XDK API  3.6.0
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Functions | Variables
bno055.c File Reference
#include "bno055.h"
+ Include dependency graph for bno055.c:

Functions

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_mg (double *accel_x_d)
 This API is used to convert the accel x raw data to millig output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_msq (double *accel_x_d)
 This API is used to convert the accel x raw data to meterpersecseq output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_mg (struct bno055_accel_double_t *accel_xyz)
 This API is used to convert the accel xyz raw data to millig output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_msq (struct bno055_accel_double_t *accel_xyz)
 This API is used to convert the accel xyz raw data to meterpersecseq output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_mg (double *accel_y_d)
 This API is used to convert the accel y raw data to millig output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_msq (double *accel_y_d)
 This API is used to convert the accel y raw data to meterpersecseq output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_mg (double *accel_z_d)
 This API is used to convert the accel z raw data to millig output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_msq (double *accel_z_d)
 This API is used to convert the accel z raw data to meterpersecseq output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_deg (double *euler_h_d)
 This API is used to convert the Euler h raw data to degree output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_rad (double *euler_h_d)
 This API is used to convert the Euler h raw data to radians output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_deg (struct bno055_euler_double_t *euler_hpr)
 This API is used to convert the Euler hpr raw data to degree output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_rad (struct bno055_euler_double_t *euler_hpr)
 This API is used to convert the Euler hpr raw data to radians output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_deg (double *euler_p_d)
 This API is used to convert the Euler p raw data to degree output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_rad (double *euler_p_d)
 This API is used to convert the Euler p raw data to radians output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_deg (double *euler_r_d)
 This API is used to convert the Euler r raw data to degree output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_rad (double *euler_r_d)
 This API is used to convert the Euler r raw data to radians output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gravity_xyz_msq (struct bno055_gravity_double_t *gravity_xyz)
 This API is used to convert the gravity xyz raw data to meterpersecseq output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_dps (double *gyro_x_d)
 This API is used to convert the gyro x raw data to dps output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_rps (double *gyro_x_d)
 This API is used to convert the gyro x raw data to rps output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_dps (struct bno055_gyro_double_t *gyro_xyz)
 This API is used to convert the gyro xyz raw data to dps output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_rps (struct bno055_gyro_double_t *gyro_xyz)
 This API is used to convert the gyro xyz raw data to rps output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_dps (double *gyro_y_d)
 This API is used to convert the gyro y raw data to dps output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_rps (double *gyro_y_d)
 This API is used to convert the gyro y raw data to rps output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_dps (double *gyro_z_d)
 This API is used to convert the gyro z raw data to dps output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_rps (double *gyro_z_d)
 This API is used to convert the gyro z raw data to rps output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_x_msq (double *linear_accel_x_d)
 This API is used to convert the linear accel x raw data to meterpersecseq output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_xyz_msq (struct bno055_linear_accel_double_t *linear_accel_xyz)
 This API is used to convert the linear accel xyz raw data to meterpersecseq output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_y_msq (double *linear_accel_y_d)
 This API is used to convert the linear accel y raw data to meterpersecseq output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_z_msq (double *linear_accel_z_d)
 This API is used to convert the linear accel z raw data to meterpersecseq output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_x_uT (double *mag_x_d)
 This API is used to convert the mag x raw data to microTesla output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_xyz_uT (struct bno055_mag_double_t *mag_xyz)
 This API is used to convert the mag yz raw data to microTesla output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_y_uT (double *mag_y_d)
 This API is used to convert the mag y raw data to microTesla output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_z_uT (double *mag_z_d)
 This API is used to convert the mag z raw data to microTesla output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_celsius (double *temp_d)
 This API is used to convert the temperature data to Celsius output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_fahrenheit (double *temp_d)
 This API is used to convert the temperature data to Fahrenheit output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_mg (float *accel_x_f)
 This API is used to convert the accel x raw data to millig output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_msq (float *accel_x_f)
 This API is used to convert the accel x raw data to meterpersecseq output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_mg (struct bno055_accel_float_t *accel_xyz)
 This API is used to convert the accel xyz raw data to millig output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_msq (struct bno055_accel_float_t *accel_xyz)
 This API is used to convert the accel xyz raw data to meterpersecseq output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_mg (float *accel_y_f)
 This API is used to convert the accel y raw data to millig output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_msq (float *accel_y_f)
 This API is used to convert the accel x raw data to meterpersecseq output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_mg (float *accel_z_f)
 This API is used to convert the accel z raw data to millig output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_msq (float *accel_z_f)
 This API is used to convert the accel z raw data to meterpersecseq output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_deg (float *euler_h_f)
 This API is used to convert the Euler h raw data to degree output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_rad (float *euler_h_f)
 This API is used to convert the Euler h raw data to radians output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_deg (struct bno055_euler_float_t *euler_hpr)
 This API is used to convert the Euler hrp raw data to degree output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_rad (struct bno055_euler_float_t *euler_hpr)
 This API is used to convert the Euler xyz raw data to radians output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_deg (float *euler_p_f)
 This API is used to convert the Euler p raw data to degree output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_rad (float *euler_p_f)
 This API is used to convert the Euler p raw data to radians output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_deg (float *euler_r_f)
 This API is used to convert the Euler r raw data to degree output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_rad (float *euler_r_f)
 This API is used to convert the Euler r raw data to radians output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gravity_xyz_msq (struct bno055_gravity_float_t *gravity_xyz)
 This API is used to convert the gravity xyz raw data to meterpersecseq output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_dps (float *gyro_x_f)
 This API is used to convert the gyro x raw data to dps output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_rps (float *gyro_x_f)
 This API is used to convert the gyro x raw data to rps output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_dps (struct bno055_gyro_float_t *gyro_xyz_data)
 This API is used to convert the gyro xyz raw data to dps output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_rps (struct bno055_gyro_float_t *gyro_xyz_data)
 This API is used to convert the gyro xyz raw data to rps output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_dps (float *gyro_y_f)
 This API is used to convert the gyro y raw data to dps output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_rps (float *gyro_y_f)
 This API is used to convert the gyro y raw data to rps output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_dps (float *gyro_z_f)
 This API is used to convert the gyro z raw data to dps output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_rps (float *gyro_z_f)
 This API is used to convert the gyro z raw data to rps output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_x_msq (float *linear_accel_x_f)
 This API is used to convert the linear accel x raw data to meterpersecseq output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_xyz_msq (struct bno055_linear_accel_float_t *linear_accel_xyz)
 This API is used to convert the linear accel xyz raw data to meterpersecseq output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_y_msq (float *linear_accel_y_f)
 This API is used to convert the linear accel y raw data to meterpersecseq output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_z_msq (float *linear_accel_z_f)
 This API is used to convert the linear accel z raw data to meterpersecseq output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_x_uT (float *mag_x_f)
 This API is used to convert the mag x raw data to microTesla output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_xyz_uT (struct bno055_mag_float_t *mag_xyz_data)
 This API is used to convert the mag yz raw data to microTesla output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_y_uT (float *mag_y_f)
 This API is used to convert the mag y raw data to microTesla output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_z_uT (float *mag_z_f)
 This API is used to convert the mag z raw data to microTesla output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_celsius (float *temp_f)
 This API is used to convert the temperature data to Celsius output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_fahrenheit (float *temp_f)
 This API is used to convert the temperature data to Fahrenheit output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_x_msq (double *gravity_x_d)
 This API is used to convert the gravity x raw data to meterpersecseq output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_y_msq (double *gravity_y_d)
 This API is used to convert the gravity y raw data to meterpersecseq output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_z_msq (double *gravity_z_d)
 This API is used to convert the gravity z raw data to meterpersecseq output as double. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_x_msq (float *gravity_x_f)
 This API is used to convert the gravity x raw data to meterpersecseq output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_y_msq (float *gravity_y_f)
 This API is used to convert the gravity y raw data to meterpersecseq output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_z_msq (float *gravity_z_f)
 This API is used to convert the gravity z raw data to meterpersecseq output as float. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_durn (u8 *accel_any_motion_durn_u8)
 This API used to read the accel anymotion duration from page one register from 0x12 bit 0 to 1. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_no_motion_axis_enable (u8 channel_u8, u8 *data_u8)
 This API used to read the accel anymotion enable from page one register from 0x12 bit 2 to 4. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_thres (u8 *accel_any_motion_thres_u8)
 This API used to read the accel any motion threshold from page one register from 0x11 bit 0 to 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_bw (u8 *accel_bw_u8)
 This API used to read the accel bandwidth from page one register from 0x08 bit 2 to 4. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_calib_stat (u8 *accel_calib_u8)
 This API used to read accel calibration status from register from 0x35 bit 2 and 3. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_axis_enable (u8 channel_u8, u8 *data_u8)
 This API used to read the accel highg enable from page one register from 0x12 bit 5 to 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_durn (u8 *accel_high_g_durn_u8)
 This API used to read the accel highg duration from page one register from 0x13 bit 0 to 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_thres (u8 *accel_high_g_thres_u8)
 This API used to read the accel highg threshold from page one register from 0x14 bit 0 to 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_power_mode (u8 *accel_power_mode_u8)
 This API used to read the accel power mode from page one register from 0x08 bit 5 to 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_range (u8 *accel_range_u8)
 This API used to read the accel range from page one register from 0x08 bit 0 and 1. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_durn (u8 *sleep_durn_u8)
 This API used to read the accel sleep duration from page one register from 0x0C bit 1 to 4. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_tmr_mode (u8 *sleep_tmr_u8)
 This API used to read the accel sleep mode from page one register from 0x0C bit 0. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_durn (u8 *accel_slow_no_motion_durn_u8)
 This API used to read accel slownomotion duration from page one register from 0x16 bit 1 to 6. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_enable (u8 *accel_slow_no_motion_en_u8)
 This API used to read accel slownomotion enable from page one register from 0x16 bit 0. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_thres (u8 *accel_slow_no_motion_thres_u8)
 This API used to read the accel slownomotion threshold from page one register from 0x15 bit 0 to 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_unit (u8 *accel_unit_u8)
 This API used to read the accel unit from register from 0x3B bit 0. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_axis_remap_value (u8 *remap_axis_u8)
 This API used to read the axis remap value from register from 0x41 bit 0 and 5. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_clk_src (u8 *clk_src_u8)
 This API used to read the clk source from register from 0x3F bit 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_data_output_format (u8 *data_output_format_u8)
 This API used to read the current selected orientation mode from register from 0x3B bit 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_euler_unit (u8 *euler_unit_u8)
 This API used to read the Euler unit from register from 0x3B bit 2. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_awake_durn (u8 *gyro_awake_durn_u8)
 This API used to read gyro anymotion awake duration from page one register from 0x1F bit 2 to 3. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_axis_enable (u8 channel_u8, u8 *data_u8)
 This API used to read the gyro anymotion enable from page one register from 0x17 bit 0 to 2. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_filter (u8 *gyro_any_motion_filter_u8)
 This API used to read gyro anymotion filter from page one register from 0x17 bit 6. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_slope_samples (u8 *gyro_any_motion_slope_samples_u8)
 This API used to read gyro anymotion slope samples from page one register from 0x1F bit 0 to 1. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_thres (u8 *gyro_any_motion_thres_u8)
 This API used to read gyro anymotion threshold from page one register from 0x1E bit 0 to 6. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_auto_sleep_durn (u8 *auto_sleep_durn_u8)
 This API used to read the gyro auto sleep duration from page one register from 0x0D bit 3 to 5. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_bw (u8 *gyro_bw_u8)
 This API used to read the gyro bandwidth from page one register from 0x0A bit 3 to 5. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_calib_stat (u8 *gyro_calib_u8)
 This API used to read gyro calibration status from register from 0x35 bit 4 and 5. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_axis_enable (u8 channel_u8, u8 *data_u8)
 This API used to read the gyro highrate enable from page one register from 0x17 bit 3 to 5. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_filter (u8 *gyro_highrate_filter_u8)
 This API used to read gyro highrate filter from page one register from 0x17 bit 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_durn (u8 *gyro_highrate_x_durn_u8)
 This API used to read gyro highrate x duration from page one register from 0x19 bit 0 to 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_hyst (u8 *gyro_highrate_x_hyst_u8)
 This API used to read gyro highrate x hysteresis from page one register from 0x18 bit 5 to 6. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_thres (u8 *gyro_highrate_x_thres_u8)
 This API used to read gyro highrate x threshold from page one register from 0x18 bit 0 to 4. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_durn (u8 *gyro_highrate_y_durn_u8)
 This API used to read gyro highrate y duration from page one register from 0x1B bit 0 to 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_hyst (u8 *gyro_highrate_y_hyst_u8)
 This API used to read gyro highrate y hysteresis from page one register from 0x1A bit 5 to 6. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_thres (u8 *gyro_highrate_y_thres_u8)
 This API used to read gyro highrate y threshold from page one register from 0x1A bit 0 to 4. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_durn (u8 *gyro_highrate_z_durn_u8)
 This API used to read gyro highrate z duration from page one register from 0x1D bit 0 to 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_hyst (u8 *gyro_highrate_z_hyst_u8)
 This API used to read gyro highrate z hysteresis from page one register from 0x1C bit 5 to 6. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_thres (u8 *gyro_highrate_z_thres_u8)
 This API used to read gyro highrate z threshold from page one register from 0x1C bit 0 to 4. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_power_mode (u8 *gyro_power_mode_u8)
 This API used to read the gyro power mode from page one register from 0x0B bit 0 to 2. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_range (u8 *gyro_range_u8)
 This API used to read the gyro range from page one register from 0x0A bit 0 to 3. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_sleep_durn (u8 *sleep_durn_u8)
 This API used to write the gyro sleep duration from page one register from 0x0D bit 0 to 2. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_unit (u8 *gyro_unit_u8)
 This API used to read the gyro unit from register from 0x3B bit 1. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_any_motion (u8 *accel_any_motion_u8)
 This API used to read the accel anymotion interrupt from page one register from 0x10 bit 6. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_high_g (u8 *accel_high_g_u8)
 This API used to read the accel highg interrupt from page one register from 0x10 bit 5. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_no_motion (u8 *accel_nomotion_u8)
 This API used to read the accel nomotion interrupt from page one register from 0x10 bit 6. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_any_motion (u8 *gyro_any_motion_u8)
 This API used to read the gyro anymotion interrupt from page one register from 0x10 bit 2. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_highrate (u8 *gyro_highrate_u8)
 This API used to read the gyro highrate interrupt from page one register from 0x10 bit 3. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_any_motion (u8 *accel_any_motion_u8)
 This API used to read the accel anymotion interrupt mask from page one register from 0x0F bit 6. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_high_g (u8 *accel_high_g_u8)
 This API used to read the accel highg interrupt mask from page one register from 0x0F bit 5. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_no_motion (u8 *accel_nomotion_u8)
 This API used to read the accel nomotion interrupt mask from page one register from 0x0F bit 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_any_motion (u8 *gyro_any_motion_u8)
 This API used to read the gyro anymotion interrupt mask from page one register from 0x0F bit 2. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_highrate (u8 *gyro_highrate_u8)
 This API used to read the gyro highrate interrupt mask from page one register from 0x0F bit 3. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_rst (u8 *intr_rst_u8)
 This API used to read the reset interrupt from register from 0x3F bit 6 It resets all the interrupt bit and interrupt output. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_any_motion (u8 *accel_any_motion_u8)
 This API used to read the stat_s8 of accel anymotion interrupt from register from 0x37 bit 6. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_high_g (u8 *accel_high_g_u8)
 This API used to read the stat_s8 of accel highg interrupt from register from 0x37 bit 5. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_no_motion (u8 *accel_no_motion_u8)
 This API used to read the stat_s8 of accel nomotion/slowmotion interrupt from register from 0x37 bit 6. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_any_motion (u8 *gyro_any_motion_u8)
 This API used to read the stat_s8 of gyro anymotion interrupt from register from 0x37 bit 2. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_highrate (u8 *gyro_highrate_u8)
 This API used to read the stat_s8 of gyro highrate interrupt from register from 0x37 bit 3. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_calib_stat (u8 *mag_calib_u8)
 This API used to read mag calibration status from register from 0x35 bit 0 and 1. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_data_output_rate (u8 *mag_data_output_rate_u8)
 This API used to read the mag output data rate from page one register from 0x09 bit 0 to 2. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_operation_mode (u8 *mag_operation_mode_u8)
 This API used to read the mag operation mode from page one register from 0x09 bit 3 to 4. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_power_mode (u8 *mag_power_mode_u8)
