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bno055.c
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bno055.c
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/**
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. 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.
*
* 3. Neither the name of the copyright holder nor the names of its
* 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 THE
* 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.
*
* @file bno055.c
* @date 10/01/2020
* @version 2.0.6
*
*/
/*********************************************************/
/* INCLUDES */
/*******************************************************/
#include "bno055.h"
#ifdef __KERNEL__
#include <linux/types.h>
#include <linux/kernel.h>
#else
#include <stdint.h>
#include <stddef.h>
#endif
#ifndef NULL
#ifdef __cplusplus
#define NULL 0
#else
#define NULL ((void *) 0)
#endif
#endif
/*! file <BNO055 >
* brief <Sensor driver for BNO055> */
/* STRUCTURE DEFINITIONS */
static struct bno055_t *p_bno055;
/* LOCAL FUNCTIONS */
/*!
* @brief
* 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
*
* @param bno055 - structure pointer
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 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)
*/
BNO055_RETURN_FUNCTION_TYPE bno055_init(struct bno055_t *bno055)
{
/* Variable used to return value of
* communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8 = BNO055_INIT_VALUE;
u8 bno055_page_zero_u8 = BNO055_PAGE_ZERO;
/* Array holding the Software revision id
*/
u8 a_SW_ID_u8[BNO055_REV_ID_SIZE] = { BNO055_INIT_VALUE, BNO055_INIT_VALUE };
/* 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,
&bno055_page_zero_u8,
BNO055_GEN_READ_WRITE_LENGTH);
/* 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,
&data_u8,
BNO055_GEN_READ_WRITE_LENGTH);
p_bno055->chip_id = 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,
&data_u8,
BNO055_GEN_READ_WRITE_LENGTH);
p_bno055->accel_rev_id = 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,
&data_u8,
BNO055_GEN_READ_WRITE_LENGTH);
p_bno055->mag_rev_id = 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,
&data_u8,
BNO055_GEN_READ_WRITE_LENGTH);
p_bno055->gyro_rev_id = 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,
&data_u8,
BNO055_GEN_READ_WRITE_LENGTH);
p_bno055->bl_rev_id = 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_LSB_MSB_READ_LENGTH);
a_SW_ID_u8[BNO055_SW_ID_LSB] = BNO055_GET_BITSLICE(a_SW_ID_u8[BNO055_SW_ID_LSB], BNO055_SW_REV_ID_LSB);
p_bno055->sw_rev_id =
(u16)((((u32)((u8)a_SW_ID_u8[BNO055_SW_ID_MSB])) << BNO055_SHIFT_EIGHT_BITS) | (a_SW_ID_u8[BNO055_SW_ID_LSB]));
/* Read the page id from the register 0x07*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC(p_bno055->dev_addr,
BNO055_PAGE_ID_REG,
&data_u8,
BNO055_GEN_READ_WRITE_LENGTH);
p_bno055->page_id = 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 addr_u8 : Address of the register
* @param data_u8 : Data to be written to the register
* @param len_u8 : Length of the Data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_write_register(u8 addr_u8, u8 *data_u8, u8 len_u8)
{
/* Variable used to return value of
* communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == NULL)
{
return BNO055_E_NULL_PTR;
}
else
{
/* Write the values of respective given register */
com_rslt = p_bno055->BNO055_BUS_WRITE_FUNC(p_bno055->dev_addr, addr_u8, data_u8, len_u8);
}
return com_rslt;
}
/*!
* @brief This API reads the data from
* the given register address
*
* @param addr_u8 : Address of the register
* @param data_u8 : address of the variable,
* read value will be kept
* @param len_u8 : Length of the data
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_register(u8 addr_u8, u8 *data_u8, u8 len_u8)
{
/* Variable used to return value of
* communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == NULL)
{
return BNO055_E_NULL_PTR;
}
else
{
/* Read the value from given register*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC(p_bno055->dev_addr, addr_u8, data_u8, len_u8);
}
return com_rslt;
}
/*!
