jan Hoffmann <jan@hfmn.pl>
Date:   Thu Jan 10 14:50:07 2019 +0100

    doxygen + travis + fixes

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..542d266
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,8 @@
+# osx
+.DS_Store
+
+# doxygen
+Doxyfile*
+doxygen_sqlite3.db
+html
+*.tmp
diff --git a/.travis.yml b/.travis.yml
new file mode 100644
index 0000000..5975c2e
--- /dev/null
+++ b/.travis.yml
@@ -0,0 +1,30 @@
+language: c
+sudo: false
+
+cache:
+  directories:
+    - ~/arduino_ide
+    - ~/.arduino15/packages/
+
+git:
+  depth: false
+  quiet: true
+
+env:
+  global:
+    - ARDUINO_IDE_VERSION="1.8.7"
+    - PRETTYNAME="Adafruit BNO055 Library"
+
+before_install:
+  - rm -rf ./examples_processing # we're not testing processing sketches
+  - source <(curl -SLs https://raw.githubusercontent.com/adafruit/travis-ci-arduino/master/install.sh)
+
+install:
+  - arduino --install-library "Adafruit Unified Sensor"
+
+script:
+  - build_main_platforms
+
+after_success:
+  - source <(curl -SLs https://raw.githubusercontent.com/adafruit/travis-ci-arduino/master/library_check.sh)
+  - source <(curl -SLs https://raw.githubusercontent.com/adafruit/travis-ci-arduino/master/doxy_gen_and_deploy.sh)
diff --git a/Adafruit_BNO055.cpp b/Adafruit_BNO055.cpp
index 36820b0..ab2c95c 100644
--- a/Adafruit_BNO055.cpp
+++ b/Adafruit_BNO055.cpp
@@ -18,13 +18,13 @@
  ***************************************************************************/
 
 #if ARDUINO >= 100
- #include "Arduino.h"
+#include "Arduino.h"
 #else
- #include "WProgram.h"
+#include "WProgram.h"
 #endif
 
-#include <math.h>
 #include <limits.h>
+#include <math.h>
 
 #include "Adafruit_BNO055.h"
 
@@ -35,10 +35,11 @@
 /**************************************************************************/
 /*!
     @brief  Instantiates a new Adafruit_BNO055 class
+    @param  sensorID
+    @param  address
 */
 /**************************************************************************/
-Adafruit_BNO055::Adafruit_BNO055(int32_t sensorID, uint8_t address)
-{
+Adafruit_BNO055::Adafruit_BNO055(int32_t sensorID, uint8_t address) {
   _sensorID = sensorID;
   _address = address;
 }
@@ -50,10 +51,11 @@ Adafruit_BNO055::Adafruit_BNO055(int32_t sensorID, uint8_t address)
 /**************************************************************************/
 /*!
     @brief  Sets up the HW
+    @param  mode
+    @return true if process is sucessfull
 */
 /**************************************************************************/
-bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode)
-{
+bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode) {
   /* Enable I2C */
   Wire.begin();
 
@@ -64,12 +66,11 @@ bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode)
 
   /* Make sure we have the right device */
   uint8_t id = read8(BNO055_CHIP_ID_ADDR);
-  if(id != BNO055_ID)
-  {
+  if (id != BNO055_ID) {
     delay(1000); // hold on for boot
     id = read8(BNO055_CHIP_ID_ADDR);
-    if(id != BNO055_ID) {
-      return false;  // still not? ok bail
+    if (id != BNO055_ID) {
+      return false; // still not? ok bail
     }
   }
 
@@ -78,8 +79,7 @@ bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode)
 
   /* Reset */
   write8(BNO055_SYS_TRIGGER_ADDR, 0x20);
-  while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID)
-  {
+  while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID) {
     delay(10);
   }
   delay(50);
@@ -120,10 +120,10 @@ bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode)
 /**************************************************************************/
 /*!
     @brief  Puts the chip in the specified operating mode
+    @param  mode
 */
 /**************************************************************************/
-void Adafruit_BNO055::setMode(adafruit_bno055_opmode_t mode)
-{
+void Adafruit_BNO055::setMode(adafruit_bno055_opmode_t mode) {
   _mode = mode;
   write8(BNO055_OPR_MODE_ADDR, _mode);
   delay(30);
@@ -132,10 +132,11 @@ void Adafruit_BNO055::setMode(adafruit_bno055_opmode_t mode)
 /**************************************************************************/
 /*!
     @brief  Changes the chip's axis remap
+    @param  remapcode
 */
 /**************************************************************************/
-void Adafruit_BNO055::setAxisRemap( adafruit_bno055_axis_remap_config_t remapcode )
-{
+void Adafruit_BNO055::setAxisRemap(
+    adafruit_bno055_axis_remap_config_t remapcode) {
   adafruit_bno055_opmode_t modeback = _mode;
 
   setMode(OPERATION_MODE_CONFIG);
@@ -150,10 +151,10 @@ void Adafruit_BNO055::setAxisRemap( adafruit_bno055_axis_remap_config_t remapcod
 /**************************************************************************/
 /*!
     @brief  Changes the chip's axis signs
+    @param  remapsign
 */
 /**************************************************************************/
-void Adafruit_BNO055::setAxisSign( adafruit_bno055_axis_remap_sign_t remapsign )
-{
+void Adafruit_BNO055::setAxisSign(adafruit_bno055_axis_remap_sign_t remapsign) {
   adafruit_bno055_opmode_t modeback = _mode;
 
   setMode(OPERATION_MODE_CONFIG);
@@ -165,14 +166,13 @@ void Adafruit_BNO055::setAxisSign( adafruit_bno055_axis_remap_sign_t remapsign )
   delay(20);
 }
 
-
 /**************************************************************************/
 /*!
     @brief  Use the external 32.768KHz crystal
+    @param  usextal boolean
 */
 /**************************************************************************/
-void Adafruit_BNO055::setExtCrystalUse(boolean usextal)
-{
+void Adafruit_BNO055::setExtCrystalUse(boolean usextal) {
   adafruit_bno055_opmode_t modeback = _mode;
 
   /* Switch to config mode (just in case since this is the default) */
@@ -190,14 +190,17 @@ void Adafruit_BNO055::setExtCrystalUse(boolean usextal)
   delay(20);
 }
 
-
 /**************************************************************************/
 /*!
     @brief  Gets the latest system status info
+    @param  system_status
+    @param  self_test_result
+    @param  system_error
 */
 /**************************************************************************/
-void Adafruit_BNO055::getSystemStatus(uint8_t *system_status, uint8_t *self_test_result, uint8_t *system_error)
-{
+void Adafruit_BNO055::getSystemStatus(uint8_t *system_status,
+                                      uint8_t *self_test_result,
+                                      uint8_t *system_error) {
   write8(BNO055_PAGE_ID_ADDR, 0);
 
   /* System Status (see section 4.3.58)
@@ -211,7 +214,7 @@ void Adafruit_BNO055::getSystemStatus(uint8_t *system_status, uint8_t *self_test
      6 = System running without fusion algorithms */
 
   if (system_status != 0)
-    *system_status    = read8(BNO055_SYS_STAT_ADDR);
+    *system_status = read8(BNO055_SYS_STAT_ADDR);
 
   /* Self Test Results (see section )
      --------------------------------
@@ -242,7 +245,7 @@ void Adafruit_BNO055::getSystemStatus(uint8_t *system_status, uint8_t *self_test
      A = Sensor configuration error */
 
   if (system_error != 0)
-    *system_error     = read8(BNO055_SYS_ERR_ADDR);
+    *system_error = read8(BNO055_SYS_ERR_ADDR);
 
   delay(200);
 }
@@ -252,8 +255,7 @@ void Adafruit_BNO055::getSystemStatus(uint8_t *system_status, uint8_t *self_test
     @brief  Gets the chip revision numbers
 */
 /**************************************************************************/
-void Adafruit_BNO055::getRevInfo(adafruit_bno055_rev_info_t* info)
-{
+void Adafruit_BNO055::getRevInfo(adafruit_bno055_rev_info_t *info) {
   uint8_t a, b;
 
   memset(info, 0, sizeof(adafruit_bno055_rev_info_t));
@@ -262,13 +264,13 @@ void Adafruit_BNO055::getRevInfo(adafruit_bno055_rev_info_t* info)
   info->accel_rev = read8(BNO055_ACCEL_REV_ID_ADDR);
 
   /* Check the magnetometer revision */
-  info->mag_rev   = read8(BNO055_MAG_REV_ID_ADDR);
+  info->mag_rev = read8(BNO055_MAG_REV_ID_ADDR);
 
   /* Check the gyroscope revision */
-  info->gyro_rev  = read8(BNO055_GYRO_REV_ID_ADDR);
+  info->gyro_rev = read8(BNO055_GYRO_REV_ID_ADDR);
 
   /* Check the SW revision */
-  info->bl_rev    = read8(BNO055_BL_REV_ID_ADDR);
+  info->bl_rev = read8(BNO055_BL_REV_ID_ADDR);
 
   a = read8(BNO055_SW_REV_ID_LSB_ADDR);
   b = read8(BNO055_SW_REV_ID_MSB_ADDR);
@@ -280,9 +282,14 @@ void Adafruit_BNO055::getRevInfo(adafruit_bno055_rev_info_t* info)
     @brief  Gets current calibration state.  Each value should be a uint8_t
             pointer and it will be set to 0 if not calibrated and 3 if
             fully calibrated.
+    @param  sys
+    @param  gyro
+    @param  accel
+    @param  mag
 */
 /**************************************************************************/
-void Adafruit_BNO055::getCalibration(uint8_t* sys, uint8_t* gyro, uint8_t* accel, uint8_t* mag) {
+void Adafruit_BNO055::getCalibration(uint8_t *sys, uint8_t *gyro,
+                                     uint8_t *accel, uint8_t *mag) {
   uint8_t calData = read8(BNO055_CALIB_STAT_ADDR);
   if (sys != NULL) {
     *sys = (calData >> 6) & 0x03;
@@ -301,24 +308,25 @@ void Adafruit_BNO055::getCalibration(uint8_t* sys, uint8_t* gyro, uint8_t* accel
 /**************************************************************************/
 /*!
     @brief  Gets the temperature in degrees celsius
+    @return temperature in degrees celsius
 */
 /**************************************************************************/
-int8_t Adafruit_BNO055::getTemp(void)
-{
+int8_t Adafruit_BNO055::getTemp() {
   int8_t temp = (int8_t)(read8(BNO055_TEMP_ADDR));
   return temp;
 }
 
