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bno055.c
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/*
*
****************************************************************************
* Copyright (C) 2013 - 2014 Bosch Sensortec GmbH
*
* File : bno055.c
*
* Date : 2014/12/12
*
* Revision : 2.0.2 $
*
* Usage: Sensor Driver file for BNO055 sensor
*
****************************************************************************
* \section License
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* Neither the name of the copyright holder nor the names of the
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER
* OR CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
* OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
*
* The information provided is believed to be accurate and reliable.
* The copyright holder assumes no responsibility
* for the consequences of use
* of such information nor for any infringement of patents or
* other rights of third parties which may result from its use.
* No license is granted by implication or otherwise under any patent or
* patent rights of the copyright holder.
**************************************************************************/
/*********************************************************/
/* INCLUDES */
/*******************************************************/
#include "bno055.h"
/*! file <BNO055 >
brief <Sensor driver for BNO055> */
/* STRUCTURE DEFINITIONS */
static struct bno055_t *p_bno055;
/* LOCAL FUNCTIONS */
/*!
* @brief
* This function is used for initialize
* bus read, bus write function pointers,device
* address,accel revision id, gyro revision id
* mag revision id, software revision id, boot loader
* revision id and page id
*
* @param bno055 - structure pointer
*
*
* @return results of bus communication function
* @retval 0 -> Success
* @retval 1 -> Error
*
* @note While changing the parameter of the bno055_t
* consider the following point:
* Changing the reference value of the parameter
* will changes the local copy or local reference
* make sure your changes will not
* affect the reference value of the parameter
* (Better case don't change the reference value of the parameter)
*/
BNO055_RETURN_FUNCTION_TYPE bno055_init(struct bno055_t *bno055)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
u8 v_data_u8 = BNO055_ZERO_U8X;
u8 v_page_zero_u8 = PAGE_ZERO;
/* Array holding the Software revision id
*/
u8 a_SW_ID_u8[ARRAY_SIZE_TWO] = {
BNO055_ZERO_U8X, BNO055_ZERO_U8X};
/* stuct parameters are assign to bno055*/
p_bno055 = bno055;
/* Write the default page as zero*/
com_rslt = p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_PAGE_ID__REG, &v_page_zero_u8, BNO055_ONE_U8X);
/* Read the chip id of the sensor from page
zero 0x00 register*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_CHIP_ID__REG, &v_data_u8, BNO055_ONE_U8X);
p_bno055->chip_id = v_data_u8;
/* Read the accel revision id from page
zero 0x01 register*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_REV_ID__REG, &v_data_u8, BNO055_ONE_U8X);
p_bno055->accel_rev_id = v_data_u8;
/* Read the mag revision id from page
zero 0x02 register*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_REV_ID__REG, &v_data_u8, BNO055_ONE_U8X);
p_bno055->mag_rev_id = v_data_u8;
/* Read the gyro revision id from page
zero 0x02 register*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_REV_ID__REG, &v_data_u8, BNO055_ONE_U8X);
p_bno055->gyro_rev_id = v_data_u8;
/* Read the boot loader revision from page
zero 0x06 register*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_BL_REV_ID__REG, &v_data_u8, BNO055_ONE_U8X);
p_bno055->bl_rev_id = v_data_u8;
/* Read the software revision id from page
zero 0x04 and 0x05 register( 2 bytes of data)*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC(p_bno055->dev_addr,
BNO055_SW_REV_ID_LSB__REG,
a_SW_ID_u8, BNO055_TWO_U8X);
a_SW_ID_u8[INDEX_ZERO] = BNO055_GET_BITSLICE(
a_SW_ID_u8[INDEX_ZERO],
BNO055_SW_REV_ID_LSB);
p_bno055->sw_rev_id = (u16)
((((u32)((u8)a_SW_ID_u8[INDEX_ONE])) <<
BNO055_SHIFT_8_POSITION) | (a_SW_ID_u8[INDEX_ZERO]));
/* Read the page id from the register 0x07*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_PAGE_ID__REG, &v_data_u8, BNO055_ONE_U8X);
p_bno055->page_id = v_data_u8;
return com_rslt;
}
/*!
