bno055.h

/** \mainpage
*
****************************************************************************
* Copyright (C) 2015 - 2016 Bosch Sensortec GmbH
*
* File : bno055.h
*
* Date : 2016/03/14
*
* Revision : 2.0.3 $
*
* 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.
**************************************************************************/
/*! \file bno055.h
    \brief BNO055 Sensor Driver Support Header File */

#ifndef __BNO055_H__
#define __BNO055_H__
/****************************************************************/
/**\name	DATA TYPES INCLUDES		*/
/************************************************************/
/*!
* @brief The following definition uses for define the data types
*
* @note While porting the API please consider the following
* @note Please check the version of C standard
* @note Are you using Linux platform
*/

/*!
* @brief For the Linux platform support
* Please use the types.h for your data types definitions
*/
#ifdef	__KERNEL__

#include <linux/types.h>
/* singed integer type*/
typedef	int8_t s8;/**< used for signed 8bit */
typedef	int16_t s16;/**< used for signed 16bit */
typedef	int32_t s32;/**< used for signed 32bit */
typedef	int64_t s64;/**< used for signed 64bit */

typedef	u_int8_t u8;/**< used for unsigned 8bit */
typedef	u_int16_t u16;/**< used for unsigned 16bit */
typedef	u_int32_t u32;/**< used for unsigned 32bit */
typedef	u_int64_t u64;/**< used for unsigned 64bit */



#else /* ! __KERNEL__ */
/**********************************************************
* These definition uses for define the C
* standard version data types
***********************************************************/
# if !defined(__STDC_VERSION__)

/************************************************
 * compiler is C11 C standard
************************************************/
#if (__STDC_VERSION__ == 201112L)

/************************************************/
#include <stdint.h>
/************************************************/

/*unsigned integer types*/
typedef	uint8_t u8;/**< used for unsigned 8bit */
typedef	uint16_t u16;/**< used for unsigned 16bit */
typedef	uint32_t u32;/**< used for unsigned 32bit */
typedef	uint64_t u64;/**< used for unsigned 64bit */

/*signed integer types*/
typedef	int8_t s8;/**< used for signed 8bit */
typedef	int16_t s16;/**< used for signed 16bit */
typedef	int32_t s32;/**< used for signed 32bit */
typedef	int64_t s64;/**< used for signed 64bit */
/************************************************
 * compiler is C99 C standard
************************************************/

#elif (__STDC_VERSION__ == 199901L)

/* stdint.h is a C99 supported c library.
which is used to fixed the integer size*/
/************************************************/
#include <stdint.h>
/************************************************/

/*unsigned integer types*/
typedef	uint8_t u8;/**< used for unsigned 8bit */
typedef	uint16_t u16;/**< used for unsigned 16bit */
typedef	uint32_t u32;/**< used for unsigned 32bit */
typedef	uint64_t u64;/**< used for unsigned 64bit */

/*signed integer types*/
typedef int8_t s8;/**< used for signed 8bit */
typedef	int16_t s16;/**< used for signed 16bit */
typedef	int32_t s32;/**< used for signed 32bit */
typedef	int64_t s64;/**< used for signed 64bit */
/************************************************
 * compiler is C89 or other C standard
************************************************/

#else /*  !defined(__STDC_VERSION__) */
/*!
* @brief By default it is defined as 32 bit machine configuration
*	define your data types based on your
*	machine/compiler/controller configuration
*/
#define  MACHINE_32_BIT

/*! @brief
 *	If your machine support 16 bit
 *	define the MACHINE_16_BIT
 */
#ifdef MACHINE_16_BIT
#include <limits.h>
/*signed integer types*/
typedef	signed char  s8;/**< used for signed 8bit */
typedef	signed short int s16;/**< used for signed 16bit */
typedef	signed long int s32;/**< used for signed 32bit */

#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL
typedef long int s64;/**< used for signed 64bit */
typedef unsigned long int u64;/**< used for unsigned 64bit */
#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)
typedef long long int s64;/**< used for signed 64bit */
typedef unsigned long long int u64;/**< used for unsigned 64bit */
#else
#warning Either the correct data type for signed 64 bit integer \
could not be found, or 64 bit integers are not supported in your environment.
#warning If 64 bit integers are supported on your platform, \
please set s64 manually.
#endif

/*unsigned integer types*/
typedef	unsigned char u8;/**< used for unsigned 8bit */
typedef	unsigned short int u16;/**< used for unsigned 16bit */
typedef	unsigned long int u32;/**< used for unsigned 32bit */

/* If your machine support 32 bit
define the MACHINE_32_BIT*/
#elif defined MACHINE_32_BIT
/*signed integer types*/
typedef	signed char  s8;/**< used for signed 8bit */
typedef	signed short int s16;/**< used for signed 16bit */
typedef	signed int s32;/**< used for signed 32bit */
typedef	signed long long int s64;/**< used for signed 64bit */

/*unsigned integer types*/
typedef	unsigned char u8;/**< used for unsigned 8bit */
typedef	unsigned short int u16;/**< used for unsigned 16bit */
typedef	unsigned int u32;/**< used for unsigned 32bit */
typedef	unsigned long long int u64;/**< used for unsigned 64bit */

/* If your machine support 64 bit
define the MACHINE_64_BIT*/
#elif defined MACHINE_64_BIT
/*signed integer types*/
typedef	signed char  s8;/**< used for signed 8bit */
typedef	signed short int s16;/**< used for signed 16bit */
typedef	signed int s32;/**< used for signed 32bit */
typedef	signed long int s64;/**< used for signed 64bit */

/*unsigned integer types*/
typedef	unsigned char u8;/**< used for unsigned 8bit */
typedef	unsigned short int u16;/**< used for unsigned 16bit */
typedef	unsigned int u32;/**< used for unsigned 32bit */
typedef	unsigned long int u64;/**< used for unsigned 64bit */

#else
#warning The data types defined above which not supported \
define the data types manually
#endif
#endif

/*** This else will execute for the compilers
 *	which are not supported the C standards
 *	Like C89/C99/C11***/
#else
/*!
* @brief By default it is defined as 32 bit machine configuration
*	define your data types based on your
*	machine/compiler/controller configuration
*/
#define  MACHINE_32_BIT

/* If your machine support 16 bit
define the MACHINE_16_BIT*/
#ifdef MACHINE_16_BIT
#include <limits.h>
/*signed integer types*/
typedef	signed char  s8;/**< used for signed 8bit */
typedef	signed short int s16;/**< used for signed 16bit */
typedef	signed long int s32;/**< used for signed 32bit */

#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL
typedef long int s64;/**< used for signed 64bit */
typedef unsigned long int u64;/**< used for unsigned 64bit */
#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)
typedef long long int s64;/**< used for signed 64bit */
typedef unsigned long long int u64;/**< used for unsigned 64bit */
#else
#warning Either the correct data type for signed 64 bit integer \
could not be found, or 64 bit integers are not supported in your environment.
#warning If 64 bit integers are supported on your platform, \
please set s64 manually.
#endif

/*unsigned integer types*/
typedef	unsigned char u8;/**< used for unsigned 8bit */
typedef	unsigned short int u16;/**< used for unsigned 16bit */
typedef	unsigned long int u32;/**< used for unsigned 32bit */

/*! @brief If your machine support 32 bit
define the MACHINE_32_BIT*/
#elif defined MACHINE_32_BIT
/*signed integer types*/
typedef	signed char  s8;/**< used for signed 8bit */
typedef	signed short int s16;/**< used for signed 16bit */
typedef	signed int s32;/**< used for signed 32bit */
typedef	signed long long int s64;/**< used for signed 64bit */

/*unsigned integer types*/
typedef	unsigned char u8;/**< used for unsigned 8bit */
typedef	unsigned short int u16;/**< used for unsigned 16bit */
typedef	unsigned int u32;/**< used for unsigned 32bit */
typedef	unsigned long long int u64;/**< used for unsigned 64bit */

/* If your machine support 64 bit
define the MACHINE_64_BIT*/
#elif defined MACHINE_64_BIT
/*signed integer types*/
typedef	signed char  s8;/**< used for signed 8bit */
typedef	signed short int s16;/**< used for signed 16bit */
typedef	signed int s32;/**< used for signed 32bit */
typedef	signed long int s64;/**< used for signed 64bit */

/*unsigned integer types*/
typedef	unsigned char u8;/**< used for unsigned 8bit */
typedef	unsigned short int u16;/**< used for unsigned 16bit */
typedef	unsigned int u32;/**< used for unsigned 32bit */
typedef	unsigned long int u64;/**< used for unsigned 64bit */

#else
#warning The data types defined above which not supported \
define the data types manually
#endif
#endif
#endif
/***************************************************************/
/**\name	BUS READ AND WRITE FUNCTIONS           */
/***************************************************************/
#define BNO055_WR_FUNC_PTR s8 (*bus_write)\
(u8, u8, u8 *, u8)

#define BNO055_BUS_WRITE_FUNC(dev_addr, reg_addr, reg_data, wr_len)\
	bus_write(dev_addr, reg_addr, reg_data, wr_len)

#define BNO055_RD_FUNC_PTR s8 \
(*bus_read)(u8, u8, u8 *, u8)

#define BNO055_BUS_READ_FUNC(dev_addr, reg_addr, reg_data, r_len)\
bus_read(dev_addr, reg_addr, reg_data, r_len)

#define BNO055_DELAY_RETURN_TYPE void

#define BNO055_DELAY_PARAM_TYPES u32

#define BNO055_DELAY_FUNC(delay_in_msec)\
	delay_func(delay_in_msec)

/********************************************************/
/**\name	I2C ADDRESS DEFINITION FOR BNO055           */
/********************************************************/
/* bno055 I2C Address */
#define BNO055_I2C_ADDR1                (0x28)
#define BNO055_I2C_ADDR2                (0x29)

/***************************************************/
/**\name	REGISTER ADDRESS DEFINITION  */
/***************************************************/
/* Page id register definition*/
#define BNO055_PAGE_ID_ADDR				    (0X07)

/* PAGE0 REGISTER DEFINITION START*/
#define BNO055_CHIP_ID_ADDR                 (0x00)
#define BNO055_ACCEL_REV_ID_ADDR			(0x01)
#define BNO055_MAG_REV_ID_ADDR              (0x02)
#define BNO055_GYRO_REV_ID_ADDR             (0x03)
#define BNO055_SW_REV_ID_LSB_ADDR			(0x04)
#define BNO055_SW_REV_ID_MSB_ADDR			(0x05)
#define BNO055_BL_REV_ID_ADDR				(0X06)

/* Accel data register*/
#define BNO055_ACCEL_DATA_X_LSB_ADDR			(0X08)
#define BNO055_ACCEL_DATA_X_MSB_ADDR			(0X09)
#define BNO055_ACCEL_DATA_Y_LSB_ADDR			(0X0A)
#define BNO055_ACCEL_DATA_Y_MSB_ADDR			(0X0B)
#define BNO055_ACCEL_DATA_Z_LSB_ADDR			(0X0C)
#define BNO055_ACCEL_DATA_Z_MSB_ADDR			(0X0D)

/*Mag data register*/
#define BNO055_MAG_DATA_X_LSB_ADDR			(0X0E)
#define BNO055_MAG_DATA_X_MSB_ADDR			(0X0F)
#define BNO055_MAG_DATA_Y_LSB_ADDR			(0X10)
#define BNO055_MAG_DATA_Y_MSB_ADDR			(0X11)
#define BNO055_MAG_DATA_Z_LSB_ADDR			(0X12)
#define BNO055_MAG_DATA_Z_MSB_ADDR			(0X13)