 This API used to read the mag power mode from page one register from 0x09 bit 4 to 6. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_durn (u8 *sleep_durn_u8)
 This API used to read the mag sleep duration from page one register from 0x0E bit 1 to 4. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_mode (u8 *sleep_mode_u8)
 This API used to read the mag sleep mode from page one register from 0x0E bit 0. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_operation_mode (u8 *operation_mode_u8)
 This API used to read the operation mode from register from 0x3D bit 0 to 3. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_power_mode (u8 *power_mode_u8)
 This API used to read the power mode from register from 0x3E bit 0 to 1. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_x_sign (u8 *remap_x_sign_u8)
 This API used to read the x-axis remap sign from register from 0x42 bit 2. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_y_sign (u8 *remap_y_sign_u8)
 This API used to read the y-axis remap sign from register from 0x42 bit 1. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_z_sign (u8 *remap_z_sign_u8)
 This API used to read the z-axis remap sign from register from 0x42 bit 0. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest (u8 *selftest_u8)
 This API used to read the self test from register from 0x3F bit 0. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_accel (u8 *selftest_accel_u8)
 This API used to read self test of accel from register from 0x36 bit 0. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_gyro (u8 *selftest_gyro_u8)
 This API used to read self test of gyro from register from 0x36 bit 2. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mag (u8 *selftest_mag_u8)
 This API used to read self test of mag from register from 0x36 bit 1. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mcu (u8 *selftest_mcu_u8)
 This API used to read self test of micro controller from register from 0x36 bit 3. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_stat_main_clk (u8 *stat_main_clk_u8)
 This API is used to read status of main clock from the register 0x38 bit 0. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_calib_stat (u8 *sys_calib_u8)
 This API used to read system calibration status from register from 0x35 bit 6 and 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_error_code (u8 *sys_error_u8)
 This API is used to read system BNO055_ERROR code from the register 0x3A it is a byte of data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_rst (u8 *sys_rst_u8)
 This API used to read the reset system from register from 0x3F bit 5. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_stat_code (u8 *sys_stat_u8)
 This API is used to read system status code from the register 0x39 it is a byte of data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_source (u8 *temp_source_u8)
 This API used to read the temperature source from register from 0x40 bit 0 and 1. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_unit (u8 *temp_unit_u8)
 This API used to read the temperature unit from register from 0x3B bit 4. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_get_tilt_unit (u8 *tilt_unit_u8)
 This API used to write the tilt unit from register from 0x3B bit 3. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_gyro_set_auto_sleep_durn (u8 auto_sleep_durn_u8, u8 bw)
 This API used to write the gyro auto sleep duration from page one register from 0x0D bit 3 to 5. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_init (struct bno055_t *bno055)
 This API is used for initialize bus read, bus write function pointers,device address,accel revision id, gyro revision id mag revision id, software revision id, boot loader revision id and page id. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_offset (struct bno055_accel_offset_t *accel_offset)
 This API is used to read accel offset and accel radius offset form register 0x55 to 0x5A and radius form 0x67 and 0x68. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_rev_id (u8 *accel_rev_id_u8)
 This API reads accel revision id from register 0x01 it is a byte of value. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_x (s16 *accel_x_s16)
 This API reads acceleration data X values from register 0x08 and 0x09 it is a two byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_xyz (struct bno055_accel_t *accel)
 This API reads acceleration data xyz values from register 0x08 to 0x0D it is a six byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_y (s16 *accel_y_s16)
 This API reads acceleration data Y values from register 0x0A and 0x0B it is a two byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_z (s16 *accel_z_s16)
 This API reads acceleration data z values from register 0x0C and 0x0D it is a two byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_bl_rev_id (u8 *bl_rev_id_u8)
 This API used to read boot loader revision id from register 0x06 it is a byte of value. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_chip_id (u8 *chip_id_u8)
 This API reads chip id from register 0x00 it is a byte of data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_h (s16 *euler_h_s16)
 This API reads gyro data z values from register 0x1A and 0x1B it is a two byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_hrp (struct bno055_euler_t *euler)
 This API reads Euler data hrp values from register 0x1A to 0x1F it is a six byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_p (s16 *euler_p_s16)
 This API reads Euler data p values from register 0x1E and 0x1F it is a two byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_r (s16 *euler_r_s16)
 This API reads Euler data r values from register 0x1C and 0x1D it is a two byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_x (s16 *gravity_x_s16)
 This API reads gravity data x values from register 0x2E and 0x2F it is a two byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_xyz (struct bno055_gravity_t *gravity)
 This API reads gravity data xyz values from register 0x2E to 0x33 it is a six byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_y (s16 *gravity_y_s16)
 This API reads gravity data y values from register 0x30 and 0x31 it is a two byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_z (s16 *gravity_z_s16)
 This API reads gravity data z values from register 0x32 and 0x33 it is a two byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_offset (struct bno055_gyro_offset_t *gyro_offset)
 This API is used to read gyro offset offset form register 0x61 to 0x66. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_rev_id (u8 *gyro_rev_id_u8)
 This API reads gyro revision id from register 0x03 it is a byte of value. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_x (s16 *gyro_x_s16)
 This API reads gyro data x values from register 0x14 and 0x15 it is a two byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_xyz (struct bno055_gyro_t *gyro)
 This API reads gyro data xyz values from register 0x14 to 0x19 it is a six byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_y (s16 *gyro_y_s16)
 This API reads gyro data y values from register 0x16 and 0x17 it is a two byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_z (s16 *gyro_z_s16)
 This API reads gyro data z values from register 0x18 and 0x19 it is a two byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_x (s16 *linear_accel_x_s16)
 This API reads Linear accel data x values from register 0x29 and 0x2A it is a two byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_xyz (struct bno055_linear_accel_t *linear_accel)
 This API reads Linear accel data xyz values from register 0x28 to 0x2D it is a six byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_y (s16 *linear_accel_y_s16)
 This API reads Linear accel data x values from register 0x2B and 0x2C it is a two byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_z (s16 *linear_accel_z_s16)
 This API reads Linear accel data x values from register 0x2C and 0x2D it is a two byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_offset (struct bno055_mag_offset_t *mag_offset)
 This API is used to read mag offset offset form register 0x69 to 0x6A. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_rev_id (u8 *mag_rev_id_u8)
 This API reads mag revision id from register 0x02 it is a byte of value. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_x (s16 *mag_x_s16)
 This API reads mag data x values from register 0x0E and 0x0F it is a two byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_xyz (struct bno055_mag_t *mag)
 This API reads mag data xyz values from register 0x0E to 0x13 it is a six byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_y (s16 *mag_y_s16)
 This API reads mag data y values from register 0x10 and 0x11 it is a two byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_z (s16 *mag_z_s16)
 This API reads mag data z values from register 0x12 and 0x13 it is a two byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_page_id (u8 *page_id_u8)
 This API reads page id from register 0x07 it is a byte of data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_w (s16 *quaternion_w_s16)
 This API reads quaternion data w values from register 0x20 and 0x21 it is a two byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_wxyz (struct bno055_quaternion_t *quaternion)
 This API reads Quaternion data wxyz values from register 0x20 to 0x27 it is a six byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_x (s16 *quaternion_x_s16)
 This API reads quaternion data x values from register 0x22 and 0x23 it is a two byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_y (s16 *quaternion_y_s16)
 This API reads quaternion data y values from register 0x24 and 0x25 it is a two byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_z (s16 *quaternion_z_s16)
 This API reads quaternion data z values from register 0x26 and 0x27 it is a two byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_register (u8 addr_u8, u8 *data_u8, u8 len_u8)
 This API reads the data from the given register address. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_sic_matrix (struct bno055_sic_matrix_t *sic_matrix)
 This API is used to read soft iron calibration matrix from the register 0x43 to 0x53 it is a 18 bytes of data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_sw_rev_id (u16 *sw_id_u8)
 This API reads software revision id from register 0x04 and 0x05 it is a two byte of data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_read_temp_data (s8 *temp_s8)
 This API reads temperature values from register 0x33 it is a byte data. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_durn (u8 accel_any_motion_durn_u8)
 This API used to write the accel anymotion duration from page one register from 0x12 bit 0 to 1. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_no_motion_axis_enable (u8 channel_u8, u8 data_u8)
 This API used to write the accel anymotion enable from page one register from 0x12 bit 2 to 4. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_thres (u8 accel_any_motion_thres_u8)
 This API used to write the accel any motion threshold from page one register from 0x11 bit 0 to 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_bw (u8 accel_bw_u8)
 This API used to write the accel bandwidth from page one register from 0x08 bit 2 to 4. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_axis_enable (u8 channel_u8, u8 data_u8)
 This API used to write the accel highg enable from page one register from 0x12 bit 5 to 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_durn (u8 accel_high_g_durn_u8)
 This API used to write the accel highg duration from page one register from 0x13 bit 0 to 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_thres (u8 accel_high_g_thres_u8)
 This API used to write the accel highg threshold from page one register from 0x14 bit 0 to 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_power_mode (u8 accel_power_mode_u8)
 This API used to write the accel power mode from page one register from 0x08 bit 5 to 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_range (u8 accel_range_u8)
 This API used to write the accel range from page one register from 0x08 bit 0 and 1. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_durn (u8 sleep_durn_u8)
 This API used to write the accel sleep duration from page one register from 0x0C bit 1 to 4. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_tmr_mode (u8 sleep_tmr_u8)
 This API used to write the accel sleep mode from page one register from 0x0C bit 0. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_durn (u8 accel_slow_no_motion_durn_u8)
 This API used to write accel slownomotion duration from page one register from 0x16 bit 1 to 6. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_enable (u8 accel_slow_no_motion_en_u8)
 This API used to write accel slownomotion enable from page one register from 0x16 bit 0. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_thres (u8 accel_slow_no_motion_thres_u8)
 This API used to write the accel slownomotion threshold from page one register from 0x15 bit 0 to 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_unit (u8 accel_unit_u8)
 This API used to write the accel unit from register from 0x3B bit 0. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_axis_remap_value (u8 remap_axis_u8)
 This API used to write the axis remap value from register from 0x41 bit 0 and 5. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_clk_src (u8 clk_src_u8)
 This API used to write the clk source from register from 0x3F bit 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_data_output_format (u8 data_output_format_u8)
 This API used to write the current selected orientation mode from register from 0x3B bit 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_euler_unit (u8 euler_unit_u8)
 This API used to write the Euler unit from register from 0x3B bit 2. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_awake_durn (u8 gyro_awake_durn_u8)
 This API used to write gyro anymotion awake duration from page one register from 0x1F bit 2 to 3. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_axis_enable (u8 channel_u8, u8 data_u8)
 This API used to write the gyro anymotion enable from page one register from 0x17 bit 0 to 2. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_filter (u8 gyro_any_motion_filter_u8)
 This API used to write gyro anymotion filter from page one register from 0x17 bit 6. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_slope_samples (u8 gyro_any_motion_slope_samples_u8)
 This API used to write gyro anymotion slope samples from page one register from 0x1F bit 0 to 1. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_thres (u8 gyro_any_motion_thres_u8)
 This API used to write gyro anymotion threshold from page one register from 0x1E bit 0 to 6. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_bw (u8 gyro_bw_u8)
 This API used to write the gyro bandwidth from page one register from 0x0A bit 3 to 5. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_axis_enable (u8 channel_u8, u8 data_u8)
 This API used to write the gyro highrate enable from page one register from 0x17 bit 3 to 5. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_filter (u8 gyro_highrate_filter_u8)
 This API used to write gyro highrate filter from page one register from 0x17 bit 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_durn (u8 gyro_highrate_x_durn_u8)
 This API used to write gyro highrate x duration from page one register from 0x19 bit 0 to 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_hyst (u8 gyro_highrate_x_hyst_u8)
 This API used to write gyro highrate x hysteresis from page one register from 0x18 bit 5 to 6. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_thres (u8 gyro_highrate_x_thres_u8)
 This API used to write gyro highrate x threshold from page one register from 0x18 bit 0 to 4. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_durn (u8 gyro_highrate_y_durn_u8)
 This API used to write gyro highrate y duration from page one register from 0x1B bit 0 to 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_hyst (u8 gyro_highrate_y_hyst_u8)
 This API used to write gyro highrate y hysteresis from page one register from 0x1A bit 5 to 6. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_thres (u8 gyro_highrate_y_thres_u8)
 This API used to write gyro highrate y threshold from page one register from 0x1A bit 0 to 4. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_durn (u8 gyro_highrate_z_durn_u8)
 This API used to write gyro highrate z duration from page one register from 0x1D bit 0 to 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_hyst (u8 gyro_highrate_z_hyst_u8)
 This API used to write gyro highrate z hysteresis from page one register from 0x1C bit 5 to 6. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_thres (u8 gyro_highrate_z_thres_u8)
 This API used to write gyro highrate z threshold from page one register from 0x1C bit 0 to 4. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_power_mode (u8 gyro_power_mode_u8)
 This API used to write the gyro power mode from page one register from 0x0B bit 0 to 2. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_range (u8 gyro_range_u8)
 This API used to write the gyro range from page one register from 0x0A bit 0 to 3. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_sleep_durn (u8 sleep_durn_u8)
 This API used to write the gyro sleep duration from page one register from 0x0D bit 0 to 2. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_unit (u8 gyro_unit_u8)
 This API used to write the gyro unit from register from 0x3B bit 1. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_any_motion (u8 accel_any_motion_u8)
 This API used to write the accel anymotion interrupt from page one register from 0x10 bit 6. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_high_g (u8 accel_high_g_u8)
 This API used to write the accel highg interrupt from page one register from 0x10 bit 5. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_no_motion (u8 accel_nomotion_u8)
 This API used to write the accel nomotion interrupt from page one register from 0x10 bit 6. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_any_motion (u8 gyro_any_motion_u8)
 This API used to write the gyro anymotion interrupt from page one register from 0x10 bit 2. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_highrate (u8 gyro_highrate_u8)
 This API used to write the gyro highrate interrupt from page one register from 0x10 bit 3. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_any_motion (u8 accel_any_motion_u8)
 This API used to write the accel anymotion interrupt mask from page one register from 0x0F bit 6. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_high_g (u8 accel_high_g_u8)
 This API used to write the accel highg interrupt mask from page one register from 0x0F bit 5. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_no_motion (u8 accel_nomotion_u8)
 This API used to write the accel nomotion interrupt mask from page one register from 0x0F bit 7. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_any_motion (u8 gyro_any_motion_u8)
 This API used to write the gyro anymotion interrupt mask from page one register from 0x0F bit 2. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_highrate (u8 gyro_highrate_u8)
 This API used to write the gyro highrate interrupt mask from page one register from 0x0F bit 3. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_rst (u8 intr_rst_u8)
 This API used to write the reset interrupt from register from 0x3F bit 6 It resets all the interrupt bit and interrupt output. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_data_output_rate (u8 mag_data_output_rate_u8)
 This API used to write the mag output data rate from page one register from 0x09 bit 0 to 2. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_operation_mode (u8 mag_operation_mode_u8)
 This API used to write the mag operation mode from page one register from 0x09 bit 3 to 4. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_power_mode (u8 mag_power_mode_u8)
 This API used to write the mag power mode from page one register from 0x09 bit 4 to 6. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_durn (u8 sleep_durn_u8)
 This API used to write the mag sleep duration from page one register from 0x0E bit 1 to 4. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_mode (u8 sleep_mode_u8)
 This API used to write the mag sleep mode from page one register from 0x0E bit 0. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_operation_mode (u8 operation_mode_u8)
 This API used to write the operation mode from register from 0x3D bit 0 to 3. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_power_mode (u8 power_mode_u8)
 This API used to write the power mode from register from 0x3E bit 0 to 1. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_x_sign (u8 remap_x_sign_u8)
 This API used to write the x-axis remap sign from register from 0x42 bit 2. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_y_sign (u8 remap_y_sign_u8)
 This API used to write the y-axis remap sign from register from 0x42 bit 1. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_z_sign (u8 remap_z_sign_u8)
 This API used to write the z-axis remap sign from register from 0x42 bit 0. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_selftest (u8 selftest_u8)
 This API used to write the self test from register from 0x3F bit 0. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_sys_rst (u8 sys_rst_u8)
 This API used to write the reset system from register from 0x3F bit 5. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_source (u8 temp_source_u8)
 This API used to write the temperature source from register from 0x40 bit 0 and 1. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_unit (u8 temp_unit_u8)
 This API used to write the temperature unit from register from 0x3B bit 4. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_set_tilt_unit (u8 tilt_unit_u8)
 This API used to write the tilt unit from register from 0x3B bit 3. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_write_accel_offset (struct bno055_accel_offset_t *accel_offset)
 This API is used to write accel offset and accel radius offset form register 0x55 to 0x5A and radius form 0x67 and 0x68. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_write_gyro_offset (struct bno055_gyro_offset_t *gyro_offset)
 This API is used to read gyro offset offset form register 0x61 to 0x66. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_write_mag_offset (struct bno055_mag_offset_t *mag_offset)
 This API is used to read mag offset offset form register 0x69 to 0x6A. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_write_page_id (u8 page_id_u8)
 This API used to write the page id register 0x07. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_write_register (u8 addr_u8, u8 *data_u8, u8 len_u8)
 This API gives data to the given register and the data is written in the corresponding register address. More...
 