* @brief
* This API gives data to the given register and
* the data is written in the corresponding register address
*
* @param v_addr_u8 : Address of the register
* @param p_data_u8 : Data to be written to the register
* @param v_len_u8 : Length of the Data
*
* @return results of bus communication function
* @retval 0 -> Success
* @retval 1 -> Error
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_write_register(u8 v_addr_u8,
u8 *p_data_u8, u8 v_len_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_ZERO_U8X) {
return E_NULL_PTR;
} else {
/* Write the values of respective given register */
com_rslt = p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr, v_addr_u8, p_data_u8, v_len_u8);
}
return com_rslt;
}
/*!
* @brief This API reads the data from
* the given register address
*
* @param v_addr_u8 : Address of the register
* @param p_data_u8 : address of the variable,
* read value will be kept
* @param v_len_u8 : Length of the data
*
*
* @return results of bus communication function
* @retval 0 -> Success
* @retval 1 -> Error
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_register(u8 v_addr_u8,
u8 *p_data_u8, u8 v_len_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_ZERO_U8X) {
return E_NULL_PTR;
} else {
/* Read the value from given register*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr, v_addr_u8, p_data_u8, v_len_u8);
}
return com_rslt;
}
/*!
* @brief This API reads chip id
* from register 0x00 it is a byte of data
*
*
* @param v_chip_id_u8 : The chip id value 0xA0
*
* @return results of bus communication function
* @retval 0 -> Success
* @retval 1 -> Error
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_chip_id(u8 *v_chip_id_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
u8 v_data_u8 = BNO055_ZERO_U8X;
s8 v_stat_s8 = ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_ZERO_U8X) {
return E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != PAGE_ZERO)
/* Write the page zero*/
v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
if ((v_stat_s8 == SUCCESS) ||
(p_bno055->page_id == PAGE_ZERO)) {
/* Read the chip id*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_CHIP_ID__REG, &v_data_u8, BNO055_ONE_U8X);
*v_chip_id_u8 = v_data_u8;
} else {
com_rslt = ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads software revision id
* from register 0x04 and 0x05 it is a two byte of data
*
* @param v_sw_id_u8 : The SW revision id
*
* @return results of bus communication function
* @retval 0 -> Success
* @retval 1 -> Error
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_sw_rev_id(u16 *v_sw_id_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
/* array having the software revision id
v_data_u8[0] - LSB
v_data_u8[1] - MSB*/
u8 v_data_u8[ARRAY_SIZE_TWO] = {BNO055_ZERO_U8X, BNO055_ZERO_U8X};
s8 v_stat_s8 = ERROR;
/* Check the struct p_bno055 is empty*/
if (p_bno055 == BNO055_ZERO_U8X) {
return E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != PAGE_ZERO)
/* Write the page zero*/
v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
if ((v_stat_s8 == SUCCESS) ||
(p_bno055->page_id == PAGE_ZERO)) {
/* Read the two byte value of software
revision id*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SW_REV_ID_LSB__REG,
v_data_u8, BNO055_TWO_U8X);
v_data_u8[INDEX_ZERO] =
BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
BNO055_SW_REV_ID_LSB);
*v_sw_id_u8 = (u16)
((((u32)((u8)v_data_u8[INDEX_ONE])) <<
BNO055_SHIFT_8_POSITION)
| (v_data_u8[INDEX_ZERO]));
} else {
com_rslt = ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads page id
* from register 0x07 it is a byte of data
*
*
* @param v_page_id_u8 : The value of page id
*
* PAGE_ZERO -> 0x00
* PAGE_ONE -> 0x01
*
* @return results of bus communication function
* @retval 0 -> Success