 /**************************************************************************/
 /*!
-    @brief  Gets a vector reading from the specified source
+    @brief   Gets a vector reading from the specified source
+    @param   vector_type
+    @return  vector from specified source
 */
 /**************************************************************************/
-imu::Vector<3> Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type)
-{
+imu::Vector<3> Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type) {
   imu::Vector<3> xyz;
   uint8_t buffer[6];
-  memset (buffer, 0, 6);
+  memset(buffer, 0, 6);
 
   int16_t x, y, z;
   x = y = z = 0;
@@ -332,34 +340,33 @@ imu::Vector<3> Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type)
 
   /* 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:
-      /* 1dps = 16 LSB */
-      xyz[0] = ((double)x)/16.0;
-      xyz[1] = ((double)y)/16.0;
-      xyz[2] = ((double)z)/16.0;
-      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;
+  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:
+    /* 1dps = 16 LSB */
+    xyz[0] = ((double)x) / 16.0;
+    xyz[1] = ((double)y) / 16.0;
+    xyz[2] = ((double)z) / 16.0;
+    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;
   }
 
   return xyz;
@@ -368,12 +375,12 @@ imu::Vector<3> Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type)
 /**************************************************************************/
 /*!
     @brief  Gets a quaternion reading from the specified source
+    @return quaternion reading
 */
 /**************************************************************************/
-imu::Quaternion Adafruit_BNO055::getQuat(void)
-{
+imu::Quaternion Adafruit_BNO055::getQuat() {
   uint8_t buffer[8];
-  memset (buffer, 0, 8);
+  memset(buffer, 0, 8);
 
   int16_t x, y, z, w;
   x = y = z = w = 0;
@@ -386,9 +393,10 @@ imu::Quaternion Adafruit_BNO055::getQuat(void)
   z = (((uint16_t)buffer[7]) << 8) | ((uint16_t)buffer[6]);
 
   /* Assign to Quaternion */
-  /* See http://ae-bst.resource.bosch.com/media/products/dokumente/bno055/BST_BNO055_DS000_12~1.pdf
+  /* See
+     http://ae-bst.resource.bosch.com/media/products/dokumente/bno055/BST_BNO055_DS000_12~1.pdf
      3.6.5.5 Orientation (Quaternion)  */
-  const double scale = (1.0 / (1<<14));
+  const double scale = (1.0 / (1 << 14));
   imu::Quaternion quat(scale * w, scale * x, scale * y, scale * z);
   return quat;
 }
@@ -396,38 +404,39 @@ imu::Quaternion Adafruit_BNO055::getQuat(void)
 /**************************************************************************/
 /*!
     @brief  Provides the sensor_t data for this sensor
+    @param  sensor
 */
 /**************************************************************************/
-void Adafruit_BNO055::getSensor(sensor_t *sensor)
-{
+void Adafruit_BNO055::getSensor(sensor_t *sensor) {
   /* Clear the sensor_t object */
   memset(sensor, 0, sizeof(sensor_t));
 
   /* Insert the sensor name in the fixed length char array */
-  strncpy (sensor->name, "BNO055", sizeof(sensor->name) - 1);
-  sensor->name[sizeof(sensor->name)- 1] = 0;
-  sensor->version     = 1;
-  sensor->sensor_id   = _sensorID;
-  sensor->type        = SENSOR_TYPE_ORIENTATION;
-  sensor->min_delay   = 0;
-  sensor->max_value   = 0.0F;
-  sensor->min_value   = 0.0F;
-  sensor->resolution  = 0.01F;
+  strncpy(sensor->name, "BNO055", sizeof(sensor->name) - 1);
+  sensor->name[sizeof(sensor->name) - 1] = 0;
+  sensor->version = 1;
+  sensor->sensor_id = _sensorID;
+  sensor->type = SENSOR_TYPE_ORIENTATION;
+  sensor->min_delay = 0;
+  sensor->max_value = 0.0F;
+  sensor->min_value = 0.0F;
+  sensor->resolution = 0.01F;
 }
 
 /**************************************************************************/
 /*!
     @brief  Reads the sensor and returns the data as a sensors_event_t
+    @param  event
+    @return always returns true
 */
 /**************************************************************************/
-bool Adafruit_BNO055::getEvent(sensors_event_t *event)
-{
+bool Adafruit_BNO055::getEvent(sensors_event_t *event) {
   /* Clear the event */
   memset(event, 0, sizeof(sensors_event_t));
 
-  event->version   = sizeof(sensors_event_t);
+  event->version = sizeof(sensors_event_t);
   event->sensor_id = _sensorID;
-  event->type      = SENSOR_TYPE_ORIENTATION;
+  event->type = SENSOR_TYPE_ORIENTATION;
   event->timestamp = millis();
 
   /* Get a Euler angle sample for orientation */
@@ -441,183 +450,194 @@ bool Adafruit_BNO055::getEvent(sensors_event_t *event)
 
 /**************************************************************************/
 /*!
-@brief  Reads the sensor's offset registers into a byte array
+    @brief  Reads the sensor's offset registers into a byte array
+    @param  calibData
+    @return true if read is successful
 */
 /**************************************************************************/
-bool Adafruit_BNO055::getSensorOffsets(uint8_t* calibData)
-{
-    if (isFullyCalibrated())
-    {
-        adafruit_bno055_opmode_t lastMode = _mode;
-        setMode(OPERATION_MODE_CONFIG);
+bool Adafruit_BNO055::getSensorOffsets(uint8_t *calibData) {
+  if (isFullyCalibrated()) {
+    adafruit_bno055_opmode_t lastMode = _mode;
+    setMode(OPERATION_MODE_CONFIG);
 
-        readLen(ACCEL_OFFSET_X_LSB_ADDR, calibData, NUM_BNO055_OFFSET_REGISTERS);
+    readLen(ACCEL_OFFSET_X_LSB_ADDR, calibData, NUM_BNO055_OFFSET_REGISTERS);
 
-        setMode(lastMode);
-        return true;
-    }
-    return false;
+    setMode(lastMode);
+    return true;
+  }
+  return false;
 }
 
 /**************************************************************************/
 /*!
-@brief  Reads the sensor's offset registers into an offset struct
+    @brief  Reads the sensor's offset registers into an offset struct
+    @param  offsets_type
+    @return true if read is successful
 */
 /**************************************************************************/
-bool Adafruit_BNO055::getSensorOffsets(adafruit_bno055_offsets_t &offsets_type)
-{
-    if (isFullyCalibrated())
-    {
-        adafruit_bno055_opmode_t lastMode = _mode;
-        setMode(OPERATION_MODE_CONFIG);
-        delay(25);
-
-        /* Accel offset range depends on the G-range:
-           +/-2g  = +/- 2000 mg
-           +/-4g  = +/- 4000 mg
-           +/-8g  = +/- 8000 mg
-           +/-1§g = +/- 16000 mg */
-        offsets_type.accel_offset_x = (read8(ACCEL_OFFSET_X_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_X_LSB_ADDR));
-        offsets_type.accel_offset_y = (read8(ACCEL_OFFSET_Y_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_Y_LSB_ADDR));
-        offsets_type.accel_offset_z = (read8(ACCEL_OFFSET_Z_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_Z_LSB_ADDR));
-
-        /* Magnetometer offset range = +/- 6400 LSB where 1uT = 16 LSB */
-        offsets_type.mag_offset_x = (read8(MAG_OFFSET_X_MSB_ADDR) << 8) | (read8(MAG_OFFSET_X_LSB_ADDR));
-        offsets_type.mag_offset_y = (read8(MAG_OFFSET_Y_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Y_LSB_ADDR));
-        offsets_type.mag_offset_z = (read8(MAG_OFFSET_Z_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Z_LSB_ADDR));
-
-        /* Gyro offset range depends on the DPS range:
-          2000 dps = +/- 32000 LSB
-          1000 dps = +/- 16000 LSB
-           500 dps = +/- 8000 LSB
-           250 dps = +/- 4000 LSB
-           125 dps = +/- 2000 LSB
-           ... where 1 DPS = 16 LSB */
-        offsets_type.gyro_offset_x = (read8(GYRO_OFFSET_X_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_X_LSB_ADDR));
-        offsets_type.gyro_offset_y = (read8(GYRO_OFFSET_Y_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Y_LSB_ADDR));
-        offsets_type.gyro_offset_z = (read8(GYRO_OFFSET_Z_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Z_LSB_ADDR));
-
-        /* Accelerometer radius = +/- 1000 LSB */
-        offsets_type.accel_radius = (read8(ACCEL_RADIUS_MSB_ADDR) << 8) | (read8(ACCEL_RADIUS_LSB_ADDR));
-
-        /* Magnetometer radius = +/- 960 LSB */
-        offsets_type.mag_radius = (read8(MAG_RADIUS_MSB_ADDR) << 8) | (read8(MAG_RADIUS_LSB_ADDR));
-
-        setMode(lastMode);
-        return true;
-    }
-    return false;
-}
+bool Adafruit_BNO055::getSensorOffsets(
+    adafruit_bno055_offsets_t &offsets_type) {
+  if (isFullyCalibrated()) {
+    adafruit_bno055_opmode_t lastMode = _mode;
+    setMode(OPERATION_MODE_CONFIG);
+    delay(25);
+
+    /* Accel offset range depends on the G-range:
+       +/-2g  = +/- 2000 mg
+       +/-4g  = +/- 4000 mg
+       +/-8g  = +/- 8000 mg
+       +/-1§g = +/- 16000 mg */
+    offsets_type.accel_offset_x = (read8(ACCEL_OFFSET_X_MSB_ADDR) << 8) |
+                                  (read8(ACCEL_OFFSET_X_LSB_ADDR));
+    offsets_type.accel_offset_y = (read8(ACCEL_OFFSET_Y_MSB_ADDR) << 8) |
+                                  (read8(ACCEL_OFFSET_Y_LSB_ADDR));
+    offsets_type.accel_offset_z = (read8(ACCEL_OFFSET_Z_MSB_ADDR) << 8) |
+                                  (read8(ACCEL_OFFSET_Z_LSB_ADDR));
+
+    /* Magnetometer offset range = +/- 6400 LSB where 1uT = 16 LSB */
+    offsets_type.mag_offset_x =
+        (read8(MAG_OFFSET_X_MSB_ADDR) << 8) | (read8(MAG_OFFSET_X_LSB_ADDR));
+    offsets_type.mag_offset_y =
+        (read8(MAG_OFFSET_Y_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Y_LSB_ADDR));
+    offsets_type.mag_offset_z =
+        (read8(MAG_OFFSET_Z_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Z_LSB_ADDR));
+
+    /* Gyro offset range depends on the DPS range:
+      2000 dps = +/- 32000 LSB
+      1000 dps = +/- 16000 LSB
+       500 dps = +/- 8000 LSB
+       250 dps = +/- 4000 LSB
+       125 dps = +/- 2000 LSB
+       ... where 1 DPS = 16 LSB */
+    offsets_type.gyro_offset_x =
+        (read8(GYRO_OFFSET_X_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_X_LSB_ADDR));
+    offsets_type.gyro_offset_y =
+        (read8(GYRO_OFFSET_Y_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Y_LSB_ADDR));
+    offsets_type.gyro_offset_z =
+        (read8(GYRO_OFFSET_Z_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Z_LSB_ADDR));
+
+    /* Accelerometer radius = +/- 1000 LSB */
+    offsets_type.accel_radius =
+        (read8(ACCEL_RADIUS_MSB_ADDR) << 8) | (read8(ACCEL_RADIUS_LSB_ADDR));
+
+    /* Magnetometer radius = +/- 960 LSB */
+    offsets_type.mag_radius =
+        (read8(MAG_RADIUS_MSB_ADDR) << 8) | (read8(MAG_RADIUS_LSB_ADDR));
 