BNO055_RETURN_FUNCTION_TYPE bno055_write_sic_matrix (struct bno055_sic_matrix_t *sic_matrix)
 This API is used to write soft iron calibration matrix from the register 0x43 to 0x53 it is a 18 bytes of data. More...
 

Variables

static struct bno055_tp_bno055
 

Function Documentation

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_mg ( double *  accel_x_d)
Parameters
accel_x_d: The accel x millig data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_msq ( double *  accel_x_d)
Parameters
accel_x_d: The accel x meterpersecseq data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_mg ( struct bno055_accel_double_t accel_xyz)
Parameters
accel_xyz: The millig data of accel xyz
Parameter result
x millig data of accel
y millig data of accel
z millig data of accel
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_msq ( struct bno055_accel_double_t accel_xyz)
Parameters
accel_xyz: The meterpersecseq data of accel xyz
Parameter result
x meterpersecseq data of accel
y meterpersecseq data of accel
z meterpersecseq data of accel
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_mg ( double *  accel_y_d)
Parameters
accel_y_d: The accel y millig data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_msq ( double *  accel_y_d)
Parameters
accel_y_d: The accel y meterpersecseq data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_mg ( double *  accel_z_d)
Parameters
accel_z_d: The accel z millig data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_msq ( double *  accel_z_d)
Parameters
accel_z_d: The accel z meterpersecseq data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_deg ( double *  euler_h_d)
Parameters
euler_h_d: The double value of Euler h degree
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_rad ( double *  euler_h_d)
Parameters
euler_h_d: The double value of Euler h radians
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_deg ( struct bno055_euler_double_t euler_hpr)
Parameters
euler_hpr: The degree data of Euler hpr
Parameter result
h degree data of Euler
r degree data of Euler
p degree data of Euler
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_rad ( struct bno055_euler_double_t euler_hpr)
Parameters
euler_hpr: The radians data of Euler hpr
Parameter result
h radians data of Euler
r radians data of Euler
p radians data of Euler
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_deg ( double *  euler_p_d)
Parameters
euler_p_d: The double value of Euler p degree
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_rad ( double *  euler_p_d)
Parameters
euler_p_d: The double value of Euler p radians
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_deg ( double *  euler_r_d)
Parameters
euler_r_d: The double value of Euler r degree
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_rad ( double *  euler_r_d)
Parameters
euler_r_d: The double value of Euler r radians
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gravity_xyz_msq ( struct bno055_gravity_double_t gravity_xyz)
Parameters
gravity_xyz: The meterpersecseq data of gravity xyz
Parameter result
x meterpersecseq data of gravity
y meterpersecseq data of gravity
z meterpersecseq data of gravity
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_dps ( double *  gyro_x_d)
Parameters
gyro_x_d: The gyro x dps double data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_rps ( double *  gyro_x_d)
Parameters
gyro_x_d: The gyro x dps double data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_dps ( struct bno055_gyro_double_t gyro_xyz)
Parameters
gyro_xyz: The dps data of gyro xyz
Parameter result
x dps data of gyro
y dps data of gyro
z dps data of gyro
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_rps ( struct bno055_gyro_double_t gyro_xyz)
Parameters
gyro_xyz: The rps data of gyro xyz
Parameter result
x rps data of gyro
y rps data of gyro
z rps data of gyro
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_dps ( double *  gyro_y_d)
Parameters
gyro_y_d: The gyro y dps double data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_rps ( double *  gyro_y_d)
Parameters
gyro_y_d: The gyro y dps double data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_dps ( double *  gyro_z_d)
Parameters
gyro_z_d: The gyro z dps double data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_rps ( double *  gyro_z_d)
Parameters
gyro_z_d: The gyro z rps double data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_x_msq ( double *  linear_accel_x_d)
Parameters
linear_accel_x_d: The double value of linear accel x meterpersecseq
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_xyz_msq ( struct bno055_linear_accel_double_t linear_accel_xyz)
Parameters
linear_accel_xyz: The meterpersecseq data of linear accel xyz
Parameter result
x meterpersecseq data of linear accel
y meterpersecseq data of linear accel
z meterpersecseq data of linear accel
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_y_msq ( double *  linear_accel_y_d)
Parameters
linear_accel_y_d: The double value of linear accel y meterpersecseq
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_z_msq ( double *  linear_accel_z_d)
Parameters
linear_accel_z_d: The double value of linear accel z meterpersecseq
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_x_uT ( double *  mag_x_d)
Parameters
mag_x_d: The mag x microTesla data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_xyz_uT ( struct bno055_mag_double_t mag_xyz)
Parameters
mag_xyz: The microTesla data of mag xyz
Parameter result
x microTesla data of mag
y microTesla data of mag
z microTesla data of mag
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_y_uT ( double *  mag_y_d)

This API is used to convert the mag x raw data to microTesla output as double.

Parameters
mag_y_d: The mag y microTesla data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_z_uT ( double *  mag_z_d)
Parameters
mag_z_d: The mag z microTesla data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_celsius ( double *  temp_d)
Parameters
temp_d: The double value of temperature Celsius
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_fahrenheit ( double *  temp_d)
Parameters
temp_d: The double value of temperature Fahrenheit
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_mg ( float *  accel_x_f)

This API is used to convert the accel y raw data to millig output as float.