/*Gyro data registers*/
#define BNO055_GYRO_DATA_X_LSB_ADDR			(0X14)
#define BNO055_GYRO_DATA_X_MSB_ADDR			(0X15)
#define BNO055_GYRO_DATA_Y_LSB_ADDR			(0X16)
#define BNO055_GYRO_DATA_Y_MSB_ADDR			(0X17)
#define BNO055_GYRO_DATA_Z_LSB_ADDR			(0X18)
#define BNO055_GYRO_DATA_Z_MSB_ADDR			(0X19)

/*Euler data registers*/
#define BNO055_EULER_H_LSB_ADDR			(0X1A)
#define BNO055_EULER_H_MSB_ADDR			(0X1B)

#define BNO055_EULER_R_LSB_ADDR			(0X1C)
#define BNO055_EULER_R_MSB_ADDR			(0X1D)

#define BNO055_EULER_P_LSB_ADDR			(0X1E)
#define BNO055_EULER_P_MSB_ADDR			(0X1F)

/*Quaternion data registers*/
#define BNO055_QUATERNION_DATA_W_LSB_ADDR	(0X20)
#define BNO055_QUATERNION_DATA_W_MSB_ADDR	(0X21)
#define BNO055_QUATERNION_DATA_X_LSB_ADDR	(0X22)
#define BNO055_QUATERNION_DATA_X_MSB_ADDR	(0X23)
#define BNO055_QUATERNION_DATA_Y_LSB_ADDR	(0X24)
#define BNO055_QUATERNION_DATA_Y_MSB_ADDR	(0X25)
#define BNO055_QUATERNION_DATA_Z_LSB_ADDR	(0X26)
#define BNO055_QUATERNION_DATA_Z_MSB_ADDR	(0X27)

/* Linear acceleration data registers*/
#define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR			(0X28)
#define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR			(0X29)
#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR			(0X2A)
#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR			(0X2B)
#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR			(0X2C)
#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR			(0X2D)

/*Gravity data registers*/
#define BNO055_GRAVITY_DATA_X_LSB_ADDR			(0X2E)
#define BNO055_GRAVITY_DATA_X_MSB_ADDR			(0X2F)
#define BNO055_GRAVITY_DATA_Y_LSB_ADDR			(0X30)
#define BNO055_GRAVITY_DATA_Y_MSB_ADDR			(0X31)
#define BNO055_GRAVITY_DATA_Z_LSB_ADDR			(0X32)
#define BNO055_GRAVITY_DATA_Z_MSB_ADDR			(0X33)

/* Temperature data register*/
#define BNO055_TEMP_ADDR					(0X34)

/* Status registers*/
#define BNO055_CALIB_STAT_ADDR				(0X35)
#define BNO055_SELFTEST_RESULT_ADDR			(0X36)
#define BNO055_INTR_STAT_ADDR				(0X37)
#define BNO055_SYS_CLK_STAT_ADDR			(0X38)
#define BNO055_SYS_STAT_ADDR				(0X39)
#define BNO055_SYS_ERR_ADDR					(0X3A)

/* Unit selection register*/
#define BNO055_UNIT_SEL_ADDR				(0X3B)
#define BNO055_DATA_SELECT_ADDR				(0X3C)

/* Mode registers*/
#define BNO055_OPR_MODE_ADDR				(0X3D)
#define BNO055_PWR_MODE_ADDR				(0X3E)

#define BNO055_SYS_TRIGGER_ADDR				(0X3F)
#define BNO055_TEMP_SOURCE_ADDR				(0X40)
/* Axis remap registers*/
#define BNO055_AXIS_MAP_CONFIG_ADDR			(0X41)
#define BNO055_AXIS_MAP_SIGN_ADDR			(0X42)

/* SIC registers*/
#define BNO055_SIC_MATRIX_0_LSB_ADDR		(0X43)
#define BNO055_SIC_MATRIX_0_MSB_ADDR		(0X44)
#define BNO055_SIC_MATRIX_1_LSB_ADDR		(0X45)
#define BNO055_SIC_MATRIX_1_MSB_ADDR		(0X46)
#define BNO055_SIC_MATRIX_2_LSB_ADDR		(0X47)
#define BNO055_SIC_MATRIX_2_MSB_ADDR		(0X48)
#define BNO055_SIC_MATRIX_3_LSB_ADDR		(0X49)
#define BNO055_SIC_MATRIX_3_MSB_ADDR		(0X4A)
#define BNO055_SIC_MATRIX_4_LSB_ADDR		(0X4B)
#define BNO055_SIC_MATRIX_4_MSB_ADDR		(0X4C)
#define BNO055_SIC_MATRIX_5_LSB_ADDR		(0X4D)
#define BNO055_SIC_MATRIX_5_MSB_ADDR		(0X4E)
#define BNO055_SIC_MATRIX_6_LSB_ADDR		(0X4F)
#define BNO055_SIC_MATRIX_6_MSB_ADDR		(0X50)
#define BNO055_SIC_MATRIX_7_LSB_ADDR		(0X51)
#define BNO055_SIC_MATRIX_7_MSB_ADDR		(0X52)
#define BNO055_SIC_MATRIX_8_LSB_ADDR		(0X53)
#define BNO055_SIC_MATRIX_8_MSB_ADDR		(0X54)

/* Accelerometer Offset registers*/
#define BNO055_ACCEL_OFFSET_X_LSB_ADDR				(0X55)
#define BNO055_ACCEL_OFFSET_X_MSB_ADDR				(0X56)
#define BNO055_ACCEL_OFFSET_Y_LSB_ADDR				(0X57)
#define BNO055_ACCEL_OFFSET_Y_MSB_ADDR				(0X58)
#define BNO055_ACCEL_OFFSET_Z_LSB_ADDR				(0X59)
#define BNO055_ACCEL_OFFSET_Z_MSB_ADDR				(0X5A)

/* Magnetometer Offset registers*/
#define BNO055_MAG_OFFSET_X_LSB_ADDR				(0X5B)
#define BNO055_MAG_OFFSET_X_MSB_ADDR				(0X5C)
#define BNO055_MAG_OFFSET_Y_LSB_ADDR				(0X5D)
#define BNO055_MAG_OFFSET_Y_MSB_ADDR				(0X5E)
#define BNO055_MAG_OFFSET_Z_LSB_ADDR				(0X5F)
#define BNO055_MAG_OFFSET_Z_MSB_ADDR				(0X60)

/* Gyroscope Offset registers*/
#define BNO055_GYRO_OFFSET_X_LSB_ADDR				(0X61)
#define BNO055_GYRO_OFFSET_X_MSB_ADDR				(0X62)
#define BNO055_GYRO_OFFSET_Y_LSB_ADDR				(0X63)
#define BNO055_GYRO_OFFSET_Y_MSB_ADDR				(0X64)
#define BNO055_GYRO_OFFSET_Z_LSB_ADDR				(0X65)
#define BNO055_GYRO_OFFSET_Z_MSB_ADDR				(0X66)

/* Radius registers*/
#define	BNO055_ACCEL_RADIUS_LSB_ADDR				(0X67)
#define	BNO055_ACCEL_RADIUS_MSB_ADDR				(0X68)
#define	BNO055_MAG_RADIUS_LSB_ADDR					(0X69)
#define	BNO055_MAG_RADIUS_MSB_ADDR					(0X6A)
/* PAGE0 REGISTERS DEFINITION END*/

/* PAGE1 REGISTERS DEFINITION START*/
/* Configuration registers*/
#define BNO055_ACCEL_CONFIG_ADDR				(0X08)
#define BNO055_MAG_CONFIG_ADDR					(0X09)
#define BNO055_GYRO_CONFIG_ADDR					(0X0A)
#define BNO055_GYRO_MODE_CONFIG_ADDR			(0X0B)
#define BNO055_ACCEL_SLEEP_CONFIG_ADDR			(0X0C)
#define BNO055_GYRO_SLEEP_CONFIG_ADDR			(0X0D)
#define BNO055_MAG_SLEEP_CONFIG_ADDR			(0x0E)

/* Interrupt registers*/
#define BNO055_INT_MASK_ADDR					(0X0F)
#define BNO055_INT_ADDR							(0X10)
#define BNO055_ACCEL_ANY_MOTION_THRES_ADDR		(0X11)
#define BNO055_ACCEL_INTR_SETTINGS_ADDR			(0X12)
#define BNO055_ACCEL_HIGH_G_DURN_ADDR			(0X13)
#define BNO055_ACCEL_HIGH_G_THRES_ADDR			(0X14)
#define BNO055_ACCEL_NO_MOTION_THRES_ADDR		(0X15)
#define BNO055_ACCEL_NO_MOTION_SET_ADDR			(0X16)
#define BNO055_GYRO_INTR_SETING_ADDR			(0X17)
#define BNO055_GYRO_HIGHRATE_X_SET_ADDR			(0X18)
#define BNO055_GYRO_DURN_X_ADDR					(0X19)
#define BNO055_GYRO_HIGHRATE_Y_SET_ADDR			(0X1A)
#define BNO055_GYRO_DURN_Y_ADDR					(0X1B)
#define BNO055_GYRO_HIGHRATE_Z_SET_ADDR			(0X1C)
#define BNO055_GYRO_DURN_Z_ADDR					(0X1D)
#define BNO055_GYRO_ANY_MOTION_THRES_ADDR		(0X1E)
#define BNO055_GYRO_ANY_MOTION_SET_ADDR			(0X1F)
/* PAGE1 REGISTERS DEFINITION END*/


#define BNO055_MDELAY_DATA_TYPE		u32

/*< This refers BNO055 return type as s8 */
#define BNO055_RETURN_FUNCTION_TYPE	s8