* @retval 1 -> Error
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_page_id(u8 *v_page_id_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
u8 v_data_u8 = BNO055_ZERO_U8X;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_ZERO_U8X) {
return E_NULL_PTR;
} else {
/* Read the page id form 0x07*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_PAGE_ID__REG, &v_data_u8, BNO055_ONE_U8X);
if (com_rslt == SUCCESS) {
v_data_u8 = BNO055_GET_BITSLICE(v_data_u8,
BNO055_PAGE_ID);
*v_page_id_u8 = v_data_u8;
p_bno055->page_id = v_data_u8;
} else {
com_rslt = ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write
* the page id register 0x07
*
* @param v_page_id_u8 : The value of page id
*
* PAGE_ZERO -> 0x00
* PAGE_ONE -> 0x01
*
* @return results of bus communication function
* @retval 0 -> Success
* @retval 1 -> Error
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_write_page_id(u8 v_page_id_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
u8 v_data_u8r = BNO055_ZERO_U8X;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_ZERO_U8X) {
return E_NULL_PTR;
} else {
/* Read the current page*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_PAGE_ID__REG, &v_data_u8r, BNO055_ONE_U8X);
/* Check condition for communication success*/
if (com_rslt == SUCCESS) {
v_data_u8r = BNO055_SET_BITSLICE(v_data_u8r,
BNO055_PAGE_ID, v_page_id_u8);
/* Write the page id*/
com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_PAGE_ID__REG,
&v_data_u8r, BNO055_ONE_U8X);
if (com_rslt == SUCCESS)
p_bno055->page_id = v_page_id_u8;
} else {
com_rslt = ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads accel revision id
* from register 0x01 it is a byte of value
*
* @param v_accel_rev_id_u8 : The accel revision id 0xFB
*
* @return results of bus communication function
* @retval 0 -> Success
* @retval 1 -> Error
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_rev_id(
u8 *v_accel_rev_id_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
u8 v_data_u8 = BNO055_ZERO_U8X;
s8 v_stat_s8 = ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_ZERO_U8X) {
return E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != PAGE_ZERO)
/* Write the page zero*/
v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
if ((v_stat_s8 == SUCCESS) ||
(p_bno055->page_id == PAGE_ZERO)) {
/* Read the accel revision id */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_REV_ID__REG,
&v_data_u8, BNO055_ONE_U8X);
*v_accel_rev_id_u8 = v_data_u8;
} else {
com_rslt = ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads mag revision id
* from register 0x02 it is a byte of value
*
* @param v_mag_rev_id_u8 : The mag revision id 0x32
*
* @return results of bus communication function
* @retval 0 -> Success
* @retval 1 -> Error
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_rev_id(
u8 *v_mag_rev_id_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
u8 v_data_u8 = BNO055_ZERO_U8X;
s8 v_stat_s8 = ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_ZERO_U8X) {
return E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != PAGE_ZERO)
/* Write the page zero*/
v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
if ((v_stat_s8 == SUCCESS) ||
(p_bno055->page_id == PAGE_ZERO)) {
/* Read the mag revision id */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_REV_ID__REG,
&v_data_u8, BNO055_ONE_U8X);
*v_mag_rev_id_u8 = v_data_u8;
} else {
com_rslt = ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads gyro revision id
* from register 0x03 it is a byte of value
*
* @param v_gyro_rev_id_u8 : The gyro revision id 0xF0
*
*
*
* @return results of bus communication function
* @retval 0 -> Success
* @retval 1 -> Error
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_rev_id(