Parameters
accel_x_f: The accel x millig data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_msq ( float *  accel_x_f)
Parameters
accel_x_f: The accel x meterpersecseq data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_mg ( struct bno055_accel_float_t accel_xyz)
Parameters
accel_xyz: The millig data of accel xyz
Parameter result
x millig data of accel
y millig data of accel
z millig data of accel
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_msq ( struct bno055_accel_float_t accel_xyz)
Parameters
accel_xyz: The meterpersecseq data of accel xyz
Parameter result
x meterpersecseq data of accel
y meterpersecseq data of accel
z meterpersecseq data of accel
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_mg ( float *  accel_y_f)
Parameters
accel_y_f: The accel y millig data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_msq ( float *  accel_y_f)
Parameters
accel_y_f: The accel y meterpersecseq data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_mg ( float *  accel_z_f)
Parameters
accel_z_f: The accel z millig data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_msq ( float *  accel_z_f)
Parameters
accel_z_f: The accel z meterpersecseq data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_deg ( float *  euler_h_f)
Parameters
euler_h_f: The float value of Euler h degree
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_rad ( float *  euler_h_f)
Parameters
euler_h_f: The float value of Euler h radians
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_deg ( struct bno055_euler_float_t euler_hpr)
Parameters
euler_hpr: The degree data of Euler hrp
Parameter result
h degree data of Euler
r degree data of Euler
p degree data of Euler
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_rad ( struct bno055_euler_float_t euler_hpr)
Parameters
euler_hpr: The radians data of Euler hrp
Parameter result
h radians data of Euler
r radians data of Euler
p radians data of Euler
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_deg ( float *  euler_p_f)
Parameters
euler_p_f: The float value of Euler p degree
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_rad ( float *  euler_p_f)
Parameters
euler_p_f: The float value of Euler p radians
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_deg ( float *  euler_r_f)
Parameters
euler_r_f: The float value of Euler r degree
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_rad ( float *  euler_r_f)
Parameters
euler_r_f: The float value of Euler r radians
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gravity_xyz_msq ( struct bno055_gravity_float_t gravity_xyz)
Parameters
gravity_xyz: The meterpersecseq data of gravity xyz
Parameter result
x meterpersecseq data of gravity
y meterpersecseq data of gravity
z meterpersecseq data of gravity
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_dps ( float *  gyro_x_f)
Parameters
gyro_x_f: The gyro x dps float data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_rps ( float *  gyro_x_f)
Parameters
gyro_x_f: The gyro x dps float data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_dps ( struct bno055_gyro_float_t gyro_xyz_data)
Parameters
gyro_xyz_data: The dps data of gyro xyz
Parameter result
x dps data of gyro
y dps data of gyro
z dps data of gyro
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_rps ( struct bno055_gyro_float_t gyro_xyz_data)
Parameters
gyro_xyz_data: The rps data of gyro xyz
Parameter result
x rps data of gyro
y rps data of gyro
z rps data of gyro
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_dps ( float *  gyro_y_f)
Parameters
gyro_y_f: The gyro y dps float data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_rps ( float *  gyro_y_f)
Parameters
gyro_y_f: The gyro y dps float data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_dps ( float *  gyro_z_f)
Parameters
gyro_z_f: The gyro z dps float data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_rps ( float *  gyro_z_f)
Parameters
gyro_z_f: The gyro z rps float data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_x_msq ( float *  linear_accel_x_f)
Parameters
linear_accel_x_f: The float value of linear accel x meterpersecseq
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_xyz_msq ( struct bno055_linear_accel_float_t linear_accel_xyz)
Parameters
linear_accel_xyz: The meterpersecseq data of linear accel xyz
Parameter result
x meterpersecseq data of linear accel
y meterpersecseq data of linear accel
z meterpersecseq data of linear accel
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_y_msq ( float *  linear_accel_y_f)
Parameters
linear_accel_y_f: The float value of linear accel y meterpersecseq
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_z_msq ( float *  linear_accel_z_f)
Parameters
linear_accel_z_f: The float value of linear accel z meterpersecseq
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_x_uT ( float *  mag_x_f)
Parameters
mag_x_f: The mag x microTesla data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_xyz_uT ( struct bno055_mag_float_t mag_xyz_data)
Parameters
mag_xyz_data: The microTesla data of mag xyz
Parameter result
x microTesla data of mag
y microTesla data of mag
z microTesla data of mag
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_y_uT ( float *  mag_y_f)
Parameters
mag_y_f: The mag y microTesla data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_z_uT ( float *  mag_z_f)
Parameters
mag_z_f: The mag z microTesla data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_celsius ( float *  temp_f)
Parameters
temp_f: The float value of temperature Celsius
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_fahrenheit ( float *  temp_f)
Parameters
temp_f: The float value of temperature Fahrenheit
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_x_msq ( double *  gravity_x_d)
Parameters
gravity_x_d: The double value of gravity x meterpersecseq
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_y_msq ( double *  gravity_y_d)
Parameters
gravity_y_d: The double value of gravity y meterpersecseq
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_z_msq ( double *  gravity_z_d)
Parameters
gravity_z_d: The double value of gravity z meterpersecseq
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_x_msq ( float *  gravity_x_f)
Parameters
gravity_x_f: The float value of gravity x meterpersecseq
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_y_msq ( float *  gravity_y_f)
Parameters
gravity_y_f: The float value of gravity y meterpersecseq
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_z_msq ( float *  gravity_z_f)
Parameters
gravity_z_f: The float value of gravity z meterpersecseq
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_durn ( u8 accel_any_motion_durn_u8)
Parameters
accel_any_motion_durn_u8: The value of accel anymotion duration
accel_any_motion_durn_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_no_motion_axis_enable ( u8  channel_u8,
u8 data_u8 
)
Parameters
data_u8: The value of accel anymotion enable
data_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
channel_u8: The value of accel anymotion axis selection
channel_u8 value
BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS 0
BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS 1
BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS 2
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_thres ( u8 accel_any_motion_thres_u8)
Parameters
accel_any_motion_thres_u8: The value of any motion threshold
accel_any_motion_thres_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Accel anymotion threshold dependent on the range values
accel_range_u8 threshold LSB
2g 3.19mg 1LSB
4g 7.81mg 1LSB
8g 15.63mg 1LSB
16g 31.25mg 1LSB

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BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_bw ( u8 accel_bw_u8)
Parameters
accel_bw_u8: The value of accel bandwidth
     accel_bw_u8 |     result
 ----------------- | ---------------
        0x00       | BNO055_ACCEL_BW_7_81HZ
        0x01       | BNO055_ACCEL_BW_15_63HZ
        0x02       | BNO055_ACCEL_BW_31_25HZ
        0x03       | BNO055_ACCEL_BW_62_5HZ
        0x04       | BNO055_ACCEL_BW_125HZ
        0x05       | BNO055_ACCEL_BW_250HZ
        0x06       | BNO055_ACCEL_BW_500HZ
        0x07       | BNO055_ACCEL_BW_1000HZ
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_calib_stat ( u8 accel_calib_u8)
Parameters
accel_calib_u8: The value of accel calib status
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_axis_enable ( u8  channel_u8,
u8 data_u8 
)
Parameters
data_u8: The value of accel highg enable
data_u8result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
channel_u8: The value of accel highg axis selection
channel_u8 value
BNO055_ACCEL_HIGH_G_X_AXIS 0
BNO055_ACCEL_HIGH_G_Y_AXIS 1
BNO055_ACCEL_HIGH_G_Z_AXIS 2
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_durn ( u8 accel_high_g_durn_u8)
Parameters
accel_high_g_durn_u8: The value of accel highg duration
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
The high-g interrupt trigger delay according to [highg duration + 1] * 2 ms

in a range from 2 ms to 512 ms

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BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_thres ( u8 accel_high_g_thres_u8)
Parameters
accel_high_g_thres_u8: The value of accel highg threshold
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Accel highg interrupt threshold dependent for accel g range
accel_range_u8 threshold LSB
2g 7.81mg 1LSB
4g 15.63mg 1LSB
8g 31.25mg 1LSB
16g 62.5mg 1LSB

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BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_power_mode ( u8 accel_power_mode_u8)
Parameters
accel_power_mode_u8: The value of accel power mode
accel_power_mode_u8 result
0x00 BNO055_ACCEL_NORMAL
0x01 BNO055_ACCEL_SUSPEND
0x02 BNO055_ACCEL_LOWPOWER_1
0x03 BNO055_ACCEL_STANDBY
0x04 BNO055_ACCEL_LOWPOWER_2
0x05 BNO055_ACCEL_DEEPSUSPEND
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_range ( u8 accel_range_u8)
Parameters
accel_range_u8: The value of accel range
accel_range_u8 result
0x00 BNO055_ACCEL_RANGE_2G
0x01 BNO055_ACCEL_RANGE_4G
0x02 BNO055_ACCEL_RANGE_8G
0x03 BNO055_ACCEL_RANGE_16G
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_durn ( u8 sleep_durn_u8)
Parameters
sleep_durn_u8: The value of accel sleep duration
sleep_durn_u8 result
0x05 BNO055_ACCEL_SLEEP_DURN_0_5MS
0x06 BNO055_ACCEL_SLEEP_DURN_1MS
0x07 BNO055_ACCEL_SLEEP_DURN_2MS
0x08 BNO055_ACCEL_SLEEP_DURN_4MS
0x09 BNO055_ACCEL_SLEEP_DURN_6MS
0x0A BNO055_ACCEL_SLEEP_DURN_10MS
0x0B BNO055_ACCEL_SLEEP_DURN_25MS
0x0C BNO055_ACCEL_SLEEP_DURN_50MS
0x0D BNO055_ACCEL_SLEEP_DURN_100MS
0x0E BNO055_ACCEL_SLEEP_DURN_500MS
0x0F BNO055_ACCEL_SLEEP_DURN_1S
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_tmr_mode ( u8 sleep_tmr_u8)
Parameters
sleep_tmr_u8: The value of accel sleep mode
sleep_tmr_u8 result
0x00 enable EventDrivenSampling(EDT)
0x01 enable Equidistant sampling mode(EST)
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_durn ( u8 accel_slow_no_motion_durn_u8)
Parameters
accel_slow_no_motion_durn_u8: The value of accel slownomotion duration
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_enable ( u8 accel_slow_no_motion_en_u8)
Parameters
accel_slow_no_motion_en_u8: The value of accel slownomotion enable
accel_slow_no_motion_en_u8 result
0x01 Slow motion
0x00 No motion
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_thres ( u8 accel_slow_no_motion_thres_u8)
Parameters
accel_slow_no_motion_thres_u8: The value of accel slownomotion threshold
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Accel slow no motion interrupt threshold dependent for accel g range
accel_range_u8 threshold LSB
2g 3.19mg 1LSB
4g 7.81mg 1LSB
8g 15.63mg 1LSB
16g 31.25mg 1LSB

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BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_unit ( u8 accel_unit_u8)
Parameters
accel_unit_u8: The value of accel unit
accel_unit_u8 result
0x00 BNO055_ACCEL_UNIT_MSQ
0x01 BNO055_ACCEL_UNIT_MG
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_axis_remap_value ( u8 remap_axis_u8)
Parameters
remap_axis_u8: The value of axis remapping
remap_axis_u8 result comments
0X21 BNO055_REMAP_X_Y Z=Z;X=Y;Y=X
0X18 BNO055_REMAP_Y_Z X=X;Y=Z;Z=Y
0X06 BNO055_REMAP_Z_X Y=Y;X=Z;Z=X
0X12 BNO055_REMAP_X_Y_Z_TYPE0 X=Z;Y=X;Z=Y
0X09 BNO055_REMAP_X_Y_Z_TYPE1 X=Y;Y=Z;Z=X
0X24 BNO055_DEFAULT_AXIS X=X;Y=Y;Z=Z
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
: For axis sign remap refer the following APIs x-axis :

bno055_set_x_remap_sign()

y-axis :

bno055_set_y_remap_sign()

z-axis :

bno055_set_z_remap_sign()

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BNO055_RETURN_FUNCTION_TYPE bno055_get_clk_src ( u8 clk_src_u8)
Parameters
clk_src_u8: The value of clk source
clk_src_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_data_output_format ( u8 data_output_format_u8)
Parameters
data_output_format_u8: The value of data output format
data_output_format_u8 result
0x00 Windows
0x01 Android
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_euler_unit ( u8 euler_unit_u8)
Parameters
euler_unit_u8: The value of accel unit
euler_unit_u8 result
0x00 BNO055_EULER_UNIT_DEG
0x01 BNO055_EULER_UNIT_RAD
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_awake_durn ( u8 gyro_awake_durn_u8)
Parameters
gyro_awake_durn_u8: The value of gyro anymotion awake duration
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_axis_enable ( u8  channel_u8,
u8 data_u8 
)
Parameters
data_u8: The value of gyro anymotion enable
data_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
channel_u8: The value of gyro anymotion axis selection
channel_u8 value
BNO055_GYRO_ANY_MOTIONX_AXIS 0
BNO055_GYRO_ANY_MOTIONY_AXIS 1
BNO055_GYRO_ANY_MOTIONZ_AXIS 2
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_filter ( u8 gyro_any_motion_filter_u8)
Parameters
gyro_any_motion_filter_u8: The value of gyro anymotion filter
gyro_any_motion_filter_u8 result
0x00 BNO055_GYRO_FILTERED_CONFIG
0x01 BNO055_GYRO_UNFILTERED_CONFIG
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_slope_samples ( u8 gyro_any_motion_slope_samples_u8)
Parameters
gyro_any_motion_slope_samples_u8: The value of gyro anymotion slope samples
gyro_any_motion_slope_samples_u8 result
0 8 samples
1 16 samples
2 32 samples
3 64 samples
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_thres ( u8 gyro_any_motion_thres_u8)
Parameters
gyro_any_motion_thres_u8: The value of gyro anymotion threshold
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Gyro anymotion interrupt threshold dependent on the selection of gyro range
gyro_range_u8 threshold LSB
2000 1dps 1LSB
1000 0.5dps 1LSB
500 0.25dps 1LSB