+    setMode(lastMode);
+    return true;
+  }
+  return false;
+}
 
 /**************************************************************************/
 /*!
-@brief  Writes an array of calibration values to the sensor's offset registers
+  @brief  Writes an array of calibration values to the sensor's offset registers
+  @param  calibData
 */
 /**************************************************************************/
-void Adafruit_BNO055::setSensorOffsets(const uint8_t* calibData)
-{
-    adafruit_bno055_opmode_t lastMode = _mode;
-    setMode(OPERATION_MODE_CONFIG);
-    delay(25);
-
-    /* Note: Configuration will take place only when user writes to the last
-       byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.).
-       Therefore the last byte must be written whenever the user wants to
-       changes the configuration. */
-
-    /* A writeLen() would make this much cleaner */
-    write8(ACCEL_OFFSET_X_LSB_ADDR, calibData[0]);
-    write8(ACCEL_OFFSET_X_MSB_ADDR, calibData[1]);
-    write8(ACCEL_OFFSET_Y_LSB_ADDR, calibData[2]);
-    write8(ACCEL_OFFSET_Y_MSB_ADDR, calibData[3]);
-    write8(ACCEL_OFFSET_Z_LSB_ADDR, calibData[4]);
-    write8(ACCEL_OFFSET_Z_MSB_ADDR, calibData[5]);
-
-    write8(MAG_OFFSET_X_LSB_ADDR, calibData[6]);
-    write8(MAG_OFFSET_X_MSB_ADDR, calibData[7]);
-    write8(MAG_OFFSET_Y_LSB_ADDR, calibData[8]);
-    write8(MAG_OFFSET_Y_MSB_ADDR, calibData[9]);
-    write8(MAG_OFFSET_Z_LSB_ADDR, calibData[10]);
-    write8(MAG_OFFSET_Z_MSB_ADDR, calibData[11]);
-
-    write8(GYRO_OFFSET_X_LSB_ADDR, calibData[12]);
-    write8(GYRO_OFFSET_X_MSB_ADDR, calibData[13]);
-    write8(GYRO_OFFSET_Y_LSB_ADDR, calibData[14]);
-    write8(GYRO_OFFSET_Y_MSB_ADDR, calibData[15]);
-    write8(GYRO_OFFSET_Z_LSB_ADDR, calibData[16]);
-    write8(GYRO_OFFSET_Z_MSB_ADDR, calibData[17]);
-
-    write8(ACCEL_RADIUS_LSB_ADDR, calibData[18]);
-    write8(ACCEL_RADIUS_MSB_ADDR, calibData[19]);
-
-    write8(MAG_RADIUS_LSB_ADDR, calibData[20]);
-    write8(MAG_RADIUS_MSB_ADDR, calibData[21]);
+void Adafruit_BNO055::setSensorOffsets(const uint8_t *calibData) {
+  adafruit_bno055_opmode_t lastMode = _mode;
+  setMode(OPERATION_MODE_CONFIG);
+  delay(25);
 
-    setMode(lastMode);
+  /* Note: Configuration will take place only when user writes to the last
+     byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.).
+     Therefore the last byte must be written whenever the user wants to
+     changes the configuration. */
+
+  /* A writeLen() would make this much cleaner */
+  write8(ACCEL_OFFSET_X_LSB_ADDR, calibData[0]);
+  write8(ACCEL_OFFSET_X_MSB_ADDR, calibData[1]);
+  write8(ACCEL_OFFSET_Y_LSB_ADDR, calibData[2]);
+  write8(ACCEL_OFFSET_Y_MSB_ADDR, calibData[3]);
+  write8(ACCEL_OFFSET_Z_LSB_ADDR, calibData[4]);
+  write8(ACCEL_OFFSET_Z_MSB_ADDR, calibData[5]);
+
+  write8(MAG_OFFSET_X_LSB_ADDR, calibData[6]);
+  write8(MAG_OFFSET_X_MSB_ADDR, calibData[7]);
+  write8(MAG_OFFSET_Y_LSB_ADDR, calibData[8]);
+  write8(MAG_OFFSET_Y_MSB_ADDR, calibData[9]);
+  write8(MAG_OFFSET_Z_LSB_ADDR, calibData[10]);
+  write8(MAG_OFFSET_Z_MSB_ADDR, calibData[11]);
+
+  write8(GYRO_OFFSET_X_LSB_ADDR, calibData[12]);
+  write8(GYRO_OFFSET_X_MSB_ADDR, calibData[13]);
+  write8(GYRO_OFFSET_Y_LSB_ADDR, calibData[14]);
+  write8(GYRO_OFFSET_Y_MSB_ADDR, calibData[15]);
+  write8(GYRO_OFFSET_Z_LSB_ADDR, calibData[16]);
+  write8(GYRO_OFFSET_Z_MSB_ADDR, calibData[17]);
+
+  write8(ACCEL_RADIUS_LSB_ADDR, calibData[18]);
+  write8(ACCEL_RADIUS_MSB_ADDR, calibData[19]);
+
+  write8(MAG_RADIUS_LSB_ADDR, calibData[20]);
+  write8(MAG_RADIUS_MSB_ADDR, calibData[21]);
+
+  setMode(lastMode);
 }
 
 /**************************************************************************/
 /*!
 @brief  Writes to the sensor's offset registers from an offset struct
+@param  offsets_type
 */
 /**************************************************************************/
-void Adafruit_BNO055::setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type)
-{
-    adafruit_bno055_opmode_t lastMode = _mode;
-    setMode(OPERATION_MODE_CONFIG);
-    delay(25);
-
-    /* Note: Configuration will take place only when user writes to the last
-       byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.).
-       Therefore the last byte must be written whenever the user wants to
-       changes the configuration. */
-
-    write8(ACCEL_OFFSET_X_LSB_ADDR, (offsets_type.accel_offset_x) & 0x0FF);
-    write8(ACCEL_OFFSET_X_MSB_ADDR, (offsets_type.accel_offset_x >> 8) & 0x0FF);
-    write8(ACCEL_OFFSET_Y_LSB_ADDR, (offsets_type.accel_offset_y) & 0x0FF);
-    write8(ACCEL_OFFSET_Y_MSB_ADDR, (offsets_type.accel_offset_y >> 8) & 0x0FF);
-    write8(ACCEL_OFFSET_Z_LSB_ADDR, (offsets_type.accel_offset_z) & 0x0FF);
-    write8(ACCEL_OFFSET_Z_MSB_ADDR, (offsets_type.accel_offset_z >> 8) & 0x0FF);
-
-    write8(MAG_OFFSET_X_LSB_ADDR, (offsets_type.mag_offset_x) & 0x0FF);
-    write8(MAG_OFFSET_X_MSB_ADDR, (offsets_type.mag_offset_x >> 8) & 0x0FF);
-    write8(MAG_OFFSET_Y_LSB_ADDR, (offsets_type.mag_offset_y) & 0x0FF);
-    write8(MAG_OFFSET_Y_MSB_ADDR, (offsets_type.mag_offset_y >> 8) & 0x0FF);
-    write8(MAG_OFFSET_Z_LSB_ADDR, (offsets_type.mag_offset_z) & 0x0FF);
-    write8(MAG_OFFSET_Z_MSB_ADDR, (offsets_type.mag_offset_z >> 8) & 0x0FF);
-
-    write8(GYRO_OFFSET_X_LSB_ADDR, (offsets_type.gyro_offset_x) & 0x0FF);
-    write8(GYRO_OFFSET_X_MSB_ADDR, (offsets_type.gyro_offset_x >> 8) & 0x0FF);
-    write8(GYRO_OFFSET_Y_LSB_ADDR, (offsets_type.gyro_offset_y) & 0x0FF);
-    write8(GYRO_OFFSET_Y_MSB_ADDR, (offsets_type.gyro_offset_y >> 8) & 0x0FF);
-    write8(GYRO_OFFSET_Z_LSB_ADDR, (offsets_type.gyro_offset_z) & 0x0FF);
-    write8(GYRO_OFFSET_Z_MSB_ADDR, (offsets_type.gyro_offset_z >> 8) & 0x0FF);
-
-    write8(ACCEL_RADIUS_LSB_ADDR, (offsets_type.accel_radius) & 0x0FF);
-    write8(ACCEL_RADIUS_MSB_ADDR, (offsets_type.accel_radius >> 8) & 0x0FF);
-
-    write8(MAG_RADIUS_LSB_ADDR, (offsets_type.mag_radius) & 0x0FF);
-    write8(MAG_RADIUS_MSB_ADDR, (offsets_type.mag_radius >> 8) & 0x0FF);
+void Adafruit_BNO055::setSensorOffsets(
+    const adafruit_bno055_offsets_t &offsets_type) {
+  adafruit_bno055_opmode_t lastMode = _mode;
+  setMode(OPERATION_MODE_CONFIG);
+  delay(25);
 