* @brief This API reads chip id
* from register 0x00 it is a byte of data
*
*
* @param chip_id_u8 : The chip id value 0xA0
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_chip_id(u8 *chip_id_u8)
{
/* Variable used to return value of
* communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8 = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == NULL)
{
return BNO055_E_NULL_PTR;
}
else
{
/*condition check for page, chip id is
* available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
{
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
}
if ((stat_s8 == BNO055_SUCCESS) || (p_bno055->page_id == BNO055_PAGE_ZERO))
{
/* Read the chip id*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC(p_bno055->dev_addr,
BNO055_CHIP_ID_REG,
&data_u8,
BNO055_GEN_READ_WRITE_LENGTH);
*chip_id_u8 = data_u8;
}
else
{
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads software revision id
* from register 0x04 and 0x05 it is a two byte of data
*
* @param sw_id_u8 : The SW revision id
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_sw_rev_id(u16 *sw_id_u8)
{
/* Variable used to return value of
* communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* array having the software revision id
* data_u8[0] - LSB
* data_u8[1] - MSB*/
u8 data_u8[BNO055_REV_ID_SIZE] = { BNO055_INIT_VALUE, BNO055_INIT_VALUE };
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty*/
if (p_bno055 == NULL)
{
return BNO055_E_NULL_PTR;
}
else
{
/*condition check for page, chip id is
* available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
{
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
}
if ((stat_s8 == BNO055_SUCCESS) || (p_bno055->page_id == BNO055_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,
data_u8,
BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SW_ID_LSB] = BNO055_GET_BITSLICE(data_u8[BNO055_SW_ID_LSB], BNO055_SW_REV_ID_LSB);
*sw_id_u8 =
(u16)((((u32)((u8)data_u8[BNO055_SW_ID_MSB])) << BNO055_SHIFT_EIGHT_BITS) |
(data_u8[BNO055_SW_ID_LSB]));
}
else
{
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads page id
* from register 0x07 it is a byte of data
*
*
* @param page_id_u8 : The value of page id
*
* BNO055_PAGE_ZERO -> 0x00
* BNO055_PAGE_ONE -> 0x01
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_page_id(u8 *page_id_u8)
{
/* Variable used to return value of
* communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8 = BNO055_INIT_VALUE;
/* Check the struct p_bno055 is empty */
if (p_bno055 == NULL)
{
return BNO055_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,
&data_u8,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS)
{
data_u8 = BNO055_GET_BITSLICE(data_u8, BNO055_PAGE_ID);
*page_id_u8 = data_u8;
p_bno055->page_id = data_u8;
}
else
{
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write
* the page id register 0x07
*
* @param page_id_u8 : The value of page id
*
* BNO055_PAGE_ZERO -> 0x00
* BNO055_PAGE_ONE -> 0x01
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_write_page_id(u8 page_id_u8)
{
/* Variable used to return value of
* communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
/* Check the struct p_bno055 is empty */
if (p_bno055 == NULL)
{
return BNO055_E_NULL_PTR;
}
else
{
/* Read the current page*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC(p_bno055->dev_addr,
BNO055_PAGE_ID_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
/* Check condition for communication BNO055_SUCCESS*/
if (com_rslt == BNO055_SUCCESS)
{
data_u8r = BNO055_SET_BITSLICE(data_u8r, BNO055_PAGE_ID, page_id_u8);
/* Write the page id*/
com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC(p_bno055->dev_addr,
BNO055_PAGE_ID_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS)
{
p_bno055->page_id = page_id_u8;
}
}
else
{
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads accel revision id
* from register 0x01 it is a byte of value
*
* @param accel_rev_id_u8 : The accel revision id 0xFB
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_rev_id(u8 *accel_rev_id_u8)
{
/* Variable used to return value of
* communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8 = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == NULL)
{
return BNO055_E_NULL_PTR;
}
else
{
/*condition check for page, chip id is
* available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
{
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
}
if ((stat_s8 == BNO055_SUCCESS) || (p_bno055->page_id == BNO055_PAGE_ZERO))
{
/* Read the accel revision id */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC(p_bno055->dev_addr,
BNO055_ACCEL_REV_ID_REG,
&data_u8,
BNO055_GEN_READ_WRITE_LENGTH);
*accel_rev_id_u8 = data_u8;
}
else
{
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads mag revision id
* from register 0x02 it is a byte of value
*