/* Compile switch definition for Float and double*/
#define BNO055_FLOAT_ENABLE
#define BNO055_DOUBLE_ENABLE
/**************************************************************/
/**\name	STRUCTURE DEFINITIONS                         */
/**************************************************************/
/*!
*	@brief bno055 struct
*/
struct bno055_t {
u8 chip_id;/**< chip_id of bno055 */
u16 sw_rev_id;/**< software revision id of bno055 */
u8 page_id;/**< page_id of bno055 */
u8 accel_rev_id;/**< accel revision id of bno055 */
u8 mag_rev_id;/**< mag revision id of bno055 */
u8 gyro_rev_id;/**< gyro revision id of bno055 */
u8 bl_rev_id;/**< boot loader revision id of bno055 */
u8 dev_addr;/**< i2c device address of bno055 */
BNO055_WR_FUNC_PTR;/**< bus write function pointer */
BNO055_RD_FUNC_PTR;/**<bus read function pointer */
void (*delay_msec)(BNO055_MDELAY_DATA_TYPE);/**< delay function pointer */
};
/*!
* @brief struct for accel data read from registers
*/
struct bno055_accel_t {
s16 x;/**< accel x data */
s16 y;/**< accel y data */
s16 z;/**< accel z data */
};
/*!
* @brief struct for Mag data read from registers
*/
struct bno055_mag_t {
s16 x;/**< mag x data */
s16 y;/**< mag y data */
s16 z;/**< mag z data */
};
/*!
* @brief struct for Gyro data read from registers
*/
struct bno055_gyro_t {
s16 x;/**< gyro x data */
s16 y;/**< gyro y data */
s16 z;/**< gyro z data */
};
/*!
* @brief struct for Euler data read from registers
*/
struct bno055_euler_t {
s16 h;/**< Euler h data */
s16 r;/**< Euler r data */
s16 p;/**< Euler p data */
};
/*!
* @brief struct for Quaternion data read from registers
*/
struct bno055_quaternion_t {
s16 w;/**< Quaternion w data */
s16 x;/**< Quaternion x data */
s16 y;/**< Quaternion y data */
s16 z;/**< Quaternion z data */
};
/*!
* @brief struct for Linear Accel data read from registers
*/
struct bno055_linear_accel_t {
s16 x; /**< Linear Accel x data */
s16 y; /**< Linear Accel y data */
s16 z; /**< Linear Accel z data */
};
/*!
* @brief struct for Gravity data read from registers
*/
struct bno055_gravity_t {
s16 x;/**< Gravity x data */
s16 y;/**< Gravity y data */
s16 z;/**< Gravity z data */
};
#ifdef	BNO055_DOUBLE_ENABLE
/*!
* @brief struct for Accel-output data of precision double
*/
struct bno055_accel_double_t {
double x;/**< Accel x double data */
double y;/**< Accel y double data */
double z;/**< Accel z double data */
};
/*!
* @brief struct for Mag-output data of precision double
*/
struct bno055_mag_double_t {
double x;/**< Mag x double data */
double y;/**< Mag y double data */
double z;/**< Mag z double data */
};
/*!
* @brief struct for Gyro-output data of precision double
*/
struct bno055_gyro_double_t {
double x;/**< Gyro x double data */
double y;/**< Gyro y double data */
double z;/**< Gyro z double data */
};
/*!
* @brief struct for Euler-output data of precision double
*/
struct bno055_euler_double_t {
double h;/**< Euler h double data */
double r;/**< Euler r double data */
double p;/**< Euler p double data */
};
/*!
* @brief struct for Linear Accel-output data of precision double
*/
struct bno055_linear_accel_double_t {
double x;/**< linear accel x double data */
double y;/**< linear accel y double data */
double z;/**< linear accel z double data */
};
/*!
* @brief struct for Gravity-output data of precision double
*/
struct bno055_gravity_double_t {
double x;/**< Gravity x double data */
double y;/**< Gravity y double data */
double z;/**< Gravity z double data */
};
#endif
#ifdef	BNO055_FLOAT_ENABLE
/*!
* @brief struct for Accel-output data of precision float
*/
struct bno055_accel_float_t {
float x;/**< accel x float data */
float y;/**< accel y float data */
float z;/**< accel z float data */
};
/*!
* @brief struct for Mag-output data of precision float
*/
struct bno055_mag_float_t {
float x;/**< Mag x float data */
float y;/**< Mag y float data */
float z;/**< Mag z float data */
};
/*!
* @brief struct for Gyro-output data of precision float
*/
struct bno055_gyro_float_t {
float x;/**< Gyro x float data */
float y;/**< Gyro y float data */
float z;/**< Gyro z float data */
};
/*!
* @brief struct for Euler-output data of precision float
*/
struct bno055_euler_float_t {
float h;/**< Euler h float data */
float r;/**< Euler r float data */
float p;/**< Euler p float data */
};
/*!
* @brief struct for Linear accel-output data of precision float
*/
struct bno055_linear_accel_float_t {
float x;/**< Linear accel x float data */
float y;/**< Linear accel y float data */
float z;/**< Linear accel z float data */
};
/*!
* @brief struct for Gravity-output data of precision float
*/
struct bno055_gravity_float_t {
float x;/**< Gravity x float data */
float y;/**< Gravity y float data */
float z;/**< Gravity z float data */
};
#endif
/*!
* @brief struct for Accel offset
*/
struct bno055_accel_offset_t {
s16 x;/**< Accel offset x data */
s16 y;/**< Accel offset y data */
s16 z;/**< Accel offset z data */
s16 r;/**< Accel radius r data */
};
/*!
* @brief struct for Gyro offset
*/
struct bno055_gyro_offset_t {
s16 x;/**< Gyro offset x data */
s16 y;/**< Gyro offset y data */
s16 z;/**< Gyro offset z data */
};
/*!
* @brief struct for Mag offset
*/
struct bno055_mag_offset_t {
s16 x;/**< Mag offset x data */
s16 y;/**< Mag offset y data */
s16 z;/**< Mag offset z data */
s16 r;/**< Mag radius x data */
};
/*!
* @brief struct for soft iron calibration matrix
*/
struct bno055_sic_matrix_t {
s16 sic_0;/**< soft iron calibration matrix 0 data */
s16 sic_1;/**< soft iron calibration matrix 1 data */
s16 sic_2;/**< soft iron calibration matrix 2 data */
s16 sic_3;/**< soft iron calibration matrix 3 data */
s16 sic_4;/**< soft iron calibration matrix 4 data */
s16 sic_5;/**< soft iron calibration matrix 5 data */
s16 sic_6;/**< soft iron calibration matrix 6 data */
s16 sic_7;/**< soft iron calibration matrix 7 data */
s16 sic_8;/**< soft iron calibration matrix 8 data */
};
/***************************************************/
/**\name	CONSTANT DEFINITIONS                   */
/***************************************************/
#define  BNO055_INIT_VALUE						((u8)0)
#define  BNO055_GEN_READ_WRITE_LENGTH			((u8)1)
#define  BNO055_LSB_MSB_READ_LENGTH				((u8)2)
#define  BNO055_MAG_POWER_MODE_RANGE			((u8)4)
#define  BNO055_MAG_OPR_MODE_RANGE				((u8)5)
#define  BNO055_ACCEL_POWER_MODE_RANGE          ((u8)6)
#define  BNO055_ACCEL_SLEEP_DURATION_RANGE      ((u8)16)
#define	 BNO055_GYRO_AUTO_SLEEP_DURATION_RANGE	((u8)8)
#define  BNO055_ACCEL_GYRO_BW_RANGE		((u8)8)
#define  BNO055_MAG_OUTPUT_RANGE		((u8)8)
#define  BNO055_ACCEL_RANGE				((u8)5)
#define  BNO055_SHIFT_EIGHT_BITS        ((u8)8)
#define	 BNO055_GYRO_RANGE				((u8)5)
#define  BNO055_ACCEL_SLEEP_MODE_RANGE  ((u8)2)
/*  BNO055 API BNO055_ERROR codes */
#define BNO055_E_NULL_PTR   ((s8)-127)
#define BNO055_OUT_OF_RANGE	((s8)-2)
#define	BNO055_SUCCESS		((u8)0)
#define	BNO055_ERROR		((s8)-1)

/* Selection for bit enable and disable */
#define BNO055_BIT_ENABLE		(0x01)
#define BNO055_BIT_DISABLE		(0x00)

/* Page ID */
#define BNO055_PAGE_ZERO		(0X00)
#define BNO055_PAGE_ONE			(0X01)

/* Enable the temperature source */
#define	BNO055_ACCEL_TEMP_EN	(0x00)
#define	BNO055_GYRO_TEMP_EN		(0x01)
#define	BNO055_MCU_TEMP_EN		(0x03)

/*Accel unit*/
#define BNO055_ACCEL_UNIT_MSQ	(0x00)
#define BNO055_ACCEL_UNIT_MG	(0x01)

/*Gyro unit*/
#define BNO055_GYRO_UNIT_DPS	(0x00)
#define BNO055_GYRO_UNIT_RPS	(0x01)

/* Euler unit*/
#define BNO055_EULER_UNIT_DEG	(0x00)
#define BNO055_EULER_UNIT_RAD	(0x01)

/*Temperature unit*/
#define BNO055_TEMP_UNIT_CELSIUS		(0x00)
#define BNO055_TEMP_UNIT_FAHRENHEIT		(0x01)

/*Accel division factor*/
#define	BNO055_ACCEL_DIV_MSQ	(100.0)
#define	BNO055_ACCEL_DIV_MG		(1)

/*Mag division factor*/
#define BNO055_MAG_DIV_UT	(16.0)

/*Gyro division factor*/
#define BNO055_GYRO_DIV_DPS		(16.0)
#define BNO055_GYRO_DIV_RPS		(900.0)

/*Euler division factor*/
#define BNO055_EULER_DIV_DEG		(16.0)
#define BNO055_EULER_DIV_RAD		(900.0)

/*Linear accel division factor*/
#define	BNO055_LINEAR_ACCEL_DIV_MSQ	(100.0)

/*Gravity accel division factor*/
#define	BNO055_GRAVITY_DIV_MSQ	(100.0)

/* Temperature division factor*/
#define BNO055_TEMP_DIV_FAHRENHEIT	(0.5)
#define BNO055_TEMP_DIV_CELSIUS		(1)

#define	BNO055_MODE_SWITCHING_DELAY        (600)
#define	BNO055_CONFIG_MODE_SWITCHING_DELAY ((u8)20)



/* Operation mode settings*/
#define BNO055_OPERATION_MODE_CONFIG			(0X00)
#define BNO055_OPERATION_MODE_ACCONLY			(0X01)
#define BNO055_OPERATION_MODE_MAGONLY			(0X02)
#define BNO055_OPERATION_MODE_GYRONLY			(0X03)
#define BNO055_OPERATION_MODE_ACCMAG			(0X04)
#define BNO055_OPERATION_MODE_ACCGYRO			(0X05)
#define BNO055_OPERATION_MODE_MAGGYRO			(0X06)
#define BNO055_OPERATION_MODE_AMG				(0X07)
#define BNO055_OPERATION_MODE_IMUPLUS			(0X08)
#define BNO055_OPERATION_MODE_COMPASS			(0X09)
#define BNO055_OPERATION_MODE_M4G				(0X0A)
#define BNO055_OPERATION_MODE_NDOF_FMC_OFF		(0X0B)
#define BNO055_OPERATION_MODE_NDOF				(0X0C)

/* Power mode*/
#define BNO055_POWER_MODE_NORMAL	(0X00)
#define BNO055_POWER_MODE_LOWPOWER	(0X01)
#define BNO055_POWER_MODE_SUSPEND	(0X02)

/* PAGE-1 definitions*/
/* Accel Range */

#define BNO055_ACCEL_RANGE_2G		(0X00)
#define BNO055_ACCEL_RANGE_4G		(0X01)
#define BNO055_ACCEL_RANGE_8G		(0X02)
#define BNO055_ACCEL_RANGE_16G		(0X03)

/* Accel Bandwidth*/
#define BNO055_ACCEL_BW_7_81HZ		(0x00)
#define BNO055_ACCEL_BW_15_63HZ		(0x01)
#define BNO055_ACCEL_BW_31_25HZ		(0x02)
#define BNO055_ACCEL_BW_62_5HZ		(0X03)
#define BNO055_ACCEL_BW_125HZ		(0X04)
#define BNO055_ACCEL_BW_250HZ		(0X05)
#define BNO055_ACCEL_BW_500HZ		(0X06)
#define BNO055_ACCEL_BW_1000HZ		(0X07)