-    setMode(lastMode);
+  /* Note: Configuration will take place only when user writes to the last
+     byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.).
+     Therefore the last byte must be written whenever the user wants to
+     changes the configuration. */
+
+  write8(ACCEL_OFFSET_X_LSB_ADDR, (offsets_type.accel_offset_x) & 0x0FF);
+  write8(ACCEL_OFFSET_X_MSB_ADDR, (offsets_type.accel_offset_x >> 8) & 0x0FF);
+  write8(ACCEL_OFFSET_Y_LSB_ADDR, (offsets_type.accel_offset_y) & 0x0FF);
+  write8(ACCEL_OFFSET_Y_MSB_ADDR, (offsets_type.accel_offset_y >> 8) & 0x0FF);
+  write8(ACCEL_OFFSET_Z_LSB_ADDR, (offsets_type.accel_offset_z) & 0x0FF);
+  write8(ACCEL_OFFSET_Z_MSB_ADDR, (offsets_type.accel_offset_z >> 8) & 0x0FF);
+
+  write8(MAG_OFFSET_X_LSB_ADDR, (offsets_type.mag_offset_x) & 0x0FF);
+  write8(MAG_OFFSET_X_MSB_ADDR, (offsets_type.mag_offset_x >> 8) & 0x0FF);
+  write8(MAG_OFFSET_Y_LSB_ADDR, (offsets_type.mag_offset_y) & 0x0FF);
+  write8(MAG_OFFSET_Y_MSB_ADDR, (offsets_type.mag_offset_y >> 8) & 0x0FF);
+  write8(MAG_OFFSET_Z_LSB_ADDR, (offsets_type.mag_offset_z) & 0x0FF);
+  write8(MAG_OFFSET_Z_MSB_ADDR, (offsets_type.mag_offset_z >> 8) & 0x0FF);
+
+  write8(GYRO_OFFSET_X_LSB_ADDR, (offsets_type.gyro_offset_x) & 0x0FF);
+  write8(GYRO_OFFSET_X_MSB_ADDR, (offsets_type.gyro_offset_x >> 8) & 0x0FF);
+  write8(GYRO_OFFSET_Y_LSB_ADDR, (offsets_type.gyro_offset_y) & 0x0FF);
+  write8(GYRO_OFFSET_Y_MSB_ADDR, (offsets_type.gyro_offset_y >> 8) & 0x0FF);
+  write8(GYRO_OFFSET_Z_LSB_ADDR, (offsets_type.gyro_offset_z) & 0x0FF);
+  write8(GYRO_OFFSET_Z_MSB_ADDR, (offsets_type.gyro_offset_z >> 8) & 0x0FF);
+
+  write8(ACCEL_RADIUS_LSB_ADDR, (offsets_type.accel_radius) & 0x0FF);
+  write8(ACCEL_RADIUS_MSB_ADDR, (offsets_type.accel_radius >> 8) & 0x0FF);
+
+  write8(MAG_RADIUS_LSB_ADDR, (offsets_type.mag_radius) & 0x0FF);
+  write8(MAG_RADIUS_MSB_ADDR, (offsets_type.mag_radius >> 8) & 0x0FF);
+
+  setMode(lastMode);
 }
 
 /**************************************************************************/
 /*!
     @brief  Checks of all cal status values are set to 3 (fully calibrated)
+    @return status of calibration
 */
 /**************************************************************************/
-bool Adafruit_BNO055::isFullyCalibrated(void)
-{
-    uint8_t system, gyro, accel, mag;
-    getCalibration(&system, &gyro, &accel, &mag);
-    if (system < 3 || gyro < 3 || accel < 3 || mag < 3)
-        return false;
-    return true;
+bool Adafruit_BNO055::isFullyCalibrated() {
+  uint8_t system, gyro, accel, mag;
+  getCalibration(&system, &gyro, &accel, &mag);
+  if (system < 3 || gyro < 3 || accel < 3 || mag < 3)
+    return false;
+  return true;
 }
 
-
 /***************************************************************************
  PRIVATE FUNCTIONS
  ***************************************************************************/
@@ -627,16 +647,15 @@ bool Adafruit_BNO055::isFullyCalibrated(void)
     @brief  Writes an 8 bit value over I2C
 */
 /**************************************************************************/
-bool Adafruit_BNO055::write8(adafruit_bno055_reg_t reg, byte value)
-{
+bool Adafruit_BNO055::write8(adafruit_bno055_reg_t reg, byte value) {
   Wire.beginTransmission(_address);
-  #if ARDUINO >= 100
-    Wire.write((uint8_t)reg);
-    Wire.write((uint8_t)value);
-  #else
-    Wire.send(reg);
-    Wire.send(value);
-  #endif
+#if ARDUINO >= 100
+  Wire.write((uint8_t)reg);
+  Wire.write((uint8_t)value);
+#else
+  Wire.send(reg);
+  Wire.send(value);
+#endif
   Wire.endTransmission();
 
   /* ToDo: Check for error! */
@@ -648,23 +667,22 @@ bool Adafruit_BNO055::write8(adafruit_bno055_reg_t reg, byte value)
     @brief  Reads an 8 bit value over I2C
 */
 /**************************************************************************/
-byte Adafruit_BNO055::read8(adafruit_bno055_reg_t reg )
-{
+byte Adafruit_BNO055::read8(adafruit_bno055_reg_t reg) {
   byte value = 0;
 
   Wire.beginTransmission(_address);
-  #if ARDUINO >= 100
-    Wire.write((uint8_t)reg);
-  #else
-    Wire.send(reg);
-  #endif
+#if ARDUINO >= 100
+  Wire.write((uint8_t)reg);
+#else
+  Wire.send(reg);
+#endif
   Wire.endTransmission();
   Wire.requestFrom(_address, (byte)1);
-  #if ARDUINO >= 100
-    value = Wire.read();
-  #else
-    value = Wire.receive();
-  #endif
+#if ARDUINO >= 100
+  value = Wire.read();
+#else
+  value = Wire.receive();
+#endif
 
   return value;
 }
@@ -674,24 +692,23 @@ byte Adafruit_BNO055::read8(adafruit_bno055_reg_t reg )
     @brief  Reads the specified number of bytes over I2C
 */
 /**************************************************************************/
-bool Adafruit_BNO055::readLen(adafruit_bno055_reg_t reg, byte * buffer, uint8_t len)
-{
+bool Adafruit_BNO055::readLen(adafruit_bno055_reg_t reg, byte *buffer,
+                              uint8_t len) {
   Wire.beginTransmission(_address);
-  #if ARDUINO >= 100
-    Wire.write((uint8_t)reg);
-  #else
-    Wire.send(reg);
-  #endif
+#if ARDUINO >= 100
+  Wire.write((uint8_t)reg);
+#else
+  Wire.send(reg);
+#endif
   Wire.endTransmission();
   Wire.requestFrom(_address, (byte)len);
 
-  for (uint8_t i = 0; i < len; i++)
-  {
-    #if ARDUINO >= 100
-      buffer[i] = Wire.read();
-    #else
-      buffer[i] = Wire.receive();
-    #endif
+  for (uint8_t i = 0; i < len; i++) {
+#if ARDUINO >= 100
+    buffer[i] = Wire.read();
+#else
+    buffer[i] = Wire.receive();
+#endif
   }
 
   /* ToDo: Check for errors! */
diff --git a/Adafruit_BNO055.h b/Adafruit_BNO055.h
index 9252a80..f48fcda 100644
--- a/Adafruit_BNO055.h
+++ b/Adafruit_BNO055.h
@@ -1,36 +1,37 @@
-/***************************************************************************
-  This is a library for the BNO055 orientation sensor
-
-  Designed specifically to work with the Adafruit BNO055 Breakout.
-
-  Pick one up today in the adafruit shop!
-  ------> https://www.adafruit.com/product/2472
-
-  These sensors use I2C to communicate, 2 pins are required to interface.
-
-  Adafruit invests time and resources providing this open source code,
-  please support Adafruit andopen-source hardware by purchasing products
-  from Adafruit!
-
-  Written by KTOWN for Adafruit Industries.
-
-  MIT license, all text above must be included in any redistribution
- ***************************************************************************/
+/*!
+ *
+ *  This is a library for the BNO055 orientation sensor
+ *
+ *  Designed specifically to work with the Adafruit BNO055 Breakout.
+ *
+ *  Pick one up today in the adafruit shop!
+ *  ------> https://www.adafruit.com/product/2472
+ *
+ *  These sensors use I2C to communicate, 2 pins are required to interface.
+ *
+ *  Adafruit invests time and resources providing this open source code,
+ *  please support Adafruit andopen-source hardware by purchasing products
+ *  from Adafruit!
+ *
+ *  Written by KTOWN for Adafruit Industries.
+ *
+ *  MIT license, all text above must be included in any redistribution
+ */
 
 #ifndef __ADAFRUIT_BNO055_H__
 #define __ADAFRUIT_BNO055_H__
 
 #if (ARDUINO >= 100)
- #include "Arduino.h"
+#include "Arduino.h"
 #else
- #include "WProgram.h"
+#include "WProgram.h"
 #endif
 
 #ifdef __AVR_ATtiny85__
- #include <TinyWireM.h>
- #define Wire TinyWireM
+#include <TinyWireM.h>
+#define Wire TinyWireM
 #else
- #include <Wire.h>
+#include <Wire.h>
 #endif
 
 #include <Adafruit_Sensor.h>
@@ -38,289 +39,294 @@
 
 #define BNO055_ADDRESS_A (0x28)
 #define BNO055_ADDRESS_B (0x29)
-#define BNO055_ID        (0xA0)
+#define BNO055_ID (0xA0)
 
 #define NUM_BNO055_OFFSET_REGISTERS (22)
 
-typedef struct
-{
-    int16_t accel_offset_x;
-    int16_t accel_offset_y;
-    int16_t accel_offset_z;
-    int16_t mag_offset_x;
-    int16_t mag_offset_y;
-    int16_t mag_offset_z;
-    int16_t gyro_offset_x;
-    int16_t gyro_offset_y;
-    int16_t gyro_offset_z;
-
-    int16_t accel_radius;
-    int16_t mag_radius;
+/** A structure to represent offsets **/
+typedef struct {
+  int16_t accel_offset_x; /**< x acceleration offset */
+  int16_t accel_offset_y; /**< y acceleration offset */
+  int16_t accel_offset_z; /**< z acceleration offset */
+
+  int16_t mag_offset_x; /**< x magnetometer offset */
+  int16_t mag_offset_y; /**< y magnetometer offset */
+  int16_t mag_offset_z; /**< z magnetometer offset */
+
+  int16_t gyro_offset_x; /**< x gyroscrope offset */
+  int16_t gyro_offset_y; /**< y gyroscrope offset */
+  int16_t gyro_offset_z; /**< z gyroscrope offset */
+
+  int16_t accel_radius; /**< acceleration radius */
+
+  int16_t mag_radius; /**< magnetometer radius */
 } adafruit_bno055_offsets_t;
 