* @param mag_rev_id_u8 : The mag revision id 0x32
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_rev_id(u8 *mag_rev_id_u8)
{
/* Variable used to return value of
* communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8 = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == NULL)
{
return BNO055_E_NULL_PTR;
}
else
{
/*condition check for page, chip id is
* available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
{
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
}
if ((stat_s8 == BNO055_SUCCESS) || (p_bno055->page_id == BNO055_PAGE_ZERO))
{
/* Read the mag revision id */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC(p_bno055->dev_addr,
BNO055_MAG_REV_ID_REG,
&data_u8,
BNO055_GEN_READ_WRITE_LENGTH);
*mag_rev_id_u8 = data_u8;
}
else
{
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads gyro revision id
* from register 0x03 it is a byte of value
*
* @param gyro_rev_id_u8 : The gyro revision id 0xF0
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_rev_id(u8 *gyro_rev_id_u8)
{
/* Variable used to return value of
* communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8 = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == NULL)
{
return BNO055_E_NULL_PTR;
}
else
{
/*condition check for page, chip id is
* available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
{
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
}
if ((stat_s8 == BNO055_SUCCESS) || (p_bno055->page_id == BNO055_PAGE_ZERO))
{
/* Read the gyro revision id */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC(p_bno055->dev_addr,
BNO055_GYRO_REV_ID_REG,
&data_u8,
BNO055_GEN_READ_WRITE_LENGTH);
*gyro_rev_id_u8 = data_u8;
}
else
{
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read boot loader revision id
* from register 0x06 it is a byte of value
*
* @param bl_rev_id_u8 : The boot loader revision id
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_bl_rev_id(u8 *bl_rev_id_u8)
{
/* Variable used to return value of
* communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8 = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == NULL)
{
return BNO055_E_NULL_PTR;
}
else
{
/*condition check for page, chip id is
* available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
{
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
}
if ((stat_s8 == BNO055_SUCCESS) || (p_bno055->page_id == BNO055_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,
&data_u8,
BNO055_GEN_READ_WRITE_LENGTH);
*bl_rev_id_u8 = data_u8;
}
else
{
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads acceleration data X values
* from register 0x08 and 0x09 it is a two byte data
*
*
*
*
* @param accel_x_s16 : The X raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_x(s16 *accel_x_s16)
{
/* Variable used to return value of
* communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the accel x value
* data_u8[BNO055_SENSOR_DATA_LSB] - x-LSB
* data_u8[BNO055_SENSOR_DATA_MSB] - x-MSB
*/
u8 data_u8[BNO055_ACCEL_DATA_SIZE] = { BNO055_INIT_VALUE, BNO055_INIT_VALUE };
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == NULL)
{
return BNO055_E_NULL_PTR;
}
else
{
if (p_bno055->page_id != BNO055_PAGE_ZERO)
{
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
}
if ((stat_s8 == BNO055_SUCCESS) || (p_bno055->page_id == BNO055_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,
data_u8,
BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_LSB] = BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_ACCEL_DATA_X_LSB_VALUEX);
data_u8[BNO055_SENSOR_DATA_MSB] = BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_ACCEL_DATA_X_MSB_VALUEX);
*accel_x_s16 =
(s16)((((s32)(s8)(data_u8[BNO055_SENSOR_DATA_MSB])) << (BNO055_SHIFT_EIGHT_BITS)) |
(data_u8[BNO055_SENSOR_DATA_LSB]));
}
else
{
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads acceleration data Y values
* from register 0x0A and 0x0B it is a two byte data
*
*
*
*
* @param accel_y_s16 : The Y raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_y(s16 *accel_y_s16)
{
/* Variable used to return value of
* communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the accel y value
* data_u8[BNO055_SENSOR_DATA_LSB] - y-LSB
* data_u8[BNO055_SENSOR_DATA_MSB] - y-MSB
*/
u8 data_u8[BNO055_ACCEL_DATA_SIZE] = { BNO055_INIT_VALUE, BNO055_INIT_VALUE };
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == NULL)
{
return BNO055_E_NULL_PTR;
}
else
{
/*condition check for page, chip id is
* available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
{
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
}
if ((stat_s8 == BNO055_SUCCESS) || (p_bno055->page_id == BNO055_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,
data_u8,
BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_LSB] = BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_ACCEL_DATA_Y_LSB_VALUEY);