u8 *v_gyro_rev_id_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
u8 v_data_u8 = BNO055_ZERO_U8X;
s8 v_stat_s8 = ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_ZERO_U8X) {
return E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != PAGE_ZERO)
/* Write the page zero*/
v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
if ((v_stat_s8 == SUCCESS) ||
(p_bno055->page_id == PAGE_ZERO)) {
/* Read the gyro revision id */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_REV_ID__REG,
&v_data_u8, BNO055_ONE_U8X);
*v_gyro_rev_id_u8 = v_data_u8;
} else {
com_rslt = ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read boot loader revision id
* from register 0x06 it is a byte of value
*
* @param v_bl_rev_id_u8 : The boot loader revision id
*
*
* @return results of bus communication function
* @retval 0 -> Success
* @retval 1 -> Error
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_bl_rev_id(
u8 *v_bl_rev_id_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
u8 v_data_u8 = BNO055_ZERO_U8X;
s8 v_stat_s8 = ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_ZERO_U8X) {
return E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != PAGE_ZERO)
/* Write the page zero*/
v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
if ((v_stat_s8 == SUCCESS) ||
(p_bno055->page_id == PAGE_ZERO)) {
/* Read the boot loader revision id */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_BL_REV_ID__REG,
&v_data_u8, BNO055_ONE_U8X);
*v_bl_rev_id_u8 = v_data_u8;
} else {
com_rslt = ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads acceleration data X values
* from register 0x08 and 0x09 it is a two byte data
*
*
*
*
* @param v_accel_x_s16 : The X raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> Success
* @retval 1 -> Error
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_x(s16 *v_accel_x_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
/* Array holding the accel x value
v_data_u8[INDEX_ZERO] - LSB
v_data_u8[INDEX_ONE] - MSB
*/
u8 v_data_u8[ARRAY_SIZE_TWO] = {BNO055_ZERO_U8X, BNO055_ZERO_U8X};
s8 v_stat_s8 = ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_ZERO_U8X) {
return E_NULL_PTR;
} else {
if (p_bno055->page_id != PAGE_ZERO)
/* Write the page zero*/
v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
if ((v_stat_s8 == SUCCESS) ||
(p_bno055->page_id == PAGE_ZERO)) {
/* Read the accel x axis two byte value*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_DATA_X_LSB_VALUEX__REG,
v_data_u8, BNO055_TWO_U8X);
v_data_u8[INDEX_ZERO] =
BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
BNO055_ACCEL_DATA_X_LSB_VALUEX);
v_data_u8[INDEX_ONE] =
BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
BNO055_ACCEL_DATA_X_MSB_VALUEX);
*v_accel_x_s16 = (s16)((((s32)
(s8)(v_data_u8[INDEX_ONE])) <<
(BNO055_SHIFT_8_POSITION))
| (v_data_u8[INDEX_ZERO]));
} else {
com_rslt = ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads acceleration data Y values
* from register 0x0A and 0x0B it is a two byte data
*
*
*
*
* @param v_accel_y_s16 : The Y raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> Success
* @retval 1 -> Error
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_y(s16 *v_accel_y_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
/* Array holding the accel y value
v_data_u8[INDEX_ZERO] - LSB
v_data_u8[INDEX_ONE] - MSB
*/
u8 v_data_u8[ARRAY_SIZE_TWO] = {BNO055_ZERO_U8X, BNO055_ZERO_U8X};
s8 v_stat_s8 = ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_ZERO_U8X) {
return E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != PAGE_ZERO)
/* Write the page zero*/
v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
if ((v_stat_s8 == SUCCESS) ||
(p_bno055->page_id == PAGE_ZERO)) {
/* Read the accel y axis two byte value*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_DATA_Y_LSB_VALUEY__REG,