-class Adafruit_BNO055 : public Adafruit_Sensor
-{
-  public:
-    typedef enum
-    {
-      /* Page id register definition */
-      BNO055_PAGE_ID_ADDR                                     = 0X07,
-
-      /* PAGE0 REGISTER DEFINITION START*/
-      BNO055_CHIP_ID_ADDR                                     = 0x00,
-      BNO055_ACCEL_REV_ID_ADDR                                = 0x01,
-      BNO055_MAG_REV_ID_ADDR                                  = 0x02,
-      BNO055_GYRO_REV_ID_ADDR                                 = 0x03,
-      BNO055_SW_REV_ID_LSB_ADDR                               = 0x04,
-      BNO055_SW_REV_ID_MSB_ADDR                               = 0x05,
-      BNO055_BL_REV_ID_ADDR                                   = 0X06,
-
-      /* Accel data register */
-      BNO055_ACCEL_DATA_X_LSB_ADDR                            = 0X08,
-      BNO055_ACCEL_DATA_X_MSB_ADDR                            = 0X09,
-      BNO055_ACCEL_DATA_Y_LSB_ADDR                            = 0X0A,
-      BNO055_ACCEL_DATA_Y_MSB_ADDR                            = 0X0B,
-      BNO055_ACCEL_DATA_Z_LSB_ADDR                            = 0X0C,
-      BNO055_ACCEL_DATA_Z_MSB_ADDR                            = 0X0D,
-
-      /* Mag data register */
-      BNO055_MAG_DATA_X_LSB_ADDR                              = 0X0E,
-      BNO055_MAG_DATA_X_MSB_ADDR                              = 0X0F,
-      BNO055_MAG_DATA_Y_LSB_ADDR                              = 0X10,
-      BNO055_MAG_DATA_Y_MSB_ADDR                              = 0X11,
-      BNO055_MAG_DATA_Z_LSB_ADDR                              = 0X12,
-      BNO055_MAG_DATA_Z_MSB_ADDR                              = 0X13,
-
-      /* Gyro data registers */
-      BNO055_GYRO_DATA_X_LSB_ADDR                             = 0X14,
-      BNO055_GYRO_DATA_X_MSB_ADDR                             = 0X15,
-      BNO055_GYRO_DATA_Y_LSB_ADDR                             = 0X16,
-      BNO055_GYRO_DATA_Y_MSB_ADDR                             = 0X17,
-      BNO055_GYRO_DATA_Z_LSB_ADDR                             = 0X18,
-      BNO055_GYRO_DATA_Z_MSB_ADDR                             = 0X19,
-
-      /* Euler data registers */
-      BNO055_EULER_H_LSB_ADDR                                 = 0X1A,
-      BNO055_EULER_H_MSB_ADDR                                 = 0X1B,
-      BNO055_EULER_R_LSB_ADDR                                 = 0X1C,
-      BNO055_EULER_R_MSB_ADDR                                 = 0X1D,
-      BNO055_EULER_P_LSB_ADDR                                 = 0X1E,
-      BNO055_EULER_P_MSB_ADDR                                 = 0X1F,
-
-      /* Quaternion data registers */
-      BNO055_QUATERNION_DATA_W_LSB_ADDR                       = 0X20,
-      BNO055_QUATERNION_DATA_W_MSB_ADDR                       = 0X21,
-      BNO055_QUATERNION_DATA_X_LSB_ADDR                       = 0X22,
-      BNO055_QUATERNION_DATA_X_MSB_ADDR                       = 0X23,
-      BNO055_QUATERNION_DATA_Y_LSB_ADDR                       = 0X24,
-      BNO055_QUATERNION_DATA_Y_MSB_ADDR                       = 0X25,
-      BNO055_QUATERNION_DATA_Z_LSB_ADDR                       = 0X26,
-      BNO055_QUATERNION_DATA_Z_MSB_ADDR                       = 0X27,
-
-      /* Linear acceleration data registers */
-      BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR                     = 0X28,
-      BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR                     = 0X29,
-      BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR                     = 0X2A,
-      BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR                     = 0X2B,
-      BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR                     = 0X2C,
-      BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR                     = 0X2D,
-
-      /* Gravity data registers */
-      BNO055_GRAVITY_DATA_X_LSB_ADDR                          = 0X2E,
-      BNO055_GRAVITY_DATA_X_MSB_ADDR                          = 0X2F,
-      BNO055_GRAVITY_DATA_Y_LSB_ADDR                          = 0X30,
-      BNO055_GRAVITY_DATA_Y_MSB_ADDR                          = 0X31,
-      BNO055_GRAVITY_DATA_Z_LSB_ADDR                          = 0X32,
-      BNO055_GRAVITY_DATA_Z_MSB_ADDR                          = 0X33,
-
-      /* Temperature data register */
-      BNO055_TEMP_ADDR                                        = 0X34,
-
-      /* Status registers */
-      BNO055_CALIB_STAT_ADDR                                  = 0X35,
-      BNO055_SELFTEST_RESULT_ADDR                             = 0X36,
-      BNO055_INTR_STAT_ADDR                                   = 0X37,
-
-      BNO055_SYS_CLK_STAT_ADDR                                = 0X38,
-      BNO055_SYS_STAT_ADDR                                    = 0X39,
-      BNO055_SYS_ERR_ADDR                                     = 0X3A,
-
-      /* Unit selection register */
-      BNO055_UNIT_SEL_ADDR                                    = 0X3B,
-      BNO055_DATA_SELECT_ADDR                                 = 0X3C,
-
-      /* Mode registers */
-      BNO055_OPR_MODE_ADDR                                    = 0X3D,
-      BNO055_PWR_MODE_ADDR                                    = 0X3E,
-
-      BNO055_SYS_TRIGGER_ADDR                                 = 0X3F,
-      BNO055_TEMP_SOURCE_ADDR                                 = 0X40,
-
-      /* Axis remap registers */
-      BNO055_AXIS_MAP_CONFIG_ADDR                             = 0X41,
-      BNO055_AXIS_MAP_SIGN_ADDR                               = 0X42,
-
-      /* SIC registers */
-      BNO055_SIC_MATRIX_0_LSB_ADDR                            = 0X43,
-      BNO055_SIC_MATRIX_0_MSB_ADDR                            = 0X44,
-      BNO055_SIC_MATRIX_1_LSB_ADDR                            = 0X45,
-      BNO055_SIC_MATRIX_1_MSB_ADDR                            = 0X46,
-      BNO055_SIC_MATRIX_2_LSB_ADDR                            = 0X47,
-      BNO055_SIC_MATRIX_2_MSB_ADDR                            = 0X48,
-      BNO055_SIC_MATRIX_3_LSB_ADDR                            = 0X49,
-      BNO055_SIC_MATRIX_3_MSB_ADDR                            = 0X4A,
-      BNO055_SIC_MATRIX_4_LSB_ADDR                            = 0X4B,
-      BNO055_SIC_MATRIX_4_MSB_ADDR                            = 0X4C,
-      BNO055_SIC_MATRIX_5_LSB_ADDR                            = 0X4D,
-      BNO055_SIC_MATRIX_5_MSB_ADDR                            = 0X4E,
-      BNO055_SIC_MATRIX_6_LSB_ADDR                            = 0X4F,
-      BNO055_SIC_MATRIX_6_MSB_ADDR                            = 0X50,
-      BNO055_SIC_MATRIX_7_LSB_ADDR                            = 0X51,
-      BNO055_SIC_MATRIX_7_MSB_ADDR                            = 0X52,
-      BNO055_SIC_MATRIX_8_LSB_ADDR                            = 0X53,
-      BNO055_SIC_MATRIX_8_MSB_ADDR                            = 0X54,
-
-      /* Accelerometer Offset registers */
-      ACCEL_OFFSET_X_LSB_ADDR                                 = 0X55,
-      ACCEL_OFFSET_X_MSB_ADDR                                 = 0X56,
-      ACCEL_OFFSET_Y_LSB_ADDR                                 = 0X57,
-      ACCEL_OFFSET_Y_MSB_ADDR                                 = 0X58,
-      ACCEL_OFFSET_Z_LSB_ADDR                                 = 0X59,
-      ACCEL_OFFSET_Z_MSB_ADDR                                 = 0X5A,
-
-      /* Magnetometer Offset registers */
-      MAG_OFFSET_X_LSB_ADDR                                   = 0X5B,
-      MAG_OFFSET_X_MSB_ADDR                                   = 0X5C,
-      MAG_OFFSET_Y_LSB_ADDR                                   = 0X5D,
-      MAG_OFFSET_Y_MSB_ADDR                                   = 0X5E,
-      MAG_OFFSET_Z_LSB_ADDR                                   = 0X5F,
-      MAG_OFFSET_Z_MSB_ADDR                                   = 0X60,
-
-      /* Gyroscope Offset register s*/
-      GYRO_OFFSET_X_LSB_ADDR                                  = 0X61,
-      GYRO_OFFSET_X_MSB_ADDR                                  = 0X62,
-      GYRO_OFFSET_Y_LSB_ADDR                                  = 0X63,
-      GYRO_OFFSET_Y_MSB_ADDR                                  = 0X64,
-      GYRO_OFFSET_Z_LSB_ADDR                                  = 0X65,
-      GYRO_OFFSET_Z_MSB_ADDR                                  = 0X66,
-
-      /* Radius registers */
-      ACCEL_RADIUS_LSB_ADDR                                   = 0X67,
-      ACCEL_RADIUS_MSB_ADDR                                   = 0X68,
-      MAG_RADIUS_LSB_ADDR                                     = 0X69,
-      MAG_RADIUS_MSB_ADDR                                     = 0X6A
-    } adafruit_bno055_reg_t;
-
-    typedef enum
-    {
-      POWER_MODE_NORMAL                                       = 0X00,
-      POWER_MODE_LOWPOWER                                     = 0X01,
-      POWER_MODE_SUSPEND                                      = 0X02
-    } adafruit_bno055_powermode_t;
-
-    typedef enum
-    {
-      /* Operation mode settings*/
-      OPERATION_MODE_CONFIG                                   = 0X00,
-      OPERATION_MODE_ACCONLY                                  = 0X01,
-      OPERATION_MODE_MAGONLY                                  = 0X02,
-      OPERATION_MODE_GYRONLY                                  = 0X03,
-      OPERATION_MODE_ACCMAG                                   = 0X04,
-      OPERATION_MODE_ACCGYRO                                  = 0X05,
-      OPERATION_MODE_MAGGYRO                                  = 0X06,
-      OPERATION_MODE_AMG                                      = 0X07,
-      OPERATION_MODE_IMUPLUS                                  = 0X08,
-      OPERATION_MODE_COMPASS                                  = 0X09,
-      OPERATION_MODE_M4G                                      = 0X0A,
-      OPERATION_MODE_NDOF_FMC_OFF                             = 0X0B,
-      OPERATION_MODE_NDOF                                     = 0X0C
-    } adafruit_bno055_opmode_t;
-
-    typedef enum
-    {
-      REMAP_CONFIG_P0                                         = 0x21,
-      REMAP_CONFIG_P1                                         = 0x24, // default
-      REMAP_CONFIG_P2                                         = 0x24,
-      REMAP_CONFIG_P3                                         = 0x21,
-      REMAP_CONFIG_P4                                         = 0x24,
-      REMAP_CONFIG_P5                                         = 0x21,
-      REMAP_CONFIG_P6                                         = 0x21,
-      REMAP_CONFIG_P7                                         = 0x24
-    } adafruit_bno055_axis_remap_config_t;
-
-    typedef enum
-    {
-      REMAP_SIGN_P0                                           = 0x04,
-      REMAP_SIGN_P1                                           = 0x00, // default
-      REMAP_SIGN_P2                                           = 0x06,
-      REMAP_SIGN_P3                                           = 0x02,
-      REMAP_SIGN_P4                                           = 0x03,
-      REMAP_SIGN_P5                                           = 0x01,
-      REMAP_SIGN_P6                                           = 0x07,
-      REMAP_SIGN_P7                                           = 0x05
-    } adafruit_bno055_axis_remap_sign_t;
-
-    typedef struct
-    {
-      uint8_t  accel_rev;
-      uint8_t  mag_rev;
-      uint8_t  gyro_rev;
-      uint16_t sw_rev;
-      uint8_t  bl_rev;
-    } adafruit_bno055_rev_info_t;
-
-    typedef enum
-    {
-      VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR,
-      VECTOR_MAGNETOMETER  = BNO055_MAG_DATA_X_LSB_ADDR,
-      VECTOR_GYROSCOPE     = BNO055_GYRO_DATA_X_LSB_ADDR,
-      VECTOR_EULER         = BNO055_EULER_H_LSB_ADDR,
-      VECTOR_LINEARACCEL   = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR,
-      VECTOR_GRAVITY       = BNO055_GRAVITY_DATA_X_LSB_ADDR
-    } adafruit_vector_type_t;
-
-#if defined (ARDUINO_SAMD_ZERO) && ! (ARDUINO_SAMD_FEATHER_M0)
-#error "On an arduino Zero, BNO055's ADR pin must be high. Fix that, then delete this line."