/* Accel Power mode*/
#define BNO055_ACCEL_NORMAL			(0X00)
#define BNO055_ACCEL_SUSPEND		(0X01)
#define BNO055_ACCEL_LOWPOWER_1		(0X02)
#define BNO055_ACCEL_STANDBY		(0X03)
#define BNO055_ACCEL_LOWPOWER_2		(0X04)
#define BNO055_ACCEL_DEEPSUSPEND	(0X05)

/* Mag data output rate*/
#define BNO055_MAG_DATA_OUTRATE_2HZ			(0X00)
#define BNO055_MAG_DATA_OUTRATE_6HZ			(0X01)
#define BNO055_MAG_DATA_OUTRATE_8HZ			(0X02)
#define BNO055_MAG_DATA_OUTRATE_10HZ		(0X03)
#define BNO055_MAG_DATA_OUTRATE_15HZ		(0X04)
#define BNO055_MAG_DATA_OUTRATE_20HZ		(0X05)
#define BNO055_MAG_DATA_OUTRATE_25HZ		(0X06)
#define BNO055_MAG_DATA_OUTRATE_30HZ		(0X07)

/* Mag Operation mode*/
#define BNO055_MAG_OPERATION_MODE_LOWPOWER				(0X00)
#define BNO055_MAG_OPERATION_MODE_REGULAR				(0X01)
#define BNO055_MAG_OPERATION_MODE_ENHANCED_REGULAR		(0X02)
#define BNO055_MAG_OPERATION_MODE_HIGH_ACCURACY			(0X03)

/* Mag power mode*/
#define BNO055_MAG_POWER_MODE_NORMAL			(0X00)
#define BNO055_MAG_POWER_MODE_SLEEP				(0X01)
#define BNO055_MAG_POWER_MODE_SUSPEND			(0X02)
#define BNO055_MAG_POWER_MODE_FORCE_MODE		(0X03)

/* Gyro range*/
#define BNO055_GYRO_RANGE_2000DPS		(0x00)
#define BNO055_GYRO_RANGE_1000DPS		(0x01)
#define BNO055_GYRO_RANGE_500DPS		(0x02)
#define BNO055_GYRO_RANGE_250DPS		(0x03)
#define BNO055_GYRO_RANGE_125DPS		(0x04)

/* Gyro Bandwidth*/
#define BNO055_GYRO_BW_523HZ	(0x00)
#define BNO055_GYRO_BW_230HZ	(0x01)
#define BNO055_GYRO_BW_116HZ	(0x02)
#define BNO055_GYRO_BW_47HZ		(0x03)
#define BNO055_GYRO_BW_23HZ		(0x04)
#define BNO055_GYRO_BW_12HZ		(0x05)
#define BNO055_GYRO_BW_64HZ		(0x06)
#define BNO055_GYRO_BW_32HZ		(0x07)

/* Gyro power mode*/
#define BNO055_GYRO_POWER_MODE_NORMAL				(0X00)
#define BNO055_GYRO_POWER_MODE_FASTPOWERUP			(0X01)
#define BNO055_GYRO_POWER_MODE_DEEPSUSPEND			(0X02)
#define BNO055_GYRO_POWER_MODE_SUSPEND				(0X03)
#define BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE	(0X04)

/* Accel Sleep Duration */
#define BNO055_ACCEL_SLEEP_DURN_0_5MS        (0x05)
/* sets sleep duration to 0.5 ms  */
#define BNO055_ACCEL_SLEEP_DURN_1MS          (0x06)
/* sets sleep duration to 1 ms */
#define BNO055_ACCEL_SLEEP_DURN_2MS          (0x07)
/* sets sleep duration to 2 ms */
#define BNO055_ACCEL_SLEEP_DURN_4MS          (0x08)
/* sets sleep duration to 4 ms */
#define BNO055_ACCEL_SLEEP_DURN_6MS          (0x09)
/* sets sleep duration to 6 ms*/
#define BNO055_ACCEL_SLEEP_DURN_10MS         (0x0A)
/* sets sleep duration to 10 ms */
#define BNO055_ACCEL_SLEEP_DURN_25MS         (0x0B)
 /* sets sleep duration to 25 ms */
#define BNO055_ACCEL_SLEEP_DURN_50MS         (0x0C)
 /* sets sleep duration to 50 ms */
#define BNO055_ACCEL_SLEEP_DURN_100MS        (0x0D)
 /* sets sleep duration to 100 ms */
#define BNO055_ACCEL_SLEEP_DURN_500MS        (0x0E)
 /* sets sleep duration to 500 ms */
#define BNO055_ACCEL_SLEEP_DURN_1S           (0x0F)
/* sets sleep duration to 1 s */

/* Gyro Auto sleep duration*/
#define BNO055_GYRO_No_AUTOSLPDUR		(0x00)
#define	BNO055_GYRO_4MS_AUTOSLPDUR		(0x01)
#define	BNO055_GYRO_5MS_AUTOSLPDUR		(0x02)
#define	BNO055_GYRO_8MS_AUTOSLPDUR		(0x03)
#define	BNO055_GYRO_10MS_AUTOSLPDUR		(0x04)
#define	BNO055_GYRO_15MS_AUTOSLPDUR		(0x05)
#define	BNO055_GYRO_20MS_AUTOSLPDUR		(0x06)
#define	BNO055_GYRO_40MS_AUTOSLPDUR		(0x07)

/* Accel Any/No motion axis selection*/
#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS		(0)
#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS		(1)
#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS		(2)

/* Accel High g axis selection*/
#define BNO055_ACCEL_HIGH_G_X_AXIS		(0)
#define BNO055_ACCEL_HIGH_G_Y_AXIS		(1)
#define BNO055_ACCEL_HIGH_G_Z_AXIS		(2)

/* Gyro Any motion axis selection*/
#define BNO055_GYRO_ANY_MOTION_X_AXIS		(0)
#define BNO055_GYRO_ANY_MOTION_Y_AXIS		(1)
#define BNO055_GYRO_ANY_MOTION_Z_AXIS		(2)


/* Gyro High rate axis selection*/
#define BNO055_GYRO_HIGHRATE_X_AXIS		(0)
#define BNO055_GYRO_HIGHRATE_Y_AXIS		(1)
#define BNO055_GYRO_HIGHRATE_Z_AXIS		(2)

/* Axis remap values*/
#define BNO055_REMAP_X_Y			(0X21)
#define BNO055_REMAP_Y_Z			(0X18)
#define BNO055_REMAP_Z_X			(0X06)
#define BNO055_REMAP_X_Y_Z_TYPE0	(0X12)
#define BNO055_REMAP_X_Y_Z_TYPE1	(0X09)
#define BNO055_DEFAULT_AXIS			(0X24)

/* Axis remap sign */
#define	BNO055_REMAP_AXIS_POSITIVE	(0X00)
#define	BNO055_REMAP_AXIS_NEGATIVE	(0X01)

/* Gyro anymotion and high rate filter configuration */
#define	BNO055_GYRO_FILTERED_CONFIG		(0x00)
#define	BNO055_GYRO_UNFILTERED_CONFIG	(0x01)

/* mask definitions*/
#define BNO055_SIC_HEX_0_0_F_F_DATA		(0x00FF)
/****************************************************/
/**\name	ARRAY SIZE DEFINITIONS      */
/***************************************************/
#define BNO055_REV_ID_SIZE						(2)
#define BNO055_ACCEL_DATA_SIZE					(2)
#define BNO055_ACCEL_XYZ_DATA_SIZE				(6)
#define BNO055_MAG_DATA_SIZE					(2)
#define BNO055_MAG_XYZ_DATA_SIZE				(6)
#define BNO055_GYRO_DATA_SIZE					(2)
#define BNO055_GYRO_XYZ_DATA_SIZE				(6)
#define BNO055_EULER_DATA_SIZE					(2)
#define BNO055_EULER_HRP_DATA_SIZE				(6)
#define BNO055_QUATERNION_DATA_SIZE				(2)
#define BNO055_QUATERNION_WXYZ_DATA_SIZE		(8)
#define BNO055_GRAVITY_DATA_SIZE				(2)
#define BNO055_GRAVITY_XYZ_DATA_SIZE			(6)
#define BNO055_ACCEL_OFFSET_ARRAY				(6)
#define BNO055_MAG_OFFSET_ARRAY					(6)
#define BNO055_GYRO_OFFSET_ARRAY				(6)
#define BNO055_SOFT_IRON_CALIBRATION_MATRIX_SIZE		(18)


/*ARRAY INDEX DEFINITIONS*/
#define BNO055_SW_ID_LSB						(0)
#define BNO055_SW_ID_MSB						(1)
#define BNO055_SENSOR_DATA_LSB					(0)
#define BNO055_SENSOR_DATA_MSB					(1)
#define BNO055_SENSOR_DATA_EULER_LSB			(0)
#define BNO055_SENSOR_DATA_EULER_MSB			(1)
#define BNO055_SENSOR_DATA_QUATERNION_LSB		(0)
#define BNO055_SENSOR_DATA_QUATERNION_MSB		(1)

#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB			(0)
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB			(1)
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB			(2)
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB			(3)
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB			(4)
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB			(5)
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB			(6)
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB			(7)

#define BNO055_SENSOR_DATA_XYZ_X_LSB				(0)
#define BNO055_SENSOR_DATA_XYZ_X_MSB				(1)
#define BNO055_SENSOR_DATA_XYZ_Y_LSB				(2)
#define BNO055_SENSOR_DATA_XYZ_Y_MSB				(3)
#define BNO055_SENSOR_DATA_XYZ_Z_LSB				(4)
#define BNO055_SENSOR_DATA_XYZ_Z_MSB				(5)


#define BNO055_SENSOR_DATA_EULER_HRP_H_LSB			(0)
#define BNO055_SENSOR_DATA_EULER_HRP_H_MSB			(1)
#define BNO055_SENSOR_DATA_EULER_HRP_R_LSB			(2)
#define BNO055_SENSOR_DATA_EULER_HRP_R_MSB			(3)
#define BNO055_SENSOR_DATA_EULER_HRP_P_LSB			(4)
#define BNO055_SENSOR_DATA_EULER_HRP_P_MSB			(5)

#define BNO055_SOFT_IRON_CALIB_0_LSB	(0)
#define BNO055_SOFT_IRON_CALIB_0_MSB	(1)
#define BNO055_SOFT_IRON_CALIB_1_LSB	(2)
#define BNO055_SOFT_IRON_CALIB_1_MSB	(3)
#define BNO055_SOFT_IRON_CALIB_2_LSB	(4)
#define BNO055_SOFT_IRON_CALIB_2_MSB	(5)
#define BNO055_SOFT_IRON_CALIB_3_LSB	(6)
#define BNO055_SOFT_IRON_CALIB_3_MSB	(7)
#define BNO055_SOFT_IRON_CALIB_4_LSB	(8)
#define BNO055_SOFT_IRON_CALIB_4_MSB	(9)
#define BNO055_SOFT_IRON_CALIB_5_LSB	(10)
#define BNO055_SOFT_IRON_CALIB_5_MSB	(11)
#define BNO055_SOFT_IRON_CALIB_6_LSB	(12)
#define BNO055_SOFT_IRON_CALIB_6_MSB	(13)
#define BNO055_SOFT_IRON_CALIB_7_LSB	(14)
#define BNO055_SOFT_IRON_CALIB_7_MSB	(15)
#define BNO055_SOFT_IRON_CALIB_8_LSB	(16)
#define BNO055_SOFT_IRON_CALIB_8_MSB	(17)