v_data_u8, BNO055_TWO_U8X);
v_data_u8[INDEX_ZERO] =
BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
BNO055_ACCEL_DATA_Y_LSB_VALUEY);
v_data_u8[INDEX_ONE] =
BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
BNO055_ACCEL_DATA_Y_MSB_VALUEY);
*v_accel_y_s16 = (s16)((((s32)
((s8)v_data_u8[INDEX_ONE])) <<
BNO055_SHIFT_8_POSITION) |
(v_data_u8[INDEX_ZERO]));
} else {
com_rslt = ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads acceleration data z values
* from register 0x0C and 0x0D it is a two byte data
*
*
*
*
* @param v_accel_z_s16 : The z raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> Success
* @retval 1 -> Error
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_z(s16 *v_accel_z_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
/* Array holding the accel z value
v_data_u8[INDEX_ZERO] - LSB
v_data_u8[INDEX_ONE] - MSB
*/
u8 v_data_u8[ARRAY_SIZE_TWO] = {BNO055_ZERO_U8X, BNO055_ZERO_U8X};
s8 v_stat_s8 = ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_ZERO_U8X) {
return E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != PAGE_ZERO)
/* Write the page zero*/
v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
if ((v_stat_s8 == SUCCESS) ||
(p_bno055->page_id == PAGE_ZERO)) {
/* Read the accel z axis two byte value*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_DATA_Z_LSB_VALUEZ__REG,
v_data_u8, BNO055_TWO_U8X);
v_data_u8[INDEX_ZERO] =
BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
BNO055_ACCEL_DATA_Z_LSB_VALUEZ);
v_data_u8[INDEX_ONE] =
BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
BNO055_ACCEL_DATA_Z_MSB_VALUEZ);
*v_accel_z_s16 = (s16)((((s32)
((s8)v_data_u8[INDEX_ONE])) <<
BNO055_SHIFT_8_POSITION) |
(v_data_u8[INDEX_ZERO]));
} else {
com_rslt = ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads acceleration data xyz values
* from register 0x08 to 0x0D it is a six byte data
*
*
* @param accel : The value of accel xyz data
*
* Parameter | result
* --------- | -----------------
* x | The accel x data
* y | The accel y data
* z | The accel z data
*
*
*
* @return results of bus communication function
* @retval 0 -> Success
* @retval 1 -> Error
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_xyz(
struct bno055_accel_t *accel)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
/* Array holding the accel xyz value
v_data_u8[INDEX_ZERO] - x->LSB
v_data_u8[INDEX_ONE] - x->MSB
v_data_u8[2] - y->MSB
v_data_u8[3] - y->MSB
v_data_u8[4] - z->MSB
v_data_u8[5] - z->MSB
*/
u8 v_data_u8[ARRAY_SIZE_SIX] = {
BNO055_ZERO_U8X, BNO055_ZERO_U8X,
BNO055_ZERO_U8X, BNO055_ZERO_U8X,
BNO055_ZERO_U8X, BNO055_ZERO_U8X};
s8 v_stat_s8 = ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_ZERO_U8X) {
return E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != PAGE_ZERO)
/* Write the page zero*/
v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
if ((v_stat_s8 == SUCCESS) ||
(p_bno055->page_id == PAGE_ZERO)) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_DATA_X_LSB_VALUEX__REG,
v_data_u8, BNO055_SIX_U8X);
/* Data X*/
v_data_u8[INDEX_ZERO] =
BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
BNO055_ACCEL_DATA_X_LSB_VALUEX);
v_data_u8[INDEX_ONE] =
BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
BNO055_ACCEL_DATA_X_MSB_VALUEX);
accel->x = (s16)((((s32)
((s8)v_data_u8[INDEX_ONE])) <<
BNO055_SHIFT_8_POSITION)
| (v_data_u8[INDEX_ZERO]));
/* Data Y*/
v_data_u8[INDEX_TWO] =
BNO055_GET_BITSLICE(v_data_u8[INDEX_TWO],
BNO055_ACCEL_DATA_Y_LSB_VALUEY);
v_data_u8[INDEX_THREE] =
BNO055_GET_BITSLICE(v_data_u8[INDEX_THREE],
BNO055_ACCEL_DATA_Y_MSB_VALUEY);
accel->y = (s16)((((s32)
((s8)v_data_u8[INDEX_THREE])) <<
BNO055_SHIFT_8_POSITION)
| (v_data_u8[INDEX_TWO]));
/* Data Z*/
v_data_u8[INDEX_FOUR] =