-    Adafruit_BNO055 ( int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_B );
+/*!
+ *  @brief  Class that stores state and functions for interacting with
+ *          BNO055 Sensor
+ */
+class Adafruit_BNO055 : public Adafruit_Sensor {
+public:
+  /** BNO055 Registers **/
+  typedef enum {
+    /* Page id register definition */
+    BNO055_PAGE_ID_ADDR = 0X07,
+
+    /* PAGE0 REGISTER DEFINITION START*/
+    BNO055_CHIP_ID_ADDR = 0x00,
+    BNO055_ACCEL_REV_ID_ADDR = 0x01,
+    BNO055_MAG_REV_ID_ADDR = 0x02,
+    BNO055_GYRO_REV_ID_ADDR = 0x03,
+    BNO055_SW_REV_ID_LSB_ADDR = 0x04,
+    BNO055_SW_REV_ID_MSB_ADDR = 0x05,
+    BNO055_BL_REV_ID_ADDR = 0X06,
+
+    /* Accel data register */
+    BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08,
+    BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09,
+    BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A,
+    BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B,
+    BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C,
+    BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D,
+
+    /* Mag data register */
+    BNO055_MAG_DATA_X_LSB_ADDR = 0X0E,
+    BNO055_MAG_DATA_X_MSB_ADDR = 0X0F,
+    BNO055_MAG_DATA_Y_LSB_ADDR = 0X10,
+    BNO055_MAG_DATA_Y_MSB_ADDR = 0X11,
+    BNO055_MAG_DATA_Z_LSB_ADDR = 0X12,
+    BNO055_MAG_DATA_Z_MSB_ADDR = 0X13,
+
+    /* Gyro data registers */
+    BNO055_GYRO_DATA_X_LSB_ADDR = 0X14,
+    BNO055_GYRO_DATA_X_MSB_ADDR = 0X15,
+    BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16,
+    BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17,
+    BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18,
+    BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19,
+
+    /* Euler data registers */
+    BNO055_EULER_H_LSB_ADDR = 0X1A,
+    BNO055_EULER_H_MSB_ADDR = 0X1B,
+    BNO055_EULER_R_LSB_ADDR = 0X1C,
+    BNO055_EULER_R_MSB_ADDR = 0X1D,
+    BNO055_EULER_P_LSB_ADDR = 0X1E,
+    BNO055_EULER_P_MSB_ADDR = 0X1F,
+
+    /* Quaternion data registers */
+    BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20,
+    BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21,
+    BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22,
+    BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23,
+    BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24,
+    BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25,
+    BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26,
+    BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27,
+
+    /* Linear acceleration data registers */
+    BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28,
+    BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29,
+    BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A,
+    BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B,
+    BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C,
+    BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D,
+
+    /* Gravity data registers */
+    BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E,
+    BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F,
+    BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30,
+    BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31,
+    BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32,
+    BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33,
+
+    /* Temperature data register */
+    BNO055_TEMP_ADDR = 0X34,
+
+    /* Status registers */
+    BNO055_CALIB_STAT_ADDR = 0X35,
+    BNO055_SELFTEST_RESULT_ADDR = 0X36,
+    BNO055_INTR_STAT_ADDR = 0X37,
+
+    BNO055_SYS_CLK_STAT_ADDR = 0X38,
+    BNO055_SYS_STAT_ADDR = 0X39,
+    BNO055_SYS_ERR_ADDR = 0X3A,
+
+    /* Unit selection register */
+    BNO055_UNIT_SEL_ADDR = 0X3B,
+    BNO055_DATA_SELECT_ADDR = 0X3C,
+
+    /* Mode registers */
+    BNO055_OPR_MODE_ADDR = 0X3D,
+    BNO055_PWR_MODE_ADDR = 0X3E,
+
+    BNO055_SYS_TRIGGER_ADDR = 0X3F,
+    BNO055_TEMP_SOURCE_ADDR = 0X40,
+
+    /* Axis remap registers */
+    BNO055_AXIS_MAP_CONFIG_ADDR = 0X41,
+    BNO055_AXIS_MAP_SIGN_ADDR = 0X42,
+
+    /* SIC registers */
+    BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43,
+    BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44,
+    BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45,
+    BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46,
+    BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47,
+    BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48,
+    BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49,
+    BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A,
+    BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B,
+    BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C,
+    BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D,
+    BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E,
+    BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F,
+    BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50,
+    BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51,
+    BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52,
+    BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53,
+    BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54,
+
+    /* Accelerometer Offset registers */
+    ACCEL_OFFSET_X_LSB_ADDR = 0X55,
+    ACCEL_OFFSET_X_MSB_ADDR = 0X56,
+    ACCEL_OFFSET_Y_LSB_ADDR = 0X57,
+    ACCEL_OFFSET_Y_MSB_ADDR = 0X58,
+    ACCEL_OFFSET_Z_LSB_ADDR = 0X59,
+    ACCEL_OFFSET_Z_MSB_ADDR = 0X5A,
+
+    /* Magnetometer Offset registers */
+    MAG_OFFSET_X_LSB_ADDR = 0X5B,
+    MAG_OFFSET_X_MSB_ADDR = 0X5C,
+    MAG_OFFSET_Y_LSB_ADDR = 0X5D,
+    MAG_OFFSET_Y_MSB_ADDR = 0X5E,
+    MAG_OFFSET_Z_LSB_ADDR = 0X5F,
+    MAG_OFFSET_Z_MSB_ADDR = 0X60,
+
+    /* Gyroscope Offset register s*/
+    GYRO_OFFSET_X_LSB_ADDR = 0X61,
+    GYRO_OFFSET_X_MSB_ADDR = 0X62,
+    GYRO_OFFSET_Y_LSB_ADDR = 0X63,
+    GYRO_OFFSET_Y_MSB_ADDR = 0X64,
+    GYRO_OFFSET_Z_LSB_ADDR = 0X65,
+    GYRO_OFFSET_Z_MSB_ADDR = 0X66,
+
+    /* Radius registers */
+    ACCEL_RADIUS_LSB_ADDR = 0X67,
+    ACCEL_RADIUS_MSB_ADDR = 0X68,
+    MAG_RADIUS_LSB_ADDR = 0X69,
+    MAG_RADIUS_MSB_ADDR = 0X6A
+  } adafruit_bno055_reg_t;
+
+  /** BNO055 power settings */
+  typedef enum {
+    POWER_MODE_NORMAL = 0X00,
+    POWER_MODE_LOWPOWER = 0X01,
+    POWER_MODE_SUSPEND = 0X02
+  } adafruit_bno055_powermode_t;
+
+  /** Operation mode settings **/
+  typedef enum {
+    OPERATION_MODE_CONFIG = 0X00,
+    OPERATION_MODE_ACCONLY = 0X01,
+    OPERATION_MODE_MAGONLY = 0X02,
+    OPERATION_MODE_GYRONLY = 0X03,
+    OPERATION_MODE_ACCMAG = 0X04,
+    OPERATION_MODE_ACCGYRO = 0X05,
+    OPERATION_MODE_MAGGYRO = 0X06,
+    OPERATION_MODE_AMG = 0X07,
+    OPERATION_MODE_IMUPLUS = 0X08,
+    OPERATION_MODE_COMPASS = 0X09,
+    OPERATION_MODE_M4G = 0X0A,
+    OPERATION_MODE_NDOF_FMC_OFF = 0X0B,
+    OPERATION_MODE_NDOF = 0X0C
+  } adafruit_bno055_opmode_t;
+
+  /** Remap settings **/
+  typedef enum {
+    REMAP_CONFIG_P0 = 0x21,
+    REMAP_CONFIG_P1 = 0x24, // default
+    REMAP_CONFIG_P2 = 0x24,
+    REMAP_CONFIG_P3 = 0x21,
+    REMAP_CONFIG_P4 = 0x24,
+    REMAP_CONFIG_P5 = 0x21,
+    REMAP_CONFIG_P6 = 0x21,
+    REMAP_CONFIG_P7 = 0x24
+  } adafruit_bno055_axis_remap_config_t;
+
+  /** Remap Signs **/
+  typedef enum {
+    REMAP_SIGN_P0 = 0x04,
+    REMAP_SIGN_P1 = 0x00, // default
+    REMAP_SIGN_P2 = 0x06,
+    REMAP_SIGN_P3 = 0x02,
+    REMAP_SIGN_P4 = 0x03,
+    REMAP_SIGN_P5 = 0x01,
+    REMAP_SIGN_P6 = 0x07,
+    REMAP_SIGN_P7 = 0x05
+  } adafruit_bno055_axis_remap_sign_t;
+
+  /** A structure to represent revisions **/
+  typedef struct {
+    uint8_t accel_rev; /**< acceleration rev */
+    uint8_t mag_rev;   /**< magnetometer rev */
+    uint8_t gyro_rev;  /**< gyroscrope rev */
+    uint16_t sw_rev;   /**< SW rev */
+    uint8_t bl_rev;    /**< bootloader rev */
+  } adafruit_bno055_rev_info_t;
+
+  /** Vector Mappings **/
+  typedef enum {
+    VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR,
+    VECTOR_MAGNETOMETER = BNO055_MAG_DATA_X_LSB_ADDR,
+    VECTOR_GYROSCOPE = BNO055_GYRO_DATA_X_LSB_ADDR,
+    VECTOR_EULER = BNO055_EULER_H_LSB_ADDR,
+    VECTOR_LINEARACCEL = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR,
+    VECTOR_GRAVITY = BNO055_GRAVITY_DATA_X_LSB_ADDR
+  } adafruit_vector_type_t;
+
+#if defined(ARDUINO_SAMD_ZERO) && !(ARDUINO_SAMD_FEATHER_M0)
+#error                                                                         \
+    "On an arduino Zero, BNO055's ADR pin must be high. Fix that, then delete \
+         this line."
+  Adafruit_BNO055(int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_B);
 #else
-    Adafruit_BNO055 ( int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_A );
+  Adafruit_BNO055(int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_A);
 #endif
-    bool  begin               ( adafruit_bno055_opmode_t mode = OPERATION_MODE_NDOF );
-    void  setMode             ( adafruit_bno055_opmode_t mode );
-    void  setAxisRemap        ( adafruit_bno055_axis_remap_config_t remapcode );
-    void  setAxisSign         ( adafruit_bno055_axis_remap_sign_t remapsign );
-    void  getRevInfo          ( adafruit_bno055_rev_info_t* );
-    void  displayRevInfo      ( void );
-    void  setExtCrystalUse    ( boolean usextal );
-    void  getSystemStatus     ( uint8_t *system_status,
-                                uint8_t *self_test_result,
-                                uint8_t *system_error);
-    void  displaySystemStatus ( void );
-    void  getCalibration      ( uint8_t* system, uint8_t* gyro, uint8_t* accel, uint8_t* mag);
-
-    imu::Vector<3>  getVector ( adafruit_vector_type_t vector_type );
-    imu::Quaternion getQuat   ( void );
-    int8_t          getTemp   ( void );
-
-    /* Adafruit_Sensor implementation */
-    bool  getEvent  ( sensors_event_t* );
-    void  getSensor ( sensor_t* );
-
-    /* Functions to deal with raw calibration data */
-    bool  getSensorOffsets(uint8_t* calibData);
-    bool  getSensorOffsets(adafruit_bno055_offsets_t &offsets_type);
-    void  setSensorOffsets(const uint8_t* calibData);
-    void  setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type);
-    bool  isFullyCalibrated(void);
-
-  private:
-    byte  read8   ( adafruit_bno055_reg_t );
-    bool  readLen ( adafruit_bno055_reg_t, byte* buffer, uint8_t len );
-    bool  write8  ( adafruit_bno055_reg_t, byte value );
-
-    uint8_t _address;
-    int32_t _sensorID;
-    adafruit_bno055_opmode_t _mode;
+  bool begin(adafruit_bno055_opmode_t mode = OPERATION_MODE_NDOF);
+  void setMode(adafruit_bno055_opmode_t mode);
+  void setAxisRemap(adafruit_bno055_axis_remap_config_t remapcode);
+  void setAxisSign(adafruit_bno055_axis_remap_sign_t remapsign);
+  void getRevInfo(adafruit_bno055_rev_info_t *);
+  void setExtCrystalUse(boolean usextal);
+  void getSystemStatus(uint8_t *system_status, uint8_t *self_test_result,
+                       uint8_t *system_error);
+  void getCalibration(uint8_t *system, uint8_t *gyro, uint8_t *accel,
+                      uint8_t *mag);
+
+  imu::Vector<3> getVector(adafruit_vector_type_t vector_type);
+  imu::Quaternion getQuat();
+  int8_t getTemp();
+
+  /* Adafruit_Sensor implementation */
+  bool getEvent(sensors_event_t *);
+  void getSensor(sensor_t *);
+
+  /* Functions to deal with raw calibration data */
+  bool getSensorOffsets(uint8_t *calibData);
+  bool getSensorOffsets(adafruit_bno055_offsets_t &offsets_type);
+  void setSensorOffsets(const uint8_t *calibData);
+  void setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type);
+  bool isFullyCalibrated();
+
+private:
+  byte read8(adafruit_bno055_reg_t);
+  bool readLen(adafruit_bno055_reg_t, byte *buffer, uint8_t len);
+  bool write8(adafruit_bno055_reg_t, byte value);
+
+  uint8_t _address;
+  int32_t _sensorID;
+  adafruit_bno055_opmode_t _mode;
 };
 