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BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_auto_sleep_durn ( u8 auto_sleep_durn_u8)
Parameters
auto_sleep_durn_u8: The value of gyro auto sleep duration
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_bw ( u8 gyro_bw_u8)
Parameters
gyro_bw_u8: The value of gyro bandwidth
gyro_bw_u8 result
0x00 BNO055_GYRO_BW_523HZ
0x01 BNO055_GYRO_BW_230HZ
0x02 BNO055_GYRO_BW_116HZ
0x03 BNO055_GYRO_BW_47HZ
0x04 BNO055_GYRO_BW_23HZ
0x05 BNO055_GYRO_BW_12HZ
0x06 BNO055_GYRO_BW_64HZ
0x07 BNO055_GYRO_BW_32HZ
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_calib_stat ( u8 gyro_calib_u8)
Parameters
gyro_calib_u8: The value of gyro calib status
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_axis_enable ( u8  channel_u8,
u8 data_u8 
)
Parameters
data_u8: The value of gyro highrate enable
data_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
channel_u8: The value of gyro highrate axis selection
channel_u8 value
BNO055_GYRO_HIGHRATE_X_AXIS 0
BNO055_GYRO_HIGHRATE_Y_AXIS 1
BNO055_GYRO_HIGHRATE_Z_AXIS 2
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_filter ( u8 gyro_highrate_filter_u8)
Parameters
gyro_highrate_filter_u8: The value of gyro highrate filter
gyro_highrate_filter_u8 result
0x00 BNO055_GYRO_FILTERED_CONFIG
0x01 BNO055_GYRO_UNFILTERED_CONFIG
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_durn ( u8 gyro_highrate_x_durn_u8)
Parameters
gyro_highrate_x_durn_u8: The value of gyro highrate x duration
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Gyro highrate duration calculate by using the formula

(1 + gyro_highrate_x_durn_u8)*2.5ms

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BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_hyst ( u8 gyro_highrate_x_hyst_u8)
Parameters
gyro_highrate_x_hyst_u8: The value of gyro highrate x hysteresis
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Gyro high rate hysteresis calculated by

using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB

The high rate value scales with the range setting

gyro_range_u8 hysteresis LSB
2000 62.26dps 1LSB
1000 31.13dps 1LSB
500 15.56dps 1LSB

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BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_thres ( u8 gyro_highrate_x_thres_u8)
Parameters
gyro_highrate_x_thres_u8: The value of gyro x highrate threshold
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Gyro highrate threshold dependent on the selection of gyro range
gyro_range_u8 threshold LSB
2000 62.5dps 1LSB
1000 31.25dps 1LSB
500 15.625dps 1LSB
125 7.8125dps 1LSB

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BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_durn ( u8 gyro_highrate_y_durn_u8)
Parameters
gyro_highrate_y_durn_u8: The value of gyro highrate y duration
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Gyro highrate duration calculate by using the formula

(1 + gyro_highrate_y_durn_u8)*2.5ms

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BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_hyst ( u8 gyro_highrate_y_hyst_u8)
Parameters
gyro_highrate_y_hyst_u8: The value of gyro highrate y hysteresis
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Gyro high rate hysteresis calculated by

using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB

The high rate value scales with the range setting

gyro_range_u8 hysteresis LSB
2000 62.26dps 1LSB
1000 31.13dps 1LSB
500 15.56dps 1LSB

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BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_thres ( u8 gyro_highrate_y_thres_u8)
Parameters
gyro_highrate_y_thres_u8: The value of gyro highrate y threshold
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Gyro highrate threshold dependent on the selection of gyro range
gyro_range_u8 threshold LSB
2000 62.5dps 1LSB
1000 31.25dps 1LSB
500 15.625dps 1LSB
125 7.8125dps 1LSB

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BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_durn ( u8 gyro_highrate_z_durn_u8)
Parameters
gyro_highrate_z_durn_u8: The value of gyro highrate z duration
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Gyro highrate duration calculate by using the formula

(1 + gyro_highrate_z_durn_u8)*2.5ms

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BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_hyst ( u8 gyro_highrate_z_hyst_u8)
Parameters
gyro_highrate_z_hyst_u8: The value of gyro highrate z hysteresis
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Gyro high rate hysteresis calculated by

using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB

The high rate value scales with the range setting

gyro_range_u8 hysteresis LSB
2000 62.26dps 1LSB
1000 31.13dps 1LSB
500 15.56dps 1LSB

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BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_thres ( u8 gyro_highrate_z_thres_u8)
Parameters
gyro_highrate_z_thres_u8: The value of gyro highrate z threshold
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Gyro highrate threshold dependent on the selection of gyro range
gyro_range_u8 threshold LSB
2000 62.5dps 1LSB
1000 31.25dps 1LSB
500 15.625dps 1LSB
125 7.8125dps 1LSB

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BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_power_mode ( u8 gyro_power_mode_u8)
Parameters
gyro_power_mode_u8: The value of gyro power mode
gyro_power_mode_u8 result
0x00 GYRO_OPR_MODE_NORMAL
0x01 GYRO_OPR_MODE_FASTPOWERUP
0x02 GYRO_OPR_MODE_DEEPSUSPEND
0x03 GYRO_OPR_MODE_SUSPEND
0x04 GYRO_OPR_MODE_ADVANCE_POWERSAVE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_range ( u8 gyro_range_u8)
Parameters
gyro_range_u8: The value of gyro range
gyro_range_u8 result
0x00 BNO055_GYRO_RANGE_2000DPS
0x01 BNO055_GYRO_RANGE_1000DPS
0x02 BNO055_GYRO_RANGE_500DPS
0x03 BNO055_GYRO_RANGE_250DPS
0x04 BNO055_GYRO_RANGE_125DPS
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_sleep_durn ( u8 sleep_durn_u8)
Parameters
sleep_durn_u8: The value of gyro sleep duration
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_unit ( u8 gyro_unit_u8)
Parameters
gyro_unit_u8: The value of accel unit
gyro_unit_u8 result
0x00 BNO055_GYRO_UNIT_DPS
0x01 BNO055_GYRO_UNIT_RPS
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_any_motion ( u8 accel_any_motion_u8)
Parameters
accel_any_motion_u8: The value of accel anymotion interrupt
accel_any_motion_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
While enabling the accel anymotion interrupt configure the following settings

Axis:

bno055_set_accel_any_motion_no_motion_axis_enable()

Duration:

bno055_set_accel_any_motion_durn()

Threshold:

bno055_set_accel_any_motion_thres()

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BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_high_g ( u8 accel_high_g_u8)
Parameters
accel_high_g_u8: The value of accel highg interrupt
accel_high_g_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
While enabling the accel highg interrupt configure the below settings by using the following APIs

Axis :

bno055_set_accel_high_g_axis_enable()

Threshold :

bno055_set_accel_high_g_thres()

Duration :

bno055_set_accel_high_g_durn()

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BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_no_motion ( u8 accel_nomotion_u8)
Parameters
accel_nomotion_u8: The value of accel nomotion interrupt
accel_nomotion_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
While enabling the accel nomotion interrupt configure the following settings

Axis:

bno055_set_accel_any_motion_no_motion_axis_enable()

Threshold :

bno055_set_accel_slow_no_motion_thres()

Duration :

bno055_set_accel_slow_no_motion_durn()

Slow/no motion enable:

bno055_set_accel_slow_no_motion_enable()

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BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_any_motion ( u8 gyro_any_motion_u8)
Parameters
gyro_any_motion_u8: The value of gyro anymotion interrupt
gyro_any_motion_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
While enabling the gyro anymotion interrupt configure the following settings

Axis: bno055_set_gyro_any_motion_axis_enable()

Filter setting: bno055_set_gyro_any_motion_filter()

Threshold :

bno055_set_gyro_any_motion_thres()

Slope samples :

bno055_set_gyro_any_motion_slope_samples()

Awake duration :

bno055_set_gyro_any_motion_awake_durn()

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BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_highrate ( u8 gyro_highrate_u8)
Parameters
gyro_highrate_u8: The value of gyro highrate interrupt
gyro_highrate_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
While enabling the gyro highrate interrupt configure the below settings by using the following APIs

Axis :

bno055_set_gyro_highrate_axis_enable()

Filter :

bno055_set_gyro_highrate_filter()

Threshold :

bno055_get_gyro_highrate_x_thres()

bno055_get_gyro_highrate_y_thres()

bno055_get_gyro_highrate_z_thres()

Hysteresis :

bno055_set_gyro_highrate_x_hyst()

bno055_set_gyro_highrate_y_hyst()

bno055_set_gyro_highrate_z_hyst()

Duration :

bno055_set_gyro_highrate_x_durn()

bno055_set_gyro_highrate_y_durn()

bno055_set_gyro_highrate_z_durn()

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BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_any_motion ( u8 accel_any_motion_u8)
Parameters
accel_any_motion_u8: The value of accel anymotion interrupt mask
accel_any_motion_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
While enabling the accel highg interrupt configure the below settings by using the following APIs

Axis :

bno055_set_accel_high_g_axis_enable()

Threshold :

bno055_set_accel_high_g_thres()

Duration :

bno055_set_accel_high_g_durn()

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BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_high_g ( u8 accel_high_g_u8)
Parameters
accel_high_g_u8: The value of accel highg interrupt mask
accel_high_g_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
While enabling the accel highg interrupt configure the below settings by using the following APIs

Axis :

bno055_set_accel_high_g_axis_enable()

Threshold :

bno055_set_accel_high_g_thres()

Duration :

bno055_set_accel_high_g_durn()

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BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_no_motion ( u8 accel_nomotion_u8)
Parameters
accel_nomotion_u8: The value of accel nomotion interrupt mask
accel_nomotion_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
Note
While enabling the accel anymotion interrupt configure the following settings

Axis:

bno055_set_accel_any_motion_no_motion_axis_enable()

Duration:

bno055_set_accel_any_motion_durn()

Threshold:

bno055_set_accel_any_motion_thres())

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BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_any_motion ( u8 gyro_any_motion_u8)
Parameters
gyro_any_motion_u8: The value of gyro anymotion interrupt mask
gyro_any_motion_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
While enabling the gyro anymotion interrupt configure the following settings

Axis: bno055_set_gyro_any_motion_axis_enable()

Filter setting: bno055_set_gyro_any_motion_filter()

Threshold :

bno055_set_gyro_any_motion_thres()

Slope samples :

bno055_set_gyro_any_motion_slope_samples()

Awake duration :

bno055_set_gyro_any_motion_awake_durn()

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BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_highrate ( u8 gyro_highrate_u8)
Parameters
gyro_highrate_u8: The value of gyro highrate interrupt mask
gyro_highrate_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
While enabling the gyro highrate interrupt configure the below settings by using the following API

Axis :

bno055_set_gyro_highrate_axis_enable()

Filter :

bno055_set_gyro_highrate_filter()

Threshold :

bno055_get_gyro_highrate_x_thres()

bno055_get_gyro_highrate_y_thres()

bno055_get_gyro_highrate_z_thres()

Hysteresis :

bno055_set_gyro_highrate_x_hyst()

bno055_set_gyro_highrate_y_hyst()

bno055_set_gyro_highrate_z_hyst()

Duration :

bno055_set_gyro_highrate_x_durn()

bno055_set_gyro_highrate_y_durn()

bno055_set_gyro_highrate_z_durn()

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BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_rst ( u8 intr_rst_u8)
Parameters
intr_rst_u8: The value of reset interrupt
intr_rst_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_any_motion ( u8 accel_any_motion_u8)
Parameters
accel_any_motion_u8: The value of accel anymotion interrupt
accel_any_motion_u8 result
0x00 indicates no interrupt triggered
0x01 indicates interrupt triggered
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Accel anymotion interrupt can be configured by the following APIs

bno055_set_intr_mask_accel_any_motion()

bno055_set_intr_accel_any_motion()

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BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_high_g ( u8 accel_high_g_u8)

This API used to read the status of accel highg interrupt from register from 0x37 bit 5.