#define BNO055_SENSOR_OFFSET_DATA_X_LSB	(0)
#define BNO055_SENSOR_OFFSET_DATA_X_MSB	(1)
#define BNO055_SENSOR_OFFSET_DATA_Y_LSB	(2)
#define BNO055_SENSOR_OFFSET_DATA_Y_MSB	(3)
#define BNO055_SENSOR_OFFSET_DATA_Z_LSB	(4)
#define BNO055_SENSOR_OFFSET_DATA_Z_MSB	(5)

#define BNO055_OFFSET_RADIUS_LSB (0)
#define BNO055_OFFSET_RADIUS_MSB (1)
/*********************************************************/
/**\name PAGE0 DATA REGISTERS DEFINITION */
/*********************************************************/
/* Chip ID */
#define BNO055_CHIP_ID_POS             (0)
#define BNO055_CHIP_ID_MSK             (0xFF)
#define BNO055_CHIP_ID_LEN             (8)
#define BNO055_CHIP_ID_REG             BNO055_CHIP_ID_ADDR

/* Accel revision id*/
#define BNO055_ACCEL_REV_ID_POS             (0)
#define BNO055_ACCEL_REV_ID_MSK             (0xFF)
#define BNO055_ACCEL_REV_ID_LEN             (8)
#define BNO055_ACCEL_REV_ID_REG             BNO055_ACCEL_REV_ID_ADDR

/* Mag revision id*/
#define BNO055_MAG_REV_ID_POS             (0)
#define BNO055_MAG_REV_ID_MSK             (0xFF)
#define BNO055_MAG_REV_ID_LEN             (8)
#define BNO055_MAG_REV_ID_REG             BNO055_MAG_REV_ID_ADDR

/* Gyro revision id*/
#define BNO055_GYRO_REV_ID_POS             (0)
#define BNO055_GYRO_REV_ID_MSK             (0xFF)
#define BNO055_GYRO_REV_ID_LEN             (8)
#define BNO055_GYRO_REV_ID_REG             BNO055_GYRO_REV_ID_ADDR

/*Software revision id LSB*/
#define BNO055_SW_REV_ID_LSB_POS             (0)
#define BNO055_SW_REV_ID_LSB_MSK             (0xFF)
#define BNO055_SW_REV_ID_LSB_LEN             (8)
#define BNO055_SW_REV_ID_LSB_REG             BNO055_SW_REV_ID_LSB_ADDR

/*Software revision id MSB*/
#define BNO055_SW_REV_ID_MSB_POS             (0)
#define BNO055_SW_REV_ID_MSB_MSK             (0xFF)
#define BNO055_SW_REV_ID_MSB_LEN             (8)
#define BNO055_SW_REV_ID_MSB_REG             BNO055_SW_REV_ID_MSB_ADDR

/* BOOTLODER revision id*/
#define BNO055_BL_REV_ID_POS             (0)
#define BNO055_BL_REV_ID_MSK             (0xFF)
#define BNO055_BL_REV_ID_LEN             (8)
#define BNO055_BL_REV_ID_REG             BNO055_BL_REV_ID_ADDR

/*Page id*/
#define BNO055_PAGE_ID_POS             (0)
#define BNO055_PAGE_ID_MSK             (0xFF)
#define BNO055_PAGE_ID_LEN             (8)
#define BNO055_PAGE_ID_REG             BNO055_PAGE_ID_ADDR

/* Accel data X-LSB register*/
#define BNO055_ACCEL_DATA_X_LSB_VALUEX_POS             (0)
#define BNO055_ACCEL_DATA_X_LSB_VALUEX_MSK             (0xFF)
#define BNO055_ACCEL_DATA_X_LSB_VALUEX_LEN             (8)
#define BNO055_ACCEL_DATA_X_LSB_VALUEX_REG             \
BNO055_ACCEL_DATA_X_LSB_ADDR

/* Accel data X-MSB register*/
#define BNO055_ACCEL_DATA_X_MSB_VALUEX_POS             (0)
#define BNO055_ACCEL_DATA_X_MSB_VALUEX_MSK             (0xFF)
#define BNO055_ACCEL_DATA_X_MSB_VALUEX_LEN             (8)
#define BNO055_ACCEL_DATA_X_MSB_VALUEX_REG             \
BNO055_ACCEL_DATA_X_MSB_ADDR

/* Accel data Y-LSB register*/
#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_POS             (0)
#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_MSK             (0xFF)
#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_LEN             (8)
#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_REG             \
BNO055_ACCEL_DATA_Y_LSB_ADDR

/* Accel data Y-MSB register*/
#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_POS             (0)
#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_MSK             (0xFF)
#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_LEN             (8)
#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_REG             \
BNO055_ACCEL_DATA_Y_MSB_ADDR

/* Accel data Z-LSB register*/
#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_POS		(0)
#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_MSK		(0xFF)
#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_LEN		(8)
#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_REG     \
BNO055_ACCEL_DATA_Z_LSB_ADDR

/* Accel data Z-MSB register*/
#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_POS		(0)
#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_MSK		(0xFF)
#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_LEN		(8)
#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_REG     \
BNO055_ACCEL_DATA_Z_MSB_ADDR

/* Mag data X-LSB register*/
#define BNO055_MAG_DATA_X_LSB_VALUEX_POS             (0)
#define BNO055_MAG_DATA_X_LSB_VALUEX_MSK             (0xFF)
#define BNO055_MAG_DATA_X_LSB_VALUEX_LEN             (8)
#define BNO055_MAG_DATA_X_LSB_VALUEX_REG             \
BNO055_MAG_DATA_X_LSB_ADDR

/* Mag data X-MSB register*/
#define BNO055_MAG_DATA_X_MSB_VALUEX_POS             (0)
#define BNO055_MAG_DATA_X_MSB_VALUEX_MSK             (0xFF)
#define BNO055_MAG_DATA_X_MSB_VALUEX_LEN             (8)
#define BNO055_MAG_DATA_X_MSB_VALUEX_REG             BNO055_MAG_DATA_X_MSB_ADDR

/* Mag data Y-LSB register*/
#define BNO055_MAG_DATA_Y_LSB_VALUEY_POS             (0)
#define BNO055_MAG_DATA_Y_LSB_VALUEY_MSK             (0xFF)
#define BNO055_MAG_DATA_Y_LSB_VALUEY_LEN             (8)
#define BNO055_MAG_DATA_Y_LSB_VALUEY_REG             BNO055_MAG_DATA_Y_LSB_ADDR

/* Mag data Y-MSB register*/
#define BNO055_MAG_DATA_Y_MSB_VALUEY_POS             (0)
#define BNO055_MAG_DATA_Y_MSB_VALUEY_MSK             (0xFF)
#define BNO055_MAG_DATA_Y_MSB_VALUEY_LEN             (8)
#define BNO055_MAG_DATA_Y_MSB_VALUEY_REG             BNO055_MAG_DATA_Y_MSB_ADDR

/* Mag data Z-LSB register*/
#define BNO055_MAG_DATA_Z_LSB_VALUEZ_POS             (0)
#define BNO055_MAG_DATA_Z_LSB_VALUEZ_MSK             (0xFF)
#define BNO055_MAG_DATA_Z_LSB_VALUEZ_LEN             (8)
#define BNO055_MAG_DATA_Z_LSB_VALUEZ_REG             BNO055_MAG_DATA_Z_LSB_ADDR

/* Mag data Z-MSB register*/
#define BNO055_MAG_DATA_Z_MSB_VALUEZ_POS             (0)
#define BNO055_MAG_DATA_Z_MSB_VALUEZ_MSK             (0xFF)
#define BNO055_MAG_DATA_Z_MSB_VALUEZ_LEN             (8)
#define BNO055_MAG_DATA_Z_MSB_VALUEZ_REG             BNO055_MAG_DATA_Z_MSB_ADDR

/* Gyro data X-LSB register*/
#define BNO055_GYRO_DATA_X_LSB_VALUEX_POS	(0)
#define BNO055_GYRO_DATA_X_LSB_VALUEX_MSK	(0xFF)
#define BNO055_GYRO_DATA_X_LSB_VALUEX_LEN	(8)
#define BNO055_GYRO_DATA_X_LSB_VALUEX_REG	BNO055_GYRO_DATA_X_LSB_ADDR

/* Gyro data X-MSB register*/
#define BNO055_GYRO_DATA_X_MSB_VALUEX_POS	(0)
#define BNO055_GYRO_DATA_X_MSB_VALUEX_MSK	(0xFF)
#define BNO055_GYRO_DATA_X_MSB_VALUEX_LEN	(8)
#define BNO055_GYRO_DATA_X_MSB_VALUEX_REG	BNO055_GYRO_DATA_X_MSB_ADDR

/* Gyro data Y-LSB register*/
#define BNO055_GYRO_DATA_Y_LSB_VALUEY_POS	(0)
#define BNO055_GYRO_DATA_Y_LSB_VALUEY_MSK	(0xFF)
#define BNO055_GYRO_DATA_Y_LSB_VALUEY_LEN	(8)
#define BNO055_GYRO_DATA_Y_LSB_VALUEY_REG	BNO055_GYRO_DATA_Y_LSB_ADDR

/* Gyro data Y-MSB register*/
#define BNO055_GYRO_DATA_Y_MSB_VALUEY_POS	(0)
#define BNO055_GYRO_DATA_Y_MSB_VALUEY_MSK	(0xFF)
#define BNO055_GYRO_DATA_Y_MSB_VALUEY_LEN	(8)
#define BNO055_GYRO_DATA_Y_MSB_VALUEY_REG	BNO055_GYRO_DATA_Y_MSB_ADDR

/* Gyro data Z-LSB register*/
#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_POS	(0)
#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_MSK	(0xFF)
#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_LEN	(8)
#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_REG	BNO055_GYRO_DATA_Z_LSB_ADDR

/* Gyro data Z-MSB register*/
#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_POS	(0)
#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_MSK	(0xFF)
#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_LEN	(8)
#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_REG	BNO055_GYRO_DATA_Z_MSB_ADDR

/* Euler data HEADING-LSB register*/
#define BNO055_EULER_H_LSB_VALUEH_POS   (0)
#define BNO055_EULER_H_LSB_VALUEH_MSK   (0xFF)
#define BNO055_EULER_H_LSB_VALUEH_LEN   (8)
#define BNO055_EULER_H_LSB_VALUEH_REG  BNO055_EULER_H_LSB_ADDR

/* Euler data HEADING-MSB register*/
#define BNO055_EULER_H_MSB_VALUEH_POS  (0)
#define BNO055_EULER_H_MSB_VALUEH_MSK  (0xFF)
#define BNO055_EULER_H_MSB_VALUEH_LEN  (8)
#define BNO055_EULER_H_MSB_VALUEH_REG  BNO055_EULER_H_MSB_ADDR

/* Euler data ROLL-LSB register*/
#define BNO055_EULER_R_LSB_VALUER_POS  (0)
#define BNO055_EULER_R_LSB_VALUER_MSK  (0xFF)
#define BNO055_EULER_R_LSB_VALUER_LEN  (8)
#define BNO055_EULER_R_LSB_VALUER_REG  BNO055_EULER_R_LSB_ADDR