BNO055_GET_BITSLICE(v_data_u8[INDEX_FOUR],
BNO055_ACCEL_DATA_Z_LSB_VALUEZ);
v_data_u8[INDEX_FIVE] =
BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVE],
BNO055_ACCEL_DATA_Z_MSB_VALUEZ);
accel->z = (s16)((((s32)
((s8)v_data_u8[INDEX_FIVE])) <<
BNO055_SHIFT_8_POSITION)
| (v_data_u8[INDEX_FOUR]));
} else {
com_rslt = ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads mag data x values
* from register 0x0E and 0x0F it is a two byte data
*
*
*
*
* @param v_mag_x_s16 : The x raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> Success
* @retval 1 -> Error
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_x(s16 *v_mag_x_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
/* Array holding the mag x value
v_data_u8[INDEX_ZERO] - x->LSB
v_data_u8[INDEX_ONE] - x->MSB
*/
u8 v_data_u8[ARRAY_SIZE_TWO] = {BNO055_ZERO_U8X, BNO055_ZERO_U8X};
s8 v_stat_s8 = ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_ZERO_U8X) {
return E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != PAGE_ZERO)
/* Write the page zero*/
v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
if ((v_stat_s8 == SUCCESS) ||
(p_bno055->page_id == PAGE_ZERO)) {
/*Read the mag x two bytes of data */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_DATA_X_LSB_VALUEX__REG,
v_data_u8, BNO055_TWO_U8X);
v_data_u8[INDEX_ZERO] =
BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
BNO055_MAG_DATA_X_LSB_VALUEX);
v_data_u8[INDEX_ONE] =
BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
BNO055_MAG_DATA_X_MSB_VALUEX);
*v_mag_x_s16 = (s16)((((s32)
((s8)v_data_u8[INDEX_ONE])) <<
BNO055_SHIFT_8_POSITION) | (v_data_u8[INDEX_ZERO]));
} else {
com_rslt = ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads mag data y values
* from register 0x10 and 0x11 it is a two byte data
*
*
*
*
* @param v_mag_y_s16 : The y raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> Success
* @retval 1 -> Error
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_y(s16 *v_mag_y_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
/* Array holding the mag x value
v_data_u8[INDEX_ZERO] - y->LSB
v_data_u8[INDEX_ONE] - y->MSB
*/
u8 v_data_u8[ARRAY_SIZE_TWO] = {
BNO055_ZERO_U8X, BNO055_ZERO_U8X};
s8 v_stat_s8 = ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_ZERO_U8X) {
return E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != PAGE_ZERO)
/* Write the page zero*/
v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
if ((v_stat_s8 == SUCCESS) ||
(p_bno055->page_id == PAGE_ZERO)) {
/*Read the mag y two bytes of data */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_DATA_Y_LSB_VALUEY__REG,
v_data_u8, BNO055_TWO_U8X);
v_data_u8[INDEX_ZERO] =
BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
BNO055_MAG_DATA_Y_LSB_VALUEY);
v_data_u8[INDEX_ONE] =
BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
BNO055_MAG_DATA_Y_MSB_VALUEY);
*v_mag_y_s16 = (s16)((((s32)
((s8)v_data_u8[INDEX_ONE])) <<
BNO055_SHIFT_8_POSITION) |
(v_data_u8[INDEX_ZERO]));
} else {
com_rslt = ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads mag data z values
* from register 0x12 and 0x13 it is a two byte data
*
*
*
*
* @param v_mag_z_s16 : The z raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> Success
* @retval 1 -> Error
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_z(s16 *v_mag_z_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
/* Array holding the mag x value
v_data_u8[INDEX_ZERO] - z->LSB
v_data_u8[INDEX_ONE] - z->MSB
*/
u8 v_data_u8[ARRAY_SIZE_TWO] = {
BNO055_ZERO_U8X, BNO055_ZERO_U8X};
s8 v_stat_s8 = ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_ZERO_U8X) {
return E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != PAGE_ZERO)
/* Write the page zero*/
v_stat_s8 = bno055_write_page_id(PAGE_ZERO);