Parameters
accel_high_g_u8: The value of accel highg interrupt
accel_high_g_u8 result
0x00 indicates no interrupt triggered
0x01 indicates interrupt triggered
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Accel highg interrupt can be configured by the following APIs

bno055_set_intr_mask_accel_high_g()

bno055_set_intr_accel_high_g()

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BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_no_motion ( u8 accel_no_motion_u8)
Parameters
accel_no_motion_u8: The value of accel nomotion/slowmotion interrupt
accel_no_motion_u8 result
0x00 indicates no interrupt triggered
0x01 indicates interrupt triggered
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Accel nomotion/slowmotion interrupt can be configured by the following APIs

bno055_set_intr_mask_accel_nomotion()

bno055_set_intr_accel_nomotion()

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BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_any_motion ( u8 gyro_any_motion_u8)
Parameters
gyro_any_motion_u8: The value of gyro anymotion interrupt
gyro_any_motion_u8 result
0x00 indicates no interrupt triggered
0x01 indicates interrupt triggered
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Gyro anymotion interrupt can be BNO055_BIT_ENABLE by the following APIs

bno055_set_intr_mask_gyro_any_motion()

bno055_set_intr_gyro_any_motion()

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BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_highrate ( u8 gyro_highrate_u8)
Parameters
gyro_highrate_u8: The value of gyro highrate interrupt
gyro_highrate_u8 result
0x00 indicates no interrupt triggered
0x01 indicates interrupt triggered
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Gyro highrate interrupt can be configured by the following APIs

bno055_set_intr_mask_gyro_highrate()

bno055_set_intr_gyro_highrate()

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BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_calib_stat ( u8 mag_calib_u8)
Parameters
mag_calib_u8: The value of mag calib status
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_data_output_rate ( u8 mag_data_output_rate_u8)
Parameters
mag_data_output_rate_u8: The value of mag output data rate
mag_data_output_rate_u8 result
0x00 MAG_DATA_OUTPUT_RATE_2HZ
0x01 MAG_DATA_OUTPUT_RATE_6HZ
0x02 MAG_DATA_OUTPUT_RATE_8HZ
0x03 MAG_DATA_OUTPUT_RATE_10HZ
0x04 MAG_DATA_OUTPUT_RATE_15HZ
0x05 MAG_DATA_OUTPUT_RATE_20HZ
0x06 MAG_DATA_OUTPUT_RATE_25HZ
0x07 MAG_DATA_OUTPUT_RATE_30HZ
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_operation_mode ( u8 mag_operation_mode_u8)
Parameters
mag_operation_mode_u8: The value of mag operation mode
mag_operation_mode_u8 result
0x00 MAG_OPR_MODE_LOWPOWER
0x01 MAG_OPR_MODE_REGULAR
0x02 MAG_OPR_MODE_ENHANCED_REGULAR
0x03 MAG_OPR_MODE_HIGH_ACCURACY
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_power_mode ( u8 mag_power_mode_u8)
Parameters
mag_power_mode_u8: The value of mag power mode
mag_power_mode_u8 result
0x00 BNO055_MAG_POWER_MODE_NORMAL
0x01 BNO055_MAG_POWER_MODE_SLEEP
0x02 BNO055_MAG_POWER_MODE_SUSPEND
0x03 BNO055_MAG_POWER_MODE_FORCE_MODE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_durn ( u8 sleep_durn_u8)
Parameters
sleep_durn_u8: The value of mag sleep duration
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_mode ( u8 sleep_mode_u8)
Parameters
sleep_mode_u8: The value of mag sleep mode
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_operation_mode ( u8 operation_mode_u8)
Parameters
operation_mode_u8: The value of operation mode
operation_mode_u8 result comments
0x00 BNO055_OPERATION_MODE_CONFIG Configuration mode
0x01 BNO055_OPERATION_MODE_ACCONLY Reads accel data alone
0x02 BNO055_OPERATION_MODE_MAGONLY Reads mag data alone
0x03 BNO055_OPERATION_MODE_GYRONLY Reads gyro data alone
0x04 BNO055_OPERATION_MODE_ACCMAG Reads accel and mag data
0x05 BNO055_OPERATION_MODE_ACCGYRO Reads accel and gyro data
0x06 BNO055_OPERATION_MODE_MAGGYRO Reads accel and mag data
0x07 OPERATION_MODE_ANY_MOTION Reads accel mag and gyro data
0x08 BNO055_OPERATION_MODE_IMUPLUS Inertial measurement unit
- - Reads accel,gyro and fusion data
0x09 BNO055_OPERATION_MODE_COMPASS Reads accel, mag data
- - and fusion data
0x0A BNO055_OPERATION_MODE_M4G Reads accel, mag data
- - and fusion data
0x0B BNO055_OPERATION_MODE_NDOF_FMC_OFFNine degrees of freedom with
- - fast magnetic calibration
- - Reads accel,mag, gyro
- - and fusion data
0x0C BNO055_OPERATION_MODE_NDOF Nine degrees of freedom
- - Reads accel,mag, gyro
- - and fusion data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
In the config mode, all sensor and fusion data becomes zero and it is mainly derived to configure the various settings of the BNO

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BNO055_RETURN_FUNCTION_TYPE bno055_get_power_mode ( u8 power_mode_u8)
Parameters
power_mode_u8: The value of power mode
power_mode_u8result comments
0x00 BNO055_POWER_MODE_NORMAL In the NORMAL mode the register
- - map and the internal peripherals
- - of the MCU are always
- - operative in this mode
0x01 BNO055_POWER_MODE_LOWPOWER This is first level of power

| - | saving mode 0x02 |BNO055_POWER_MODE_SUSPEND | In suspend mode the system is

  • | - | paused and all the sensors and
  • | - | the micro controller are
  • | - | put into sleep mode.
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
For detailed about LOWPOWER mode refer data sheet 3.4.2

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BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_x_sign ( u8 remap_x_sign_u8)
Parameters
remap_x_sign_u8: The value of x-axis remap sign
remap_x_sign_u8 result
0X00 BNO055_REMAP_AXIS_POSITIVE
0X01 BNO055_REMAP_AXIS_NEGATIVE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_y_sign ( u8 remap_y_sign_u8)
Parameters
remap_y_sign_u8: The value of y-axis remap sign
remap_y_sign_u8 result
0X00 BNO055_REMAP_AXIS_POSITIVE
0X01 BNO055_REMAP_AXIS_NEGATIVE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_z_sign ( u8 remap_z_sign_u8)
Parameters
remap_z_sign_u8: The value of z-axis remap sign
remap_z_sign_u8 result
0X00 BNO055_REMAP_AXIS_POSITIVE
0X01 BNO055_REMAP_AXIS_NEGATIVE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest ( u8 selftest_u8)
Parameters
selftest_u8: The value of self test
selftest_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
It triggers the self test

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BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_accel ( u8 selftest_accel_u8)
Parameters
selftest_accel_u8: The value of self test of accel
selftest_accel_u8 result
0x00 indicates test failed
0x01 indicated test passed
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_gyro ( u8 selftest_gyro_u8)
Parameters
selftest_gyro_u8: The value of self test of gyro
selftest_gyro_u8 result
0x00 indicates test failed
0x01 indicated test passed
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mag ( u8 selftest_mag_u8)
Parameters
selftest_mag_u8: The value of self test of mag
selftest_mag_u8 result
0x00 indicates test failed
0x01 indicated test passed
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mcu ( u8 selftest_mcu_u8)
Parameters
selftest_mcu_u8: The value of self test of micro controller
selftest_mcu_u8 result
0x00 indicates test failed
0x01 indicated test passed
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_stat_main_clk ( u8 stat_main_clk_u8)
Parameters
stat_main_clk_u8: the status of main clock
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_calib_stat ( u8 sys_calib_u8)
Parameters
sys_calib_u8: The value of system calib status
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_error_code ( u8 sys_error_u8)
Parameters
sys_error_u8: The value of system BNO055_ERROR code
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_rst ( u8 sys_rst_u8)
Parameters
sys_rst_u8: The value of reset system
sys_rst_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
It resets the whole system

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BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_stat_code ( u8 sys_stat_u8)
Parameters
sys_stat_u8: the status of system
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_source ( u8 temp_source_u8)
Parameters
temp_source_u8: The value of selected temperature source
temp_source_u8 result
0x00 BNO055_ACCEL_TEMP_EN
0X01 BNO055_GYRO_TEMP_EN
0X03 BNO055_MCU_TEMP_EN
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_unit ( u8 temp_unit_u8)
Parameters
temp_unit_u8: The value of temperature unit
temp_unit_u8 result
0x00 BNO055_TEMP_UNIT_CELSIUS
0x01 BNO055_TEMP_UNIT_FAHRENHEIT
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_get_tilt_unit ( u8 tilt_unit_u8)
Parameters
tilt_unit_u8: The value of tilt unit
tilt_unit_u8 result
0x00 degrees
0x01 radians
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_gyro_set_auto_sleep_durn ( u8  auto_sleep_durn_u8,
u8  bw 
)
Parameters
auto_sleep_durn_u8: The value of gyro auto sleep duration
bw: The value of gyro bandwidth
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_init ( struct bno055_t bno055)
Parameters
bno055- structure pointer
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
While changing the parameter of the bno055_t consider the following point: Changing the reference value of the parameter will changes the local copy or local reference make sure your changes will not affect the reference value of the parameter (Better case don't change the reference value of the parameter)

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BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_offset ( struct bno055_accel_offset_t accel_offset)
Parameters
accel_offset: The value of accel offset and radius
bno055_accel_offset_t |     result
------------------- | ----------------
         x          |  accel offset x
         y          |  accel offset y
         z          |  accel offset z
         r          |  accel offset r
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
The range of the accel offset varies based on the G-range of accel sensor.
accel G range offset range
BNO055_ACCEL_RANGE_2G +/-2000
BNO055_ACCEL_RANGE_4G +/-4000
BNO055_ACCEL_RANGE_8G +/-8000
BNO055_ACCEL_RANGE_16G +/-16000

accel G range can be configured by using the bno055_set_accel_range() API

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BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_rev_id ( u8 accel_rev_id_u8)
Parameters
accel_rev_id_u8: The accel revision id 0xFB
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_x ( s16 accel_x_s16)
Parameters
accel_x_s16: The X raw data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_xyz ( struct bno055_accel_t accel)
Parameters
accel: The value of accel xyz data
Parameter result
x The accel x data
y The accel y data
z The accel z data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_y ( s16 accel_y_s16)
Parameters
accel_y_s16: The Y raw data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_z ( s16 accel_z_s16)
Parameters
accel_z_s16: The z raw data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_bl_rev_id ( u8 bl_rev_id_u8)
Parameters
bl_rev_id_u8: The boot loader revision id
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_chip_id ( u8 chip_id_u8)
Parameters
chip_id_u8: The chip id value 0xA0
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_h ( s16 euler_h_s16)
Parameters
euler_h_s16: The raw h data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_hrp ( struct bno055_euler_t euler)
Parameters
euler: The Euler hrp data's
Parameter result
h The Euler h data
r The Euler r data
p The Euler p data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_p ( s16 euler_p_s16)
Parameters
euler_p_s16: The raw p data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_r ( s16 euler_r_s16)
Parameters
euler_r_s16: The raw r data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_x ( s16 gravity_x_s16)
Parameters
gravity_x_s16: The raw x data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_xyz ( struct bno055_gravity_t gravity)
Parameters
gravity: The value of gravity xyz data's
Parameter result
x The gravity x data
y The gravity y data
z The gravity z data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_y ( s16 gravity_y_s16)
Parameters
gravity_y_s16: The raw y data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_z ( s16 gravity_z_s16)
Parameters
gravity_z_s16: The raw z data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_offset ( struct bno055_gyro_offset_t gyro_offset)
Parameters
gyro_offset: The value of gyro offset
bno055_gyro_offset_t  |     result
------------------- | ----------------
         x          |  gyro offset x
         y          |  gyro offset y
         z          |  gyro offset z
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
The range of the gyro offset varies based on the range of gyro sensor
gyro G range offset range
BNO055_GYRO_RANGE_2000DPS +/-32000
BNO055_GYRO_RANGE_1000DPS +/-16000
BNO055_GYRO_RANGE_500DPS +/-8000
BNO055_GYRO_RANGE_250DPS +/-4000
BNO055_GYRO_RANGE_125DPS +/-2000

Gyro range can be configured by using the bno055_set_gyro_range() API

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BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_rev_id ( u8 gyro_rev_id_u8)
Parameters
gyro_rev_id_u8: The gyro revision id 0xF0
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_x ( s16 gyro_x_s16)
Parameters
gyro_x_s16: The x raw data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_xyz ( struct bno055_gyro_t gyro)
Parameters
gyro: The value of gyro xyz data's
Parameter result
x The gyro x data
y The gyro y data
z The gyro z data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_y ( s16 gyro_y_s16)
Parameters
gyro_y_s16: The y raw data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_z ( s16 gyro_z_s16)
Parameters
gyro_z_s16: The z raw data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_x ( s16 linear_accel_x_s16)
Parameters
linear_accel_x_s16: The raw x data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_xyz ( struct bno055_linear_accel_t linear_accel)
Parameters
linear_accel: The value of linear accel xyz data's
Parameter result
x The linear accel x data
y The linear accel y data
z The linear accel z data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_y ( s16 linear_accel_y_s16)
Parameters
linear_accel_y_s16: The raw y data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_z ( s16 linear_accel_z_s16)
Parameters
linear_accel_z_s16: The raw z data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_offset ( struct bno055_mag_offset_t mag_offset)
Parameters
mag_offset: The value of mag offset and radius
bno055_mag_offset_t   |     result
------------------- | ----------------
         x          |  mag offset x
         y          |  mag offset y
         z          |  mag offset z
         r          |  mag radius r
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
The range of the magnetometer offset is +/-6400 in LSB

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BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_rev_id ( u8 mag_rev_id_u8)
Parameters
mag_rev_id_u8: The mag revision id 0x32
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_x ( s16 mag_x_s16)
Parameters
mag_x_s16: The x raw data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_xyz ( struct bno055_mag_t mag)
Parameters
mag: The mag xyz values
Parameter result
x The mag x data
y The mag y data
z The mag z data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_y ( s16 mag_y_s16)
Parameters
mag_y_s16: The y raw data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_z ( s16 mag_z_s16)
Parameters
mag_z_s16: The z raw data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_page_id ( u8 page_id_u8)
Parameters
page_id_u8: The value of page id