/* Euler data ROLL-MSB register*/
#define BNO055_EULER_R_MSB_VALUER_POS  (0)
#define BNO055_EULER_R_MSB_VALUER_MSK  (0xFF)
#define BNO055_EULER_R_MSB_VALUER_LEN  (8)
#define BNO055_EULER_R_MSB_VALUER_REG  BNO055_EULER_R_MSB_ADDR

/* Euler data PITCH-LSB register*/
#define BNO055_EULER_P_LSB_VALUEP_POS  (0)
#define BNO055_EULER_P_LSB_VALUEP_MSK  (0xFF)
#define BNO055_EULER_P_LSB_VALUEP_LEN  (8)
#define BNO055_EULER_P_LSB_VALUEP_REG  BNO055_EULER_P_LSB_ADDR

/* Euler data HEADING-MSB register*/
#define BNO055_EULER_P_MSB_VALUEP_POS  (0)
#define BNO055_EULER_P_MSB_VALUEP_MSK  (0xFF)
#define BNO055_EULER_P_MSB_VALUEP_LEN  (8)
#define BNO055_EULER_P_MSB_VALUEP_REG  BNO055_EULER_P_MSB_ADDR

/* Quaternion data W-LSB register*/
#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_POS  (0)
#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_MSK  (0xFF)
#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_LEN  (8)
#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_REG  \
BNO055_QUATERNION_DATA_W_LSB_ADDR

/* Quaternion data W-MSB register*/
#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_POS  (0)
#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_MSK  (0xFF)
#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_LEN  (8)
#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_REG  \
BNO055_QUATERNION_DATA_W_MSB_ADDR

/* Quaternion data X-LSB register*/
#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_POS  (0)
#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_MSK  (0xFF)
#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_LEN  (8)
#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_REG  \
BNO055_QUATERNION_DATA_X_LSB_ADDR

/* Quaternion data X-MSB register*/
#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_POS  (0)
#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_MSK  (0xFF)
#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_LEN  (8)
#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_REG \
BNO055_QUATERNION_DATA_X_MSB_ADDR

/* Quaternion data Y-LSB register*/
#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_POS  (0)
#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_MSK  (0xFF)
#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_LEN  (8)
#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_REG \
BNO055_QUATERNION_DATA_Y_LSB_ADDR

/* Quaternion data Y-MSB register*/
#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_POS  (0)
#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_MSK  (0xFF)
#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_LEN  (8)
#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_REG  \
BNO055_QUATERNION_DATA_Y_MSB_ADDR

/* Quaternion data Z-LSB register*/
#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_POS  (0)
#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_MSK  (0xFF)
#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_LEN  (8)
#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_REG \
BNO055_QUATERNION_DATA_Z_LSB_ADDR

/* Quaternion data Z-MSB register*/
#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_POS  (0)
#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_MSK  (0xFF)
#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_LEN  (8)
#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_REG  \
BNO055_QUATERNION_DATA_Z_MSB_ADDR

/* Linear acceleration data X-LSB register*/
#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_POS  (0)
#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_MSK  (0xFF)
#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_LEN  (8)
#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_REG  \
BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR

/* Linear acceleration data X-MSB register*/
#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_POS  (0)
#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_MSK  (0xFF)
#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_LEN  (8)
#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_REG  \
BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR

/* Linear acceleration data Y-LSB register*/
#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_POS  (0)
#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_MSK  (0xFF)
#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_LEN  (8)
#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_REG  \
BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR

/* Linear acceleration data Y-MSB register*/
#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_POS  (0)
#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_MSK  (0xFF)
#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_LEN  (8)
#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_REG  \
BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR

/* Linear acceleration data Z-LSB register*/
#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_POS  (0)
#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_MSK  (0xFF)
#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_LEN  (8)
#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_REG \
BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR

/* Linear acceleration data Z-MSB register*/
#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_POS  (0)
#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_MSK  (0xFF)
#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_LEN  (8)
#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_REG  \
BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR

/* Gravity data X-LSB register*/
#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_POS  (0)
#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_MSK  (0xFF)
#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_LEN  (8)
#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_REG  \
BNO055_GRAVITY_DATA_X_LSB_ADDR

/* Gravity data X-MSB register*/
#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_POS  (0)
#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_MSK  (0xFF)
#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_LEN  (8)
#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_REG  \
BNO055_GRAVITY_DATA_X_MSB_ADDR

/* Gravity data Y-LSB register*/
#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_POS  (0)
#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_MSK  (0xFF)
#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_LEN  (8)
#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_REG  \
BNO055_GRAVITY_DATA_Y_LSB_ADDR

/* Gravity data Y-MSB register*/
#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_POS  (0)
#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_MSK  (0xFF)
#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_LEN  (8)
#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_REG  \
BNO055_GRAVITY_DATA_Y_MSB_ADDR

/* Gravity data Z-LSB register*/
#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_POS  (0)
#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_MSK  (0xFF)
#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_LEN  (8)
#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_REG  \
BNO055_GRAVITY_DATA_Z_LSB_ADDR

/* Gravity data Z-MSB register*/
#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_POS  (0)
#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_MSK  (0xFF)
#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_LEN  (8)
#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_REG  \
BNO055_GRAVITY_DATA_Z_MSB_ADDR

/* Temperature register*/
#define BNO055_TEMP_POS             (0)
#define BNO055_TEMP_MSK             (0xFF)
#define BNO055_TEMP_LEN             (8)
#define BNO055_TEMP_REG             BNO055_TEMP_ADDR

/*Mag_Calib status register*/
#define BNO055_MAG_CALIB_STAT_POS             (0)
#define BNO055_MAG_CALIB_STAT_MSK             (0X03)
#define BNO055_MAG_CALIB_STAT_LEN             (2)
#define BNO055_MAG_CALIB_STAT_REG             BNO055_CALIB_STAT_ADDR

/*Acc_Calib status register*/
#define BNO055_ACCEL_CALIB_STAT_POS             (2)
#define BNO055_ACCEL_CALIB_STAT_MSK             (0X0C)
#define BNO055_ACCEL_CALIB_STAT_LEN             (2)
#define BNO055_ACCEL_CALIB_STAT_REG             BNO055_CALIB_STAT_ADDR

/*Gyro_Calib status register*/
#define BNO055_GYRO_CALIB_STAT_POS             (4)
#define BNO055_GYRO_CALIB_STAT_MSK             (0X30)
#define BNO055_GYRO_CALIB_STAT_LEN             (2)
#define BNO055_GYRO_CALIB_STAT_REG             BNO055_CALIB_STAT_ADDR

/*Sys_Calib status register*/
#define BNO055_SYS_CALIB_STAT_POS             (6)
#define BNO055_SYS_CALIB_STAT_MSK             (0XC0)
#define BNO055_SYS_CALIB_STAT_LEN             (2)
#define BNO055_SYS_CALIB_STAT_REG             BNO055_CALIB_STAT_ADDR

/*ST_ACCEL register*/
#define BNO055_SELFTEST_ACCEL_POS             (0)
#define BNO055_SELFTEST_ACCEL_MSK             (0X01)
#define BNO055_SELFTEST_ACCEL_LEN             (1)
#define BNO055_SELFTEST_ACCEL_REG             BNO055_SELFTEST_RESULT_ADDR

/*ST_MAG register*/
#define BNO055_SELFTEST_MAG_POS             (1)
#define BNO055_SELFTEST_MAG_MSK             (0X02)
#define BNO055_SELFTEST_MAG_LEN             (1)
#define BNO055_SELFTEST_MAG_REG             BNO055_SELFTEST_RESULT_ADDR

/*ST_GYRO register*/
#define BNO055_SELFTEST_GYRO_POS             (2)
#define BNO055_SELFTEST_GYRO_MSK             (0X04)
#define BNO055_SELFTEST_GYRO_LEN             (1)
#define BNO055_SELFTEST_GYRO_REG             BNO055_SELFTEST_RESULT_ADDR

/*ST_MCU register*/
#define BNO055_SELFTEST_MCU_POS             (3)
#define BNO055_SELFTEST_MCU_MSK             (0X08)
#define BNO055_SELFTEST_MCU_LEN             (1)
#define BNO055_SELFTEST_MCU_REG             BNO055_SELFTEST_RESULT_ADDR

/*Interrupt status registers*/
#define BNO055_INTR_STAT_GYRO_ANY_MOTION_POS		(2)
#define BNO055_INTR_STAT_GYRO_ANY_MOTION_MSK		(0X04)
#define BNO055_INTR_STAT_GYRO_ANY_MOTION_LEN		(1)
#define BNO055_INTR_STAT_GYRO_ANY_MOTION_REG		BNO055_INTR_STAT_ADDR

#define BNO055_INTR_STAT_GYRO_HIGHRATE_POS		(3)
#define BNO055_INTR_STAT_GYRO_HIGHRATE_MSK		(0X08)
#define BNO055_INTR_STAT_GYRO_HIGHRATE_LEN		(1)
#define BNO055_INTR_STAT_GYRO_HIGHRATE_REG		BNO055_INTR_STAT_ADDR

#define BNO055_INTR_STAT_ACCEL_HIGH_G_POS		(5)
#define BNO055_INTR_STAT_ACCEL_HIGH_G_MSK		(0X20)
#define BNO055_INTR_STAT_ACCEL_HIGH_G_LEN		(1)
#define BNO055_INTR_STAT_ACCEL_HIGH_G_REG		BNO055_INTR_STAT_ADDR

#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_POS		(6)
#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_MSK		(0X40)
#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_LEN		(1)
#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_REG		BNO055_INTR_STAT_ADDR

#define BNO055_INTR_STAT_ACCEL_NO_MOTION_POS		(7)
#define BNO055_INTR_STAT_ACCEL_NO_MOTION_MSK		(0X80)
#define BNO055_INTR_STAT_ACCEL_NO_MOTION_LEN		(1)
#define BNO055_INTR_STAT_ACCEL_NO_MOTION_REG		BNO055_INTR_STAT_ADDR

/* system clock status register*/
#define BNO055_SYS_MAIN_CLK_POS		(0)
#define BNO055_SYS_MAIN_CLK_MSK		(0X10)
#define BNO055_SYS_MAIN_CLK_LEN		(1)
#define BNO055_SYS_MAIN_CLK_REG		BNO055_SYS_CLK_STAT_ADDR

/* System registers*/
#define BNO055_SYS_STAT_CODE_POS		(0)
#define BNO055_SYS_STAT_CODE_MSK		(0XFF)
#define BNO055_SYS_STAT_CODE_LEN		(8)
#define BNO055_SYS_STAT_CODE_REG		BNO055_SYS_STAT_ADDR

#define BNO055_SYS_ERROR_CODE_POS			(0)
#define BNO055_SYS_ERROR_CODE_MSK			(0XFF)
#define BNO055_SYS_ERROR_CODE_LEN			(8)
#define BNO055_SYS_ERROR_CODE_REG			BNO055_SYS_ERR_ADDR

/* Accel_Unit register*/
#define BNO055_ACCEL_UNIT_POS             (0)
#define BNO055_ACCEL_UNIT_MSK             (0X01)
#define BNO055_ACCEL_UNIT_LEN             (1)
#define BNO055_ACCEL_UNIT_REG             BNO055_UNIT_SEL_ADDR

/* Gyro_Unit register*/
#define BNO055_GYRO_UNIT_POS             (1)
#define BNO055_GYRO_UNIT_MSK             (0X02)
#define BNO055_GYRO_UNIT_LEN             (1)
#define BNO055_GYRO_UNIT_REG             BNO055_UNIT_SEL_ADDR