 #endif
diff --git a/README.md b/README.md
index 9027524..50eb38f 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-# Adafruit Unified BNO055 Driver (AHRS/Orientation)  #
+# Adafruit Unified BNO055 Driver (AHRS/Orientation)  [![Build Status](https://travis-ci.com/adafruit/Adafruit_BNO055.svg?branch=master)](https://travis-ci.com/adafruit/Adafruit_BNO055)
 
 This driver is for the Adafruit BNO055 Breakout (http://www.adafruit.com/products/2472),
 and is based on Adafruit's Unified Sensor Library (Adafruit_Sensor).
diff --git a/examples/bunny/processing/cuberotate/cuberotate.pde b/examples/bunny/processing/cuberotate/cuberotate.pde
deleted file mode 100644
index 6e34528..0000000
--- a/examples/bunny/processing/cuberotate/cuberotate.pde
+++ /dev/null
@@ -1,181 +0,0 @@
-import processing.serial.*;
-import java.awt.datatransfer.*;
-import java.awt.Toolkit;
-import processing.opengl.*;
-import saito.objloader.*;
-import g4p_controls.*;
-
-float roll  = 0.0F;
-float pitch = 0.0F;
-float yaw   = 0.0F;
-float temp  = 0.0F;
-float alt   = 0.0F;
-
-OBJModel model;
-
-// Serial port state.
-Serial       port;
-final String serialConfigFile = "serialconfig.txt";
-boolean      printSerial = false;
-
-// UI controls.
-GPanel    configPanel;
-GDropList serialList;
-GLabel    serialLabel;
-GLabel    calLabel;
-GCheckbox printSerialCheckbox;
-
-void setup()
-{
-  size(640, 480, OPENGL);
-  frameRate(30);
-  model = new OBJModel(this);
-  model.load("bunny.obj");
-  model.scale(20);
-  
-  // Serial port setup.
-  // Grab list of serial ports and choose one that was persisted earlier or default to the first port.
-  int selectedPort = 0;
-  String[] availablePorts = Serial.list();
-  if (availablePorts == null) {
-    println("ERROR: No serial ports available!");
-    exit();
-  }
-  String[] serialConfig = loadStrings(serialConfigFile);
-  if (serialConfig != null && serialConfig.length > 0) {
-    String savedPort = serialConfig[0];
-    // Check if saved port is in available ports.
-    for (int i = 0; i < availablePorts.length; ++i) {
-      if (availablePorts[i].equals(savedPort)) {
-        selectedPort = i;
-      } 
-    }
-  }
-  // Build serial config UI.
-  configPanel = new GPanel(this, 10, 10, width-20, 90, "Configuration (click to hide/show)");
-  serialLabel = new GLabel(this,  0, 20, 80, 25, "Serial port:");
-  configPanel.addControl(serialLabel);
-  serialList = new GDropList(this, 90, 20, 200, 200, 6);
-  serialList.setItems(availablePorts, selectedPort);
-  configPanel.addControl(serialList);
-  calLabel = new GLabel(this, 300, 20, 350, 25, "Calibration: Sys=? Gyro=? Accel=? Mag=?");
-  configPanel.addControl(calLabel); 
-  printSerialCheckbox = new GCheckbox(this, 5, 50, 200, 20, "Print serial data");
-  printSerialCheckbox.setSelected(printSerial);
-  configPanel.addControl(printSerialCheckbox);
-  // Set serial port.
-  setSerialPort(serialList.getSelectedText());
-}
- 
-void draw()
-{
-  background(0,0,0);
-
-  // Set a new co-ordinate space
-  pushMatrix();
-
-  // Simple 3 point lighting for dramatic effect.
-  // Slightly red light in upper right, slightly blue light in upper left, and white light from behind.
-  pointLight(255, 200, 200,  400, 400,  500);
-  pointLight(200, 200, 255, -400, 400,  500);
-  pointLight(255, 255, 255,    0,   0, -500);
-  
-  // Move bunny from 0,0 in upper left corner to roughly center of screen.
-  translate(300, 380, 0);
-  
-  // Rotate shapes around the X/Y/Z axis (values in radians, 0..Pi*2)
-  //rotateZ(radians(roll));
-  //rotateX(radians(pitch)); // extrinsic rotation
-  //rotateY(radians(yaw));
-  float c1 = cos(radians(roll));
-  float s1 = sin(radians(roll));
-  float c2 = cos(radians(pitch)); // intrinsic rotation
-  float s2 = sin(radians(pitch));
-  float c3 = cos(radians(yaw));
-  float s3 = sin(radians(yaw));
-  applyMatrix( c2*c3, s1*s3+c1*c3*s2, c3*s1*s2-c1*s3, 0,
-               -s2, c1*c2, c2*s1, 0,
-               c2*s3, c1*s2*s3-c3*s1, c1*c3+s1*s2*s3, 0,
-               0, 0, 0, 1);
-
-  pushMatrix();
-  noStroke();
-  model.draw();
-  popMatrix();
-  popMatrix();
-  //print("draw");
-}
-
-void serialEvent(Serial p) 
-{
-  String incoming = p.readString();
-  if (printSerial) {
-    println(incoming);
-  }
-  
-  if ((incoming.length() > 8))
-  {
-    String[] list = split(incoming, " ");
-    if ( (list.length > 0) && (list[0].equals("Orientation:")) ) 
-    {
-      roll  = float(list[3]); // Roll = Z
-      pitch = float(list[2]); // Pitch = Y 
-      yaw   = float(list[1]); // Yaw/Heading = X
-    }
-    if ( (list.length > 0) && (list[0].equals("Alt:")) ) 
-    {
-      alt  = float(list[1]);
-    }
-    if ( (list.length > 0) && (list[0].equals("Temp:")) ) 
-    {
-      temp  = float(list[1]);
-    }
-    if ( (list.length > 0) && (list[0].equals("Calibration:")) )
-    {
-      int sysCal   = int(list[1]);
-      int gyroCal  = int(list[2]);
-      int accelCal = int(list[3]);
-      int magCal   = int(trim(list[4]));
-      calLabel.setText("Calibration: Sys=" + sysCal + " Gyro=" + gyroCal + " Accel=" + accelCal + " Mag=" + magCal);
-    }
-  }
-}
-
-// Set serial port to desired value.
-void setSerialPort(String portName) {
-  // Close the port if it's currently open.
-  if (port != null) {
-    port.stop();
-  }
-  try {
-    // Open port.
-    port = new Serial(this, portName, 115200);
-    port.bufferUntil('\n');
-    // Persist port in configuration.
-    saveStrings(serialConfigFile, new String[] { portName });
-  }
-  catch (RuntimeException ex) {
-    // Swallow error if port can't be opened, keep port closed.
-    port = null; 
-  }
-}
-
-// UI event handlers
-
-void handlePanelEvents(GPanel panel, GEvent event) {
-  // Panel events, do nothing.
-}
-
-void handleDropListEvents(GDropList list, GEvent event) { 
-  // Drop list events, check if new serial port is selected.
-  if (list == serialList) {
-    setSerialPort(serialList.getSelectedText()); 
-  }
-}
-
-void handleToggleControlEvents(GToggleControl checkbox, GEvent event) { 
-  // Checkbox toggle events, check if print events is toggled.
-  if (checkbox == printSerialCheckbox) {
-    printSerial = printSerialCheckbox.isSelected(); 
-  }
-}
diff --git a/examples/bunny/processing/cuberotate/data/bunny.mtl b/examples/bunny/processing/cuberotate/data/bunny.mtl
deleted file mode 100644
index b7daf56..0000000
--- a/examples/bunny/processing/cuberotate/data/bunny.mtl
+++ /dev/null
@@ -1,13 +0,0 @@
-# 3ds Max Wavefront OBJ Exporter v0.94b - (c)2007 guruware
-# File Created: 04.07.2010 10:41:39
-
-newmtl Body
-Ns 32
-d 1
-Tr 1
-Tf 1 1 1
-illum 2
-Ka 0.0000 0.0000 0.0000
-Kd 0.7412 0.4784 0.4765
-Ks 0.3500 0.3500 0.6500
-
diff --git a/examples/bunny/processing/cuberotate/data/bunny.obj b/examples/bunny/processing/cuberotate/data/bunny.obj
deleted file mode 100644
index 8764d6a..0000000
--- a/examples/bunny/processing/cuberotate/data/bunny.obj
+++ /dev/null
@@ -1,139352 +0,0 @@
-####
-#
-# OBJ File Generated by Meshlab
-#
-####
-# Object bunny.obj
-#
-# Vertices: 34835
-# Faces: 69666
-#
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-# 69666 faces, 0 coords texture
-
-# End of File
diff --git a/examples/bunny/processing/cuberotate/serialconfig.txt b/examples/bunny/processing/cuberotate/serialconfig.txt
deleted file mode 100644
index 85b74a2..0000000
--- a/examples/bunny/processing/cuberotate/serialconfig.txt