BNO055_PAGE_ZERO -> 0x00 BNO055_PAGE_ONE -> 0x01

Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_w ( s16 quaternion_w_s16)
Parameters
quaternion_w_s16: The raw w data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_wxyz ( struct bno055_quaternion_t quaternion)
Parameters
quaternion: The value of quaternion wxyz data's
Parameter result
w The quaternion w data
x The quaternion x data
y The quaternion y data
z The quaternion z data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_x ( s16 quaternion_x_s16)
Parameters
quaternion_x_s16: The raw x data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_y ( s16 quaternion_y_s16)
Parameters
quaternion_y_s16: The raw y data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_z ( s16 quaternion_z_s16)
Parameters
quaternion_z_s16: The raw z data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_register ( u8  addr_u8,
u8 data_u8,
u8  len_u8 
)
Parameters
addr_u8: Address of the register
data_u8: address of the variable, read value will be kept
len_u8: Length of the data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
BNO055_RETURN_FUNCTION_TYPE bno055_read_sic_matrix ( struct bno055_sic_matrix_t sic_matrix)
Parameters
sic_matrix: The value of soft iron calibration matrix
sic_matrix result
sic_0 soft iron calibration matrix zero
sic_1 soft iron calibration matrix one
sic_2 soft iron calibration matrix two
sic_3 soft iron calibration matrix three
sic_4 soft iron calibration matrix four
sic_5 soft iron calibration matrix five
sic_6 soft iron calibration matrix six
sic_7 soft iron calibration matrix seven
sic_8 soft iron calibration matrix eight
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
: Each soft iron calibration matrix range from -32768 to +32767

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BNO055_RETURN_FUNCTION_TYPE bno055_read_sw_rev_id ( u16 sw_id_u8)
Parameters
sw_id_u8: The SW revision id
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_read_temp_data ( s8 temp_s8)
Parameters
temp_s8: The raw temperature data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_durn ( u8  accel_any_motion_durn_u8)
Parameters
accel_any_motion_durn_u8: The value of accel anymotion duration
accel_any_motion_durn_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_no_motion_axis_enable ( u8  channel_u8,
u8  data_u8 
)
Parameters
data_u8: The value of accel anymotion enable
data_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
channel_u8: The value of accel anymotion axis selection
channel_u8 value
BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS 0
BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS 1
BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS 2
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_thres ( u8  accel_any_motion_thres_u8)
Parameters
accel_any_motion_thres_u8: The value of any motion threshold
accel_any_motion_thres_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Accel anymotion threshold dependent on the range values
accel_range_u8 threshold LSB
2g 3.19mg 1LSB
4g 7.81mg 1LSB
8g 15.63mg 1LSB
16g 31.25mg 1LSB

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BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_bw ( u8  accel_bw_u8)
Parameters
accel_bw_u8: The value of accel bandwidth
     accel_bw_u8 |     result
 ----------------- | ---------------
        0x00       | BNO055_ACCEL_BW_7_81HZ
        0x01       | BNO055_ACCEL_BW_15_63HZ
        0x02       | BNO055_ACCEL_BW_31_25HZ
        0x03       | BNO055_ACCEL_BW_62_5HZ
        0x04       | BNO055_ACCEL_BW_125HZ
        0x05       | BNO055_ACCEL_BW_250HZ
        0x06       | BNO055_ACCEL_BW_500HZ
        0x07       | BNO055_ACCEL_BW_1000HZ
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_axis_enable ( u8  channel_u8,
u8  data_u8 
)
Parameters
data_u8: The value of accel highg enable
data_u8result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
channel_u8: The value of accel highg axis selection
channel_u8 value
BNO055_ACCEL_HIGH_G_X_AXIS 0
BNO055_ACCEL_HIGH_G_Y_AXIS 1
BNO055_ACCEL_HIGH_G_Z_AXIS 2
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_durn ( u8  accel_high_g_durn_u8)
Parameters
accel_high_g_durn_u8: The value of accel highg duration
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
The high-g interrupt trigger delay according to [highg duration + 1] * 2 ms

in a range from 2 ms to 512 ms

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BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_thres ( u8  accel_high_g_thres_u8)
Parameters
accel_high_g_thres_u8: The value of accel highg threshold
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Accel highg interrupt threshold dependent for accel g range
accel_range_u8 threshold LSB
2g 7.81mg 1LSB
4g 15.63mg 1LSB
8g 31.25mg 1LSB
16g 62.5mg 1LSB

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BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_power_mode ( u8  accel_power_mode_u8)
Parameters
accel_power_mode_u8: The value of accel power mode
accel_power_mode_u8 result
0x00 BNO055_ACCEL_NORMAL
0x01 BNO055_ACCEL_SUSPEND
0x02 BNO055_ACCEL_LOWPOWER_1
0x03 BNO055_ACCEL_STANDBY
0x04 BNO055_ACCEL_LOWPOWER_2
0x05 BNO055_ACCEL_DEEPSUSPEND
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_range ( u8  accel_range_u8)
Parameters
accel_range_u8: The value of accel range
  accel_range_u8 |   result
 ----------------- | --------------
        0x00       | BNO055_ACCEL_RANGE_2G
        0x01       | BNO055_ACCEL_RANGE_4G
        0x02       | BNO055_ACCEL_RANGE_8G
        0x03       | BNO055_ACCEL_RANGE_16G
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_durn ( u8  sleep_durn_u8)
Parameters
sleep_durn_u8: The value of accel sleep duration
sleep_durn_u8 result
0x05 BNO055_ACCEL_SLEEP_DURN_0_5MS
0x06 BNO055_ACCEL_SLEEP_DURN_1MS
0x07 BNO055_ACCEL_SLEEP_DURN_2MS
0x08 BNO055_ACCEL_SLEEP_DURN_4MS
0x09 BNO055_ACCEL_SLEEP_DURN_6MS
0x0A BNO055_ACCEL_SLEEP_DURN_10MS
0x0B BNO055_ACCEL_SLEEP_DURN_25MS
0x0C BNO055_ACCEL_SLEEP_DURN_50MS
0x0D BNO055_ACCEL_SLEEP_DURN_100MS
0x0E BNO055_ACCEL_SLEEP_DURN_500MS
0x0F BNO055_ACCEL_SLEEP_DURN_1S
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_tmr_mode ( u8  sleep_tmr_u8)
Parameters
sleep_tmr_u8: The value of accel sleep mode
sleep_tmr_u8 result
0x00 enable EventDrivenSampling(EDT)
0x01 enable Equidistant sampling mode(EST)
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_durn ( u8  accel_slow_no_motion_durn_u8)
Parameters
accel_slow_no_motion_durn_u8: The value of accel slownomotion duration
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_enable ( u8  accel_slow_no_motion_en_u8)
Parameters
accel_slow_no_motion_en_u8: The value of accel slownomotion enable
accel_slow_no_motion_en_u8 result
0x01 Slow motion
0x00 No motion
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_thres ( u8  accel_slow_no_motion_thres_u8)
Parameters
accel_slow_no_motion_thres_u8: The value of accel slownomotion threshold
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Accel slow no motion interrupt threshold dependent for accel g range
accel_range_u8 threshold LSB
2g 3.19mg 1LSB
4g 7.81mg 1LSB
8g 15.63mg 1LSB
16g 31.25mg 1LSB

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BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_unit ( u8  accel_unit_u8)
Parameters
accel_unit_u8: The value of accel unit
accel_unit_u8 result
0x00 BNO055_ACCEL_UNIT_MSQ
0x01 BNO055_ACCEL_UNIT_MG
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_axis_remap_value ( u8  remap_axis_u8)
Parameters
remap_axis_u8: The value of axis remapping
remap_axis_u8 result comments
0X21 BNO055_REMAP_X_Y Z=Z;X=Y;Y=X
0X18 BNO055_REMAP_Y_Z X=X;Y=Z;Z=Y
0X06 BNO055_REMAP_Z_X Y=Y;X=Z;Z=X
0X12 BNO055_REMAP_X_Y_Z_TYPE0 X=Z;Y=X;Z=Y
0X09 BNO055_REMAP_X_Y_Z_TYPE1 X=Y;Y=Z;Z=X
0X24 BNO055_DEFAULT_AXIS X=X;Y=Y;Z=Z
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
: For axis sign remap refer the following APIs x-axis :

bno055_set_x_remap_sign()

y-axis :

bno055_set_y_remap_sign()

z-axis :

bno055_set_z_remap_sign()

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BNO055_RETURN_FUNCTION_TYPE bno055_set_clk_src ( u8  clk_src_u8)
Parameters
clk_src_u8: The value of clk source
clk_src_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_data_output_format ( u8  data_output_format_u8)

This API used to read the current selected orientation mode from register from 0x3B bit 7.

Parameters
data_output_format_u8: The value of data output format
data_output_format_u8 result
0x00 Windows
0x01 Android
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_euler_unit ( u8  euler_unit_u8)
Parameters
euler_unit_u8: The value of Euler unit
euler_unit_u8 result
0x00 BNO055_EULER_UNIT_DEG
0x01 BNO055_EULER_UNIT_RAD
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_awake_durn ( u8  gyro_awake_durn_u8)
Parameters
gyro_awake_durn_u8: The value of gyro anymotion awake duration
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_axis_enable ( u8  channel_u8,
u8  data_u8 
)
Parameters
data_u8: The value of gyro anymotion enable
data_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
channel_u8: The value of gyro anymotion axis selection
channel_u8 value
BNO055_GYRO_ANY_MOTIONX_AXIS 0
BNO055_GYRO_ANY_MOTIONY_AXIS 1
BNO055_GYRO_ANY_MOTIONZ_AXIS 2
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_filter ( u8  gyro_any_motion_filter_u8)
Parameters
gyro_any_motion_filter_u8: The value of gyro anymotion filter
gyro_any_motion_filter_u8 result
0x00 BNO055_GYRO_FILTERED_CONFIG
0x01 BNO055_GYRO_UNFILTERED_CONFIG
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_slope_samples ( u8  gyro_any_motion_slope_samples_u8)
Parameters
gyro_any_motion_slope_samples_u8: The value of gyro anymotion slope samples
gyro_any_motion_slope_samples_u8 result
0 8 samples
1 16 samples
2 32 samples
3 64 samples
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_thres ( u8  gyro_any_motion_thres_u8)
Parameters
gyro_any_motion_thres_u8: The value of gyro anymotion threshold
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Gyro anymotion interrupt threshold dependent on the selection of gyro range
gyro_range_u8 threshold LSB
2000 1dps 1LSB
1000 0.5dps 1LSB
500 0.25dps 1LSB

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BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_bw ( u8  gyro_bw_u8)
Parameters
gyro_bw_u8: The value of gyro bandwidth
gyro_bw_u8 result
0x00 BNO055_GYRO_BW_523HZ
0x01 BNO055_GYRO_BW_230HZ
0x02 BNO055_GYRO_BW_116HZ
0x03 BNO055_GYRO_BW_47HZ
0x04 BNO055_GYRO_BW_23HZ
0x05 BNO055_GYRO_BW_12HZ
0x06 BNO055_GYRO_BW_64HZ
0x07 BNO055_GYRO_BW_32HZ
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_axis_enable ( u8  channel_u8,
u8  data_u8 
)
Parameters
data_u8: The value of gyro highrate enable
data_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
channel_u8: The value of gyro highrate axis selection
channel_u8 value
BNO055_GYRO_HIGHRATE_X_AXIS 0
BNO055_GYRO_HIGHRATE_Y_AXIS 1
BNO055_GYRO_HIGHRATE_Z_AXIS 2
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_filter ( u8  gyro_highrate_filter_u8)
Parameters
gyro_highrate_filter_u8: The value of gyro highrate filter
gyro_highrate_filter_u8 result
0x00 BNO055_GYRO_FILTERED_CONFIG
0x01 BNO055_GYRO_UNFILTERED_CONFIG
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_durn ( u8  gyro_highrate_x_durn_u8)
Parameters
gyro_highrate_x_durn_u8: The value of gyro highrate x duration
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Gyro highrate duration calculate by using the formula

(1 + gyro_highrate_x_durn_u8)*2.5ms

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BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_hyst ( u8  gyro_highrate_x_hyst_u8)
Parameters
gyro_highrate_x_hyst_u8: The value of gyro highrate x hysteresis
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Gyro high rate hysteresis calculated by

using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB

The high rate value scales with the range setting

gyro_range_u8 hysteresis LSB
2000 62.26dps 1LSB
1000 31.13dps 1LSB
500 15.56dps 1LSB

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BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_thres ( u8  gyro_highrate_x_thres_u8)
Parameters
gyro_highrate_x_thres_u8: The value of gyro x highrate threshold
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Gyro highrate threshold dependent on the selection of gyro range
gyro_range_u8 threshold LSB
2000 62.5dps 1LSB
1000 31.25dps 1LSB
500 15.625dps 1LSB
125 7.8125dps 1LSB