/* Euler_Unit register*/
#define BNO055_EULER_UNIT_POS             (2)
#define BNO055_EULER_UNIT_MSK             (0X04)
#define BNO055_EULER_UNIT_LEN             (1)
#define BNO055_EULER_UNIT_REG             BNO055_UNIT_SEL_ADDR

/* Tilt_Unit register*/
#define BNO055_TILT_UNIT_POS             (3)
#define BNO055_TILT_UNIT_MSK             (0X08)
#define BNO055_TILT_UNIT_LEN             (1)
#define BNO055_TILT_UNIT_REG             BNO055_UNIT_SEL_ADDR

/* Temperature_Unit register*/
#define BNO055_TEMP_UNIT_POS             (4)
#define BNO055_TEMP_UNIT_MSK             (0X10)
#define BNO055_TEMP_UNIT_LEN             (1)
#define BNO055_TEMP_UNIT_REG             BNO055_UNIT_SEL_ADDR

/* ORI android-windows register*/
#define BNO055_DATA_OUTPUT_FORMAT_POS             (7)
#define BNO055_DATA_OUTPUT_FORMAT_MSK             (0X80)
#define BNO055_DATA_OUTPUT_FORMAT_LEN             (1)
#define BNO055_DATA_OUTPUT_FORMAT_REG             BNO055_UNIT_SEL_ADDR
/*Operation Mode data register*/
#define BNO055_OPERATION_MODE_POS			(0)
#define BNO055_OPERATION_MODE_MSK			(0X0F)
#define BNO055_OPERATION_MODE_LEN			(4)
#define BNO055_OPERATION_MODE_REG			BNO055_OPR_MODE_ADDR
/* Power Mode register*/
#define BNO055_POWER_MODE_POS             (0)
#define BNO055_POWER_MODE_MSK             (0X03)
#define BNO055_POWER_MODE_LEN             (2)
#define BNO055_POWER_MODE_REG             BNO055_PWR_MODE_ADDR

/*Self Test register*/
#define BNO055_SELFTEST_POS			(0)
#define BNO055_SELFTEST_MSK			(0X01)
#define BNO055_SELFTEST_LEN			(1)
#define BNO055_SELFTEST_REG			BNO055_SYS_TRIGGER_ADDR

/* RST_SYS register*/
#define BNO055_SYS_RST_POS             (5)
#define BNO055_SYS_RST_MSK             (0X20)
#define BNO055_SYS_RST_LEN             (1)
#define BNO055_SYS_RST_REG             BNO055_SYS_TRIGGER_ADDR

/* RST_INT register*/
#define BNO055_INTR_RST_POS             (6)
#define BNO055_INTR_RST_MSK             (0X40)
#define BNO055_INTR_RST_LEN             (1)
#define BNO055_INTR_RST_REG             BNO055_SYS_TRIGGER_ADDR

/* CLK_SRC register*/
#define BNO055_CLK_SRC_POS             (7)
#define BNO055_CLK_SRC_MSK             (0X80)
#define BNO055_CLK_SRC_LEN             (1)
#define BNO055_CLK_SRC_REG             BNO055_SYS_TRIGGER_ADDR

/* Temp source register*/
#define BNO055_TEMP_SOURCE_POS		(0)
#define BNO055_TEMP_SOURCE_MSK		(0X03)
#define BNO055_TEMP_SOURCE_LEN		(2)
#define BNO055_TEMP_SOURCE_REG		BNO055_TEMP_SOURCE_ADDR

/* Axis remap value register*/
#define BNO055_REMAP_AXIS_VALUE_POS		(0)
#define BNO055_REMAP_AXIS_VALUE_MSK		(0X3F)
#define BNO055_REMAP_AXIS_VALUE_LEN		(6)
#define BNO055_REMAP_AXIS_VALUE_REG		BNO055_AXIS_MAP_CONFIG_ADDR

/* Axis sign value register*/
#define BNO055_REMAP_Z_SIGN_POS		(0)
#define BNO055_REMAP_Z_SIGN_MSK		(0X01)
#define BNO055_REMAP_Z_SIGN_LEN		(1)
#define BNO055_REMAP_Z_SIGN_REG		BNO055_AXIS_MAP_SIGN_ADDR

#define BNO055_REMAP_Y_SIGN_POS		(1)
#define BNO055_REMAP_Y_SIGN_MSK		(0X02)
#define BNO055_REMAP_Y_SIGN_LEN		(1)
#define BNO055_REMAP_Y_SIGN_REG		BNO055_AXIS_MAP_SIGN_ADDR

#define BNO055_REMAP_X_SIGN_POS		(2)
#define BNO055_REMAP_X_SIGN_MSK		(0X04)
#define BNO055_REMAP_X_SIGN_LEN		(1)
#define BNO055_REMAP_X_SIGN_REG		BNO055_AXIS_MAP_SIGN_ADDR

/* Soft Iron Calibration matrix register*/
#define BNO055_SIC_MATRIX_0_LSB_POS		(0)
#define BNO055_SIC_MATRIX_0_LSB_MSK		(0XFF)
#define BNO055_SIC_MATRIX_0_LSB_LEN		(8)
#define BNO055_SIC_MATRIX_0_LSB_REG		BNO055_SIC_MATRIX_0_LSB_ADDR

#define BNO055_SIC_MATRIX_0_MSB_POS		(0)
#define BNO055_SIC_MATRIX_0_MSB_MSK		(0XFF)
#define BNO055_SIC_MATRIX_0_MSB_LEN		(8)
#define BNO055_SIC_MATRIX_0_MSB_REG		BNO055_SIC_MATRIX_0_MSB_ADDR

#define BNO055_SIC_MATRIX_1_LSB_POS		(0)
#define BNO055_SIC_MATRIX_1_LSB_MSK		(0XFF)
#define BNO055_SIC_MATRIX_1_LSB_LEN		(8)
#define BNO055_SIC_MATRIX_1_LSB_REG		BNO055_SIC_MATRIX_1_LSB_ADDR

#define BNO055_SIC_MATRIX_1_MSB_POS		(0)
#define BNO055_SIC_MATRIX_1_MSB_MSK		(0XFF)
#define BNO055_SIC_MATRIX_1_MSB_LEN		(8)
#define BNO055_SIC_MATRIX_1_MSB_REG		BNO055_SIC_MATRIX_1_MSB_ADDR

#define BNO055_SIC_MATRIX_2_LSB_POS		(0)
#define BNO055_SIC_MATRIX_2_LSB_MSK		(0XFF)
#define BNO055_SIC_MATRIX_2_LSB_LEN		(8)
#define BNO055_SIC_MATRIX_2_LSB_REG		BNO055_SIC_MATRIX_2_LSB_ADDR

#define BNO055_SIC_MATRIX_2_MSB_POS		(0)
#define BNO055_SIC_MATRIX_2_MSB_MSK		(0XFF)
#define BNO055_SIC_MATRIX_2_MSB_LEN		(8)
#define BNO055_SIC_MATRIX_2_MSB_REG		BNO055_SIC_MATRIX_2_MSB_ADDR

#define BNO055_SIC_MATRIX_3_LSB_POS		(0)
#define BNO055_SIC_MATRIX_3_LSB_MSK		(0XFF)
#define BNO055_SIC_MATRIX_3_LSB_LEN		(8)
#define BNO055_SIC_MATRIX_3_LSB_REG		BNO055_SIC_MATRIX_3_LSB_ADDR

#define BNO055_SIC_MATRIX_3_MSB_POS		(0)
#define BNO055_SIC_MATRIX_3_MSB_MSK		(0XFF)
#define BNO055_SIC_MATRIX_3_MSB_LEN		(8)
#define BNO055_SIC_MATRIX_3_MSB_REG		BNO055_SIC_MATRIX_3_MSB_ADDR

#define BNO055_SIC_MATRIX_4_LSB_POS		(0)
#define BNO055_SIC_MATRIX_4_LSB_MSK		(0XFF)
#define BNO055_SIC_MATRIX_4_LSB_LEN		(8)
#define BNO055_SIC_MATRIX_4_LSB_REG		BNO055_SIC_MATRIX_4_LSB_ADDR

#define BNO055_SIC_MATRIX_4_MSB_POS		(0)
#define BNO055_SIC_MATRIX_4_MSB_MSK		(0XFF)
#define BNO055_SIC_MATRIX_4_MSB_LEN		(8)
#define BNO055_SIC_MATRIX_4_MSB_REG		BNO055_SIC_MATRIX_4_MSB_ADDR

#define BNO055_SIC_MATRIX_5_LSB_POS		(0)
#define BNO055_SIC_MATRIX_5_LSB_MSK		(0XFF)
#define BNO055_SIC_MATRIX_5_LSB_LEN		(8)
#define BNO055_SIC_MATRIX_5_LSB_REG		BNO055_SIC_MATRIX_5_LSB_ADDR

#define BNO055_SIC_MATRIX_5_MSB_POS		(0)
#define BNO055_SIC_MATRIX_5_MSB_MSK		(0XFF)
#define BNO055_SIC_MATRIX_5_MSB_LEN		(8)
#define BNO055_SIC_MATRIX_5_MSB_REG		BNO055_SIC_MATRIX_5_MSB_ADDR

#define BNO055_SIC_MATRIX_6_LSB_POS		(0)
#define BNO055_SIC_MATRIX_6_LSB_MSK		(0XFF)
#define BNO055_SIC_MATRIX_6_LSB_LEN		(8)
#define BNO055_SIC_MATRIX_6_LSB_REG		BNO055_SIC_MATRIX_6_LSB_ADDR

#define BNO055_SIC_MATRIX_6_MSB_POS		(0)
#define BNO055_SIC_MATRIX_6_MSB_MSK		(0XFF)
#define BNO055_SIC_MATRIX_6_MSB_LEN		(8)
#define BNO055_SIC_MATRIX_6_MSB_REG		BNO055_SIC_MATRIX_6_MSB_ADDR

#define BNO055_SIC_MATRIX_7_LSB_POS		(0)
#define BNO055_SIC_MATRIX_7_LSB_MSK		(0XFF)
#define BNO055_SIC_MATRIX_7_LSB_LEN		(8)
#define BNO055_SIC_MATRIX_7_LSB_REG		BNO055_SIC_MATRIX_7_LSB_ADDR

#define BNO055_SIC_MATRIX_7_MSB_POS		(0)
#define BNO055_SIC_MATRIX_7_MSB_MSK		(0XFF)
#define BNO055_SIC_MATRIX_7_MSB_LEN		(8)
#define BNO055_SIC_MATRIX_7_MSB_REG		BNO055_SIC_MATRIX_7_MSB_ADDR

#define BNO055_SIC_MATRIX_8_LSB_POS		(0)
#define BNO055_SIC_MATRIX_8_LSB_MSK		(0XFF)
#define BNO055_SIC_MATRIX_8_LSB_LEN		(8)
#define BNO055_SIC_MATRIX_8_LSB_REG		BNO055_SIC_MATRIX_8_LSB_ADDR

#define BNO055_SIC_MATRIX_8_MSB_POS		(0)
#define BNO055_SIC_MATRIX_8_MSB_MSK		(0XFF)
#define BNO055_SIC_MATRIX_8_MSB_LEN		(8)
#define BNO055_SIC_MATRIX_8_MSB_REG		BNO055_SIC_MATRIX_8_MSB_ADDR