+++ /dev/null
@@ -1 +0,0 @@
-/dev/tty.usbmodem141121
diff --git a/examples/restore_offsets/.due.test.skip b/examples/restore_offsets/.due.test.skip
new file mode 100644
index 0000000..e69de29
diff --git a/examples/restore_offsets/.m4.test.skip b/examples/restore_offsets/.m4.test.skip
new file mode 100644
index 0000000..e69de29
diff --git a/examples/restore_offsets/.zero.test.skip b/examples/restore_offsets/.zero.test.skip
new file mode 100644
index 0000000..e69de29
diff --git a/examples_processing/cuberotate/cuberotate.pde b/examples_processing/cuberotate/cuberotate.pde
new file mode 100755
index 0000000..6e34528
--- /dev/null
+++ b/examples_processing/cuberotate/cuberotate.pde
@@ -0,0 +1,181 @@
+import processing.serial.*;
+import java.awt.datatransfer.*;
+import java.awt.Toolkit;
+import processing.opengl.*;
+import saito.objloader.*;
+import g4p_controls.*;
+
+float roll  = 0.0F;
+float pitch = 0.0F;
+float yaw   = 0.0F;
+float temp  = 0.0F;
+float alt   = 0.0F;
+
+OBJModel model;
+
+// Serial port state.
+Serial       port;
+final String serialConfigFile = "serialconfig.txt";
+boolean      printSerial = false;
+
+// UI controls.
+GPanel    configPanel;
+GDropList serialList;
+GLabel    serialLabel;
+GLabel    calLabel;
+GCheckbox printSerialCheckbox;
+
+void setup()
+{
+  size(640, 480, OPENGL);
+  frameRate(30);
+  model = new OBJModel(this);
+  model.load("bunny.obj");
+  model.scale(20);
+  
+  // Serial port setup.
+  // Grab list of serial ports and choose one that was persisted earlier or default to the first port.
+  int selectedPort = 0;
+  String[] availablePorts = Serial.list();
+  if (availablePorts == null) {
+    println("ERROR: No serial ports available!");
+    exit();
+  }
+  String[] serialConfig = loadStrings(serialConfigFile);
+  if (serialConfig != null && serialConfig.length > 0) {
+    String savedPort = serialConfig[0];
+    // Check if saved port is in available ports.
+    for (int i = 0; i < availablePorts.length; ++i) {
+      if (availablePorts[i].equals(savedPort)) {
+        selectedPort = i;
+      } 
+    }
+  }
+  // Build serial config UI.
+  configPanel = new GPanel(this, 10, 10, width-20, 90, "Configuration (click to hide/show)");
+  serialLabel = new GLabel(this,  0, 20, 80, 25, "Serial port:");
+  configPanel.addControl(serialLabel);
+  serialList = new GDropList(this, 90, 20, 200, 200, 6);
+  serialList.setItems(availablePorts, selectedPort);
+  configPanel.addControl(serialList);
+  calLabel = new GLabel(this, 300, 20, 350, 25, "Calibration: Sys=? Gyro=? Accel=? Mag=?");
+  configPanel.addControl(calLabel); 
+  printSerialCheckbox = new GCheckbox(this, 5, 50, 200, 20, "Print serial data");
+  printSerialCheckbox.setSelected(printSerial);
+  configPanel.addControl(printSerialCheckbox);
+  // Set serial port.
+  setSerialPort(serialList.getSelectedText());
+}
+ 
+void draw()
+{
+  background(0,0,0);
+
+  // Set a new co-ordinate space
+  pushMatrix();
+
+  // Simple 3 point lighting for dramatic effect.
+  // Slightly red light in upper right, slightly blue light in upper left, and white light from behind.
+  pointLight(255, 200, 200,  400, 400,  500);
+  pointLight(200, 200, 255, -400, 400,  500);
+  pointLight(255, 255, 255,    0,   0, -500);
+  
+  // Move bunny from 0,0 in upper left corner to roughly center of screen.
+  translate(300, 380, 0);
+  
+  // Rotate shapes around the X/Y/Z axis (values in radians, 0..Pi*2)
+  //rotateZ(radians(roll));
+  //rotateX(radians(pitch)); // extrinsic rotation
+  //rotateY(radians(yaw));
+  float c1 = cos(radians(roll));
+  float s1 = sin(radians(roll));
+  float c2 = cos(radians(pitch)); // intrinsic rotation
+  float s2 = sin(radians(pitch));
+  float c3 = cos(radians(yaw));
+  float s3 = sin(radians(yaw));
+  applyMatrix( c2*c3, s1*s3+c1*c3*s2, c3*s1*s2-c1*s3, 0,
+               -s2, c1*c2, c2*s1, 0,
+               c2*s3, c1*s2*s3-c3*s1, c1*c3+s1*s2*s3, 0,
+               0, 0, 0, 1);
+
+  pushMatrix();
+  noStroke();
+  model.draw();
+  popMatrix();
+  popMatrix();
+  //print("draw");
+}
+
+void serialEvent(Serial p) 
+{
+  String incoming = p.readString();
+  if (printSerial) {
+    println(incoming);
+  }
+  
+  if ((incoming.length() > 8))
+  {
+    String[] list = split(incoming, " ");
+    if ( (list.length > 0) && (list[0].equals("Orientation:")) ) 
+    {
+      roll  = float(list[3]); // Roll = Z
+      pitch = float(list[2]); // Pitch = Y 
+      yaw   = float(list[1]); // Yaw/Heading = X
+    }
+    if ( (list.length > 0) && (list[0].equals("Alt:")) ) 
+    {
+      alt  = float(list[1]);
+    }
+    if ( (list.length > 0) && (list[0].equals("Temp:")) ) 
+    {
+      temp  = float(list[1]);
+    }
+    if ( (list.length > 0) && (list[0].equals("Calibration:")) )
+    {
+      int sysCal   = int(list[1]);
+      int gyroCal  = int(list[2]);
+      int accelCal = int(list[3]);
+      int magCal   = int(trim(list[4]));
+      calLabel.setText("Calibration: Sys=" + sysCal + " Gyro=" + gyroCal + " Accel=" + accelCal + " Mag=" + magCal);
+    }
+  }
+}
+
+// Set serial port to desired value.
+void setSerialPort(String portName) {
+  // Close the port if it's currently open.
+  if (port != null) {
+    port.stop();
+  }
+  try {
+    // Open port.
+    port = new Serial(this, portName, 115200);
+    port.bufferUntil('\n');
+    // Persist port in configuration.
+    saveStrings(serialConfigFile, new String[] { portName });
+  }
+  catch (RuntimeException ex) {
+    // Swallow error if port can't be opened, keep port closed.
+    port = null; 
+  }
+}
+
+// UI event handlers
+
+void handlePanelEvents(GPanel panel, GEvent event) {
+  // Panel events, do nothing.
+}
+
+void handleDropListEvents(GDropList list, GEvent event) { 
+  // Drop list events, check if new serial port is selected.
+  if (list == serialList) {
+    setSerialPort(serialList.getSelectedText()); 
+  }
+}
+
+void handleToggleControlEvents(GToggleControl checkbox, GEvent event) { 
+  // Checkbox toggle events, check if print events is toggled.
+  if (checkbox == printSerialCheckbox) {
+    printSerial = printSerialCheckbox.isSelected(); 
+  }
+}
diff --git a/examples_processing/cuberotate/data/bunny.mtl b/examples_processing/cuberotate/data/bunny.mtl
new file mode 100755
index 0000000..b7daf56
--- /dev/null
+++ b/examples_processing/cuberotate/data/bunny.mtl
@@ -0,0 +1,13 @@
+# 3ds Max Wavefront OBJ Exporter v0.94b - (c)2007 guruware
+# File Created: 04.07.2010 10:41:39
+
+newmtl Body
+Ns 32
+d 1
+Tr 1
+Tf 1 1 1
+illum 2
+Ka 0.0000 0.0000 0.0000
+Kd 0.7412 0.4784 0.4765
+Ks 0.3500 0.3500 0.6500
+
diff --git a/examples_processing/cuberotate/data/bunny.obj b/examples_processing/cuberotate/data/bunny.obj
new file mode 100755
index 0000000..8764d6a
--- /dev/null
+++ b/examples_processing/cuberotate/data/bunny.obj
@@ -0,0 +1,139352 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object bunny.obj
+#
+# Vertices: 34835
+# Faces: 69666
+#
+####
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+f 22065//22065 12707//12707 34835//34835
+f 12707//12707 33423//33423 34835//34835
+# 69666 faces, 0 coords texture
+
+# End of File
diff --git a/examples_processing/cuberotate/serialconfig.txt b/examples_processing/cuberotate/serialconfig.txt
new file mode 100755
index 0000000..85b74a2
--- /dev/null
+++ b/examples_processing/cuberotate/serialconfig.txt
@@ -0,0 +1 @@
+/dev/tty.usbmodem141121