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BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_durn ( u8  gyro_highrate_y_durn_u8)
Parameters
gyro_highrate_y_durn_u8: The value of gyro highrate y duration
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Gyro highrate duration calculate by using the formula

(1 + gyro_highrate_y_durn_u8)*2.5ms

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BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_hyst ( u8  gyro_highrate_y_hyst_u8)
Parameters
gyro_highrate_y_hyst_u8: The value of gyro highrate y hysteresis
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Gyro high rate hysteresis calculated by

using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB

The high rate value scales with the range setting

gyro_range_u8 hysteresis LSB
2000 62.26dps 1LSB
1000 31.13dps 1LSB
500 15.56dps 1LSB

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BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_thres ( u8  gyro_highrate_y_thres_u8)
Parameters
gyro_highrate_y_thres_u8: The value of gyro highrate y threshold
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Gyro highrate threshold dependent on the selection of gyro range
gyro_range_u8 threshold LSB
2000 62.5dps 1LSB
1000 31.25dps 1LSB
500 15.625dps 1LSB
125 7.8125dps 1LSB

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BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_durn ( u8  gyro_highrate_z_durn_u8)
Parameters
gyro_highrate_z_durn_u8: The value of gyro highrate z duration
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Gyro highrate duration calculate by using the formula

(1 + gyro_highrate_z_durn_u8)*2.5ms

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BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_hyst ( u8  gyro_highrate_z_hyst_u8)
Parameters
gyro_highrate_z_hyst_u8: The value of gyro highrate z hysteresis
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Gyro high rate hysteresis calculated by

using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB

The high rate value scales with the range setting

gyro_range_u8 hysteresis LSB
2000 62.26dps 1LSB
1000 31.13dps 1LSB
500 15.56dps 1LSB

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BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_thres ( u8  gyro_highrate_z_thres_u8)
Parameters
gyro_highrate_z_thres_u8: The value of gyro highrate z threshold
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
Gyro highrate threshold dependent on the selection of gyro range
gyro_range_u8 threshold LSB
2000 62.5dps 1LSB
1000 31.25dps 1LSB
500 15.625dps 1LSB
125 7.8125dps 1LSB

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BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_power_mode ( u8  gyro_power_mode_u8)
Parameters
gyro_power_mode_u8: The value of gyro power mode
gyro_power_mode_u8 result
0x00 GYRO_OPR_MODE_NORMAL
0x01 GYRO_OPR_MODE_FASTPOWERUP
0x02 GYRO_OPR_MODE_DEEPSUSPEND
0x03 GYRO_OPR_MODE_SUSPEND
0x04 GYRO_OPR_MODE_ADVANCE_POWERSAVE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_range ( u8  gyro_range_u8)
Parameters
gyro_range_u8: The value of gyro range
gyro_range_u8 result
0x00 BNO055_GYRO_RANGE_2000DPS
0x01 BNO055_GYRO_RANGE_1000DPS
0x02 BNO055_GYRO_RANGE_500DPS
0x03 BNO055_GYRO_RANGE_250DPS
0x04 BNO055_GYRO_RANGE_125DPS
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_sleep_durn ( u8  sleep_durn_u8)
Parameters
sleep_durn_u8: The value of gyro sleep duration
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_unit ( u8  gyro_unit_u8)
Parameters
gyro_unit_u8: The value of accel unit
gyro_unit_u8 result
0x00 BNO055_GYRO_UNIT_DPS
0x01 BNO055_GYRO_UNIT_RPS
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_any_motion ( u8  accel_any_motion_u8)
Parameters
accel_any_motion_u8: The value of accel anymotion interrupt
accel_any_motion_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
While enabling the accel anymotion interrupt configure the following settings

Axis:

bno055_set_accel_any_motion_no_motion_axis_enable()

Duration:

bno055_set_accel_any_motion_durn()

Threshold:

bno055_set_accel_any_motion_thres()

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BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_high_g ( u8  accel_high_g_u8)
Parameters
accel_high_g_u8: The value of accel highg interrupt
accel_high_g_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
While enabling the accel highg interrupt configure the below settings by using the following APIs

Axis :

bno055_set_accel_high_g_axis_enable()

Threshold :

bno055_set_accel_high_g_thres()

Duration :

bno055_set_accel_high_g_durn()

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BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_no_motion ( u8  accel_nomotion_u8)
Parameters
accel_nomotion_u8: The value of accel nomotion interrupt
accel_nomotion_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
While enabling the accel nomotion interrupt configure the following settings

Axis:

bno055_set_accel_any_motion_no_motion_axis_enable()

Threshold :

bno055_set_accel_slow_no_motion_thres()

Duration :

bno055_set_accel_slow_no_motion_durn()

Slow/no motion enable:

bno055_set_accel_slow_no_motion_enable()

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BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_any_motion ( u8  gyro_any_motion_u8)
Parameters
gyro_any_motion_u8: The value of gyro anymotion interrupt
gyro_any_motion_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
While enabling the gyro anymotion interrupt configure the following settings

Axis: bno055_set_gyro_any_motion_axis_enable()

Filter setting: bno055_set_gyro_any_motion_filter()

Threshold :

bno055_set_gyro_any_motion_thres()

Slope samples :

bno055_set_gyro_any_motion_slope_samples()

Awake duration :

bno055_set_gyro_any_motion_awake_durn()

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BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_highrate ( u8  gyro_highrate_u8)
Parameters
gyro_highrate_u8: The value of gyro highrate interrupt
gyro_highrate_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
While enabling the gyro highrate interrupt configure the below settings by using the following APIs

Axis :

bno055_set_gyro_highrate_axis_enable()

Filter :

bno055_set_gyro_highrate_filter()

Threshold :

bno055_get_gyro_highrate_x_thres()

bno055_get_gyro_highrate_y_thres()

bno055_get_gyro_highrate_z_thres()

Hysteresis :

bno055_set_gyro_highrate_x_hyst()

bno055_set_gyro_highrate_y_hyst()

bno055_set_gyro_highrate_z_hyst()

Duration :

bno055_set_gyro_highrate_x_durn()

bno055_set_gyro_highrate_y_durn()

bno055_set_gyro_highrate_z_durn()

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BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_any_motion ( u8  accel_any_motion_u8)
Parameters
accel_any_motion_u8: The value of accel anymotion interrupt mask
accel_any_motion_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
While enabling the accel anymotion interrupt configure the following settings

Axis:

bno055_set_accel_any_motion_no_motion_axis_enable()

Duration:

bno055_set_accel_any_motion_durn()

Threshold:

bno055_set_accel_any_motion_thres()

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BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_high_g ( u8  accel_high_g_u8)
Parameters
accel_high_g_u8: The value of accel highg interrupt mask
accel_high_g_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
While enabling the accel highg interrupt configure the below settings by using the following APIs

Axis :

bno055_set_accel_high_g_axis_enable()

Threshold :

bno055_set_accel_high_g_thres()

Duration :

bno055_set_accel_high_g_durn()

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BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_no_motion ( u8  accel_nomotion_u8)
Parameters
accel_nomotion_u8: The value of accel nomotion interrupt mask
accel_nomotion_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
While enabling the accel nomotion interrupt configure the following settings

Axis:

bno055_set_accel_any_motion_no_motion_axis_enable()

Threshold :

bno055_set_accel_slow_no_motion_thres()

Duration :

bno055_set_accel_slow_no_motion_durn()

Slow/no motion enable:

bno055_set_accel_slow_no_motion_enable()

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BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_any_motion ( u8  gyro_any_motion_u8)
Parameters
gyro_any_motion_u8: The value of gyro anymotion interrupt mask
gyro_any_motion_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
While enabling the gyro anymotion interrupt configure the following settings

Axis: bno055_set_gyro_any_motion_axis_enable()

Filter setting: bno055_set_gyro_any_motion_filter()

Threshold :

bno055_set_gyro_any_motion_thres()

Slope samples :

bno055_set_gyro_any_motion_slope_samples()

Awake duration :

bno055_set_gyro_any_motion_awake_durn()

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BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_highrate ( u8  gyro_highrate_u8)
Parameters
gyro_highrate_u8: The value of gyro highrate interrupt mask
gyro_highrate_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
While enabling the gyro highrate interrupt configure the below settings by using the following APIs

Axis :

bno055_set_gyro_highrate_axis_enable()

Filter :

bno055_set_gyro_highrate_filter()

Threshold :

bno055_get_gyro_highrate_x_thres()

bno055_get_gyro_highrate_y_thres()

bno055_get_gyro_highrate_z_thres()

Hysteresis :

bno055_set_gyro_highrate_x_hyst()

bno055_set_gyro_highrate_y_hyst()

bno055_set_gyro_highrate_z_hyst()

Duration :

bno055_set_gyro_highrate_x_durn()

bno055_set_gyro_highrate_y_durn()

bno055_set_gyro_highrate_z_durn()

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BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_rst ( u8  intr_rst_u8)
Parameters
intr_rst_u8: The value of reset interrupt
intr_rst_u8 result
0x01 BNO055_BIT_ENABLE
0x00 BNO055_BIT_DISABLE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_data_output_rate ( u8  mag_data_output_rate_u8)
Parameters
mag_data_output_rate_u8: The value of mag output data rate
mag_data_output_rate_u8 result
0x00 MAG_DATA_OUTPUT_RATE_2HZ
0x01 MAG_DATA_OUTPUT_RATE_6HZ
0x02 MAG_DATA_OUTPUT_RATE_8HZ
0x03 MAG_DATA_OUTPUT_RATE_10HZ
0x04 MAG_DATA_OUTPUT_RATE_15HZ
0x05 MAG_DATA_OUTPUT_RATE_20HZ
0x06 MAG_DATA_OUTPUT_RATE_25HZ
0x07 MAG_DATA_OUTPUT_RATE_30HZ
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_operation_mode ( u8  mag_operation_mode_u8)
Parameters
mag_operation_mode_u8: The value of mag operation mode
mag_operation_mode_u8 result
0x00 MAG_OPR_MODE_LOWPOWER
0x01 MAG_OPR_MODE_REGULAR
0x02 MAG_OPR_MODE_ENHANCED_REGULAR
0x03 MAG_OPR_MODE_HIGH_ACCURACY
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_power_mode ( u8  mag_power_mode_u8)
Parameters
mag_power_mode_u8: The value of mag power mode
mag_power_mode_u8 result
0x00 BNO055_MAG_POWER_MODE_NORMAL
0x01 BNO055_MAG_POWER_MODE_SLEEP
0x02 BNO055_MAG_POWER_MODE_SUSPEND
0x03 BNO055_MAG_POWER_MODE_FORCE_MODE
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_durn ( u8  sleep_durn_u8)
Parameters
sleep_durn_u8: The value of mag sleep duration
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_mode ( u8  sleep_mode_u8)
Parameters
sleep_mode_u8: The value of mag sleep mode
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR

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BNO055_RETURN_FUNCTION_TYPE bno055_set_operation_mode ( u8  operation_mode_u8)
Parameters
operation_mode_u8: The value of operation mode
operation_mode_u8 result comments
0x00 BNO055_OPERATION_MODE_CONFIG Configuration mode
0x01 BNO055_OPERATION_MODE_ACCONLY Reads accel data alone
0x02 BNO055_OPERATION_MODE_MAGONLY Reads mag data alone
0x03 BNO055_OPERATION_MODE_GYRONLY Reads gyro data alone
0x04 BNO055_OPERATION_MODE_ACCMAG Reads accel and mag data
0x05 BNO055_OPERATION_MODE_ACCGYRO Reads accel and gyro data
0x06 BNO055_OPERATION_MODE_MAGGYRO Reads accel and mag data
0x07 OPERATION_MODE_ANY_MOTION Reads accel mag and

| - | gyro data 0x08 | BNO055_OPERATION_MODE_IMUPLUS | Inertial measurement unit

  • | | Reads accel,gyro and | - | fusion data 0x09 | BNO055_OPERATION_MODE_COMPASS | Reads accel, mag data
  • | - | and fusion data 0x0A | BNO055_OPERATION_MODE_M4G | Reads accel, mag data
    • | - | and fusion data 0x0B | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with
  • | - | fast magnetic calibration
  • | - | Reads accel,mag, gyro
  • | - | and fusion data 0x0C | BNO055_OPERATION_MODE_NDOF | Nine degrees of freedom
  • | - | Reads accel,mag, gyro
  • | - | and fusion data
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
In the config mode, all sensor and fusion data becomes zero and it is mainly derived to configure the various settings of the BNO

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BNO055_RETURN_FUNCTION_TYPE bno055_set_power_mode ( u8  power_mode_u8)
Parameters
power_mode_u8: The value of power mode
power_mode_u8result comments
0x00 BNO055_POWER_MODE_NORMAL In the NORMAL mode the register
- - map and the internal peripherals
- - of the MCU are always
- - operative in this mode
0x01 BNO055_POWER_MODE_LOWPOWER This is first level of power

| - | saving mode 0x02 | BNO055_POWER_MODE_SUSPEND | In suspend mode the system is

  • | - | paused and all the sensors and
  • | - | the micro controller are
  • | - | put into sleep mode.
Returns
results of bus communication function
Return values
0-> BNO055_SUCCESS
1-> BNO055_ERROR
Note
For detailed about LOWPOWER mode refer data sheet 3.4.2

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