data_u8[BNO055_SENSOR_DATA_MSB] = BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_ACCEL_DATA_Y_MSB_VALUEY);
*accel_y_s16 =
(s16)((((s32)((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << BNO055_SHIFT_EIGHT_BITS) |
(data_u8[BNO055_SENSOR_DATA_LSB]));
}
else
{
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads acceleration data z values
* from register 0x0C and 0x0D it is a two byte data
*
*
*
*
* @param accel_z_s16 : The z raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_z(s16 *accel_z_s16)
{
/* Variable used to return value of
* communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the accel z value
* data_u8[BNO055_SENSOR_DATA_LSB] - z-LSB
* data_u8[BNO055_SENSOR_DATA_MSB] - z-MSB
*/
u8 data_u8[BNO055_ACCEL_DATA_SIZE] = { BNO055_INIT_VALUE, BNO055_INIT_VALUE };
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == NULL)
{
return BNO055_E_NULL_PTR;
}
else
{
/*condition check for page, chip id is
* available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
{
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
}
if ((stat_s8 == BNO055_SUCCESS) || (p_bno055->page_id == BNO055_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,
data_u8,
BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_LSB] = BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_ACCEL_DATA_Z_LSB_VALUEZ);
data_u8[BNO055_SENSOR_DATA_MSB] = BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_ACCEL_DATA_Z_MSB_VALUEZ);
*accel_z_s16 =
(s16)((((s32)((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << BNO055_SHIFT_EIGHT_BITS) |
(data_u8[BNO055_SENSOR_DATA_LSB]));
}
else
{
com_rslt = BNO055_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 -> BNO055_SUCCESS
* @retval 1 -> BNO055_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 = BNO055_ERROR;
/* Array holding the accel xyz value
* data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB
* data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB
* data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB
* data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB
* data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB
* data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB
*/
u8 data_u8[BNO055_ACCEL_XYZ_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE
};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == NULL)
{
return BNO055_E_NULL_PTR;
}
else
{
/*condition check for page, chip id is
* available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
{
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
}
if ((stat_s8 == BNO055_SUCCESS) || (p_bno055->page_id == BNO055_PAGE_ZERO))
{
com_rslt = p_bno055->BNO055_BUS_READ_FUNC(p_bno055->dev_addr,
BNO055_ACCEL_DATA_X_LSB_VALUEX_REG,
data_u8,
BNO055_ACCEL_XYZ_DATA_SIZE);
/* Data X*/
data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] = BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB],
BNO055_ACCEL_DATA_X_LSB_VALUEX);
data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] = BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB],
BNO055_ACCEL_DATA_X_MSB_VALUEX);
accel->x =
(s16)((((s32)((s8)data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB])) << BNO055_SHIFT_EIGHT_BITS) |
(data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB]));
/* Data Y*/
data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] = BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB],
BNO055_ACCEL_DATA_Y_LSB_VALUEY);
data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] = BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB],
BNO055_ACCEL_DATA_Y_MSB_VALUEY);
accel->y =
(s16)((((s32)((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB])) << BNO055_SHIFT_EIGHT_BITS) |
(data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB]));
/* Data Z*/
data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] = BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB],
BNO055_ACCEL_DATA_Z_LSB_VALUEZ);
data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] = BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB],
BNO055_ACCEL_DATA_Z_MSB_VALUEZ);
accel->z =
(s16)((((s32)((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB])) << BNO055_SHIFT_EIGHT_BITS) |
(data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB]));
}
else
{
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads mag data x values
* from register 0x0E and 0x0F it is a two byte data
*
*
*
*
* @param mag_x_s16 : The x raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_x(s16 *mag_x_s16)
{
/* Variable used to return value of
* communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the mag x value
* data_u8[BNO055_SENSOR_DATA_LSB] - x->LSB
* data_u8[BNO055_SENSOR_DATA_MSB] - x->MSB
*/
u8 data_u8[BNO055_MAG_DATA_SIZE] = { BNO055_INIT_VALUE, BNO055_INIT_VALUE };
s8 stat_s8 = BNO055_ERROR;