/*Accel Offset registers*/
#define BNO055_ACCEL_OFFSET_X_LSB_POS		(0)
#define BNO055_ACCEL_OFFSET_X_LSB_MSK		(0XFF)
#define BNO055_ACCEL_OFFSET_X_LSB_LEN		(8)
#define BNO055_ACCEL_OFFSET_X_LSB_REG		BNO055_ACCEL_OFFSET_X_LSB_ADDR

#define BNO055_ACCEL_OFFSET_X_MSB_POS		(0)
#define BNO055_ACCEL_OFFSET_X_MSB_MSK		(0XFF)
#define BNO055_ACCEL_OFFSET_X_MSB_LEN		(8)
#define BNO055_ACCEL_OFFSET_X_MSB_REG		BNO055_ACCEL_OFFSET_X_MSB_ADDR

#define BNO055_ACCEL_OFFSET_Y_LSB_POS		(0)
#define BNO055_ACCEL_OFFSET_Y_LSB_MSK		(0XFF)
#define BNO055_ACCEL_OFFSET_Y_LSB_LEN		(8)
#define BNO055_ACCEL_OFFSET_Y_LSB_REG		BNO055_ACCEL_OFFSET_Y_LSB_ADDR

#define BNO055_ACCEL_OFFSET_Y_MSB_POS		(0)
#define BNO055_ACCEL_OFFSET_Y_MSB_MSK		(0XFF)
#define BNO055_ACCEL_OFFSET_Y_MSB_LEN		(8)
#define BNO055_ACCEL_OFFSET_Y_MSB_REG		BNO055_ACCEL_OFFSET_Y_MSB_ADDR

#define BNO055_ACCEL_OFFSET_Z_LSB_POS		(0)
#define BNO055_ACCEL_OFFSET_Z_LSB_MSK		(0XFF)
#define BNO055_ACCEL_OFFSET_Z_LSB_LEN		(8)
#define BNO055_ACCEL_OFFSET_Z_LSB_REG		BNO055_ACCEL_OFFSET_Z_LSB_ADDR

#define BNO055_ACCEL_OFFSET_Z_MSB_POS		(0)
#define BNO055_ACCEL_OFFSET_Z_MSB_MSK		(0XFF)
#define BNO055_ACCEL_OFFSET_Z_MSB_LEN		(8)
#define BNO055_ACCEL_OFFSET_Z_MSB_REG		BNO055_ACCEL_OFFSET_Z_MSB_ADDR

/*Mag Offset registers*/
#define BNO055_MAG_OFFSET_X_LSB_POS		(0)
#define BNO055_MAG_OFFSET_X_LSB_MSK		(0XFF)
#define BNO055_MAG_OFFSET_X_LSB_LEN		(8)
#define BNO055_MAG_OFFSET_X_LSB_REG		BNO055_MAG_OFFSET_X_LSB_ADDR

#define BNO055_MAG_OFFSET_X_MSB_POS		(0)
#define BNO055_MAG_OFFSET_X_MSB_MSK		(0XFF)
#define BNO055_MAG_OFFSET_X_MSB_LEN		(8)
#define BNO055_MAG_OFFSET_X_MSB_REG		BNO055_MAG_OFFSET_X_MSB_ADDR

#define BNO055_MAG_OFFSET_Y_LSB_POS		(0)
#define BNO055_MAG_OFFSET_Y_LSB_MSK		(0XFF)
#define BNO055_MAG_OFFSET_Y_LSB_LEN		(8)
#define BNO055_MAG_OFFSET_Y_LSB_REG		BNO055_MAG_OFFSET_Y_LSB_ADDR

#define BNO055_MAG_OFFSET_Y_MSB_POS		(0)
#define BNO055_MAG_OFFSET_Y_MSB_MSK		(0XFF)
#define BNO055_MAG_OFFSET_Y_MSB_LEN		(8)
#define BNO055_MAG_OFFSET_Y_MSB_REG		BNO055_MAG_OFFSET_Y_MSB_ADDR

#define BNO055_MAG_OFFSET_Z_LSB_POS		(0)
#define BNO055_MAG_OFFSET_Z_LSB_MSK		(0XFF)
#define BNO055_MAG_OFFSET_Z_LSB_LEN		(8)
#define BNO055_MAG_OFFSET_Z_LSB_REG		BNO055_MAG_OFFSET_Z_LSB_ADDR

#define BNO055_MAG_OFFSET_Z_MSB_POS		(0)
#define BNO055_MAG_OFFSET_Z_MSB_MSK		(0XFF)
#define BNO055_MAG_OFFSET_Z_MSB_LEN		(8)
#define BNO055_MAG_OFFSET_Z_MSB_REG		BNO055_MAG_OFFSET_Z_MSB_ADDR

/* Gyro Offset registers*/
#define BNO055_GYRO_OFFSET_X_LSB_POS		(0)
#define BNO055_GYRO_OFFSET_X_LSB_MSK		(0XFF)
#define BNO055_GYRO_OFFSET_X_LSB_LEN		(8)
#define BNO055_GYRO_OFFSET_X_LSB_REG		BNO055_GYRO_OFFSET_X_LSB_ADDR

#define BNO055_GYRO_OFFSET_X_MSB_POS		(0)
#define BNO055_GYRO_OFFSET_X_MSB_MSK		(0XFF)
#define BNO055_GYRO_OFFSET_X_MSB_LEN		(8)
#define BNO055_GYRO_OFFSET_X_MSB_REG		BNO055_GYRO_OFFSET_X_MSB_ADDR

#define BNO055_GYRO_OFFSET_Y_LSB_POS		(0)
#define BNO055_GYRO_OFFSET_Y_LSB_MSK		(0XFF)
#define BNO055_GYRO_OFFSET_Y_LSB_LEN		(8)
#define BNO055_GYRO_OFFSET_Y_LSB_REG		BNO055_GYRO_OFFSET_Y_LSB_ADDR

#define BNO055_GYRO_OFFSET_Y_MSB_POS		(0)
#define BNO055_GYRO_OFFSET_Y_MSB_MSK		(0XFF)
#define BNO055_GYRO_OFFSET_Y_MSB_LEN		(8)
#define BNO055_GYRO_OFFSET_Y_MSB_REG		BNO055_GYRO_OFFSET_Y_MSB_ADDR

#define BNO055_GYRO_OFFSET_Z_LSB_POS		(0)
#define BNO055_GYRO_OFFSET_Z_LSB_MSK		(0XFF)
#define BNO055_GYRO_OFFSET_Z_LSB_LEN		(8)
#define BNO055_GYRO_OFFSET_Z_LSB_REG		BNO055_GYRO_OFFSET_Z_LSB_ADDR

#define BNO055_GYRO_OFFSET_Z_MSB_POS		(0)
#define BNO055_GYRO_OFFSET_Z_MSB_MSK		(0XFF)
#define BNO055_GYRO_OFFSET_Z_MSB_LEN		(8)
#define BNO055_GYRO_OFFSET_Z_MSB_REG		BNO055_GYRO_OFFSET_Z_MSB_ADDR

/* Radius register definition*/
#define BNO055_ACCEL_RADIUS_LSB_POS		(0)
#define BNO055_ACCEL_RADIUS_LSB_MSK		(0XFF)
#define BNO055_ACCEL_RADIUS_LSB_LEN		(8)
#define BNO055_ACCEL_RADIUS_LSB_REG		BNO055_ACCEL_RADIUS_LSB_ADDR

#define BNO055_ACCEL_RADIUS_MSB_POS		(0)
#define BNO055_ACCEL_RADIUS_MSB_MSK		(0XFF)
#define BNO055_ACCEL_RADIUS_MSB_LEN		(8)
#define BNO055_ACCEL_RADIUS_MSB_REG		BNO055_ACCEL_RADIUS_MSB_ADDR

#define BNO055_MAG_RADIUS_LSB_POS		(0)
#define BNO055_MAG_RADIUS_LSB_MSK		(0XFF)
#define BNO055_MAG_RADIUS_LSB_LEN		(8)
#define BNO055_MAG_RADIUS_LSB_REG		BNO055_MAG_RADIUS_LSB_ADDR

#define BNO055_MAG_RADIUS_MSB_POS		(0)
#define BNO055_MAG_RADIUS_MSB_MSK		(0XFF)
#define BNO055_MAG_RADIUS_MSB_LEN		(8)
#define BNO055_MAG_RADIUS_MSB_REG		BNO055_MAG_RADIUS_MSB_ADDR

/* PAGE0 DATA REGISTERS DEFINITION END*/
/*************************************************/
/**\name PAGE1 DATA REGISTERS DEFINITION   */
/*************************************************/
/* Configuration registers*/
/* Accel range configuration register*/
#define BNO055_ACCEL_RANGE_POS		(0)
#define BNO055_ACCEL_RANGE_MSK		(0X03)
#define BNO055_ACCEL_RANGE_LEN		(2)
#define BNO055_ACCEL_RANGE_REG		BNO055_ACCEL_CONFIG_ADDR

/* Accel bandwidth configuration register*/
#define BNO055_ACCEL_BW_POS			(2)
#define BNO055_ACCEL_BW_MSK			(0X1C)
#define BNO055_ACCEL_BW_LEN			(3)
#define BNO055_ACCEL_BW_REG			BNO055_ACCEL_CONFIG_ADDR

/* Accel power mode configuration register*/
#define BNO055_ACCEL_POWER_MODE_POS		(5)
#define BNO055_ACCEL_POWER_MODE_MSK		(0XE0)
#define BNO055_ACCEL_POWER_MODE_LEN		(3)
#define BNO055_ACCEL_POWER_MODE_REG		BNO055_ACCEL_CONFIG_ADDR

/* Mag data output rate configuration register*/
#define BNO055_MAG_DATA_OUTPUT_RATE_POS		(0)
#define BNO055_MAG_DATA_OUTPUT_RATE_MSK		(0X07)
#define BNO055_MAG_DATA_OUTPUT_RATE_LEN		(3)
#define BNO055_MAG_DATA_OUTPUT_RATE_REG		BNO055_MAG_CONFIG_ADDR

/* Mag operation mode configuration register*/
#define BNO055_MAG_OPERATION_MODE_POS		(3)
#define BNO055_MAG_OPERATION_MODE_MSK		(0X18)
#define BNO055_MAG_OPERATION_MODE_LEN		(2)
#define BNO055_MAG_OPERATION_MODE_REG		BNO055_MAG_CONFIG_ADDR

/* Mag power mode configuration register*/
#define BNO055_MAG_POWER_MODE_POS		(5)
#define BNO055_MAG_POWER_MODE_MSK		(0X60)
#define BNO055_MAG_POWER_MODE_LEN		(2)
#define BNO055_MAG_POWER_MODE_REG		BNO055_MAG_CONFIG_ADDR

/* Gyro range configuration register*/
#define BNO055_GYRO_RANGE_POS		(0)
#define BNO055_GYRO_RANGE_MSK		(0X07)
#define BNO055_GYRO_RANGE_LEN		(3)
#define BNO055_GYRO_RANGE_REG		BNO055_GYRO_CONFIG_ADDR

/* Gyro bandwidth configuration register*/
#define BNO055_GYRO_BW_POS		(3)
#define BNO055_GYRO_BW_MSK		(0X38)
#define BNO055_GYRO_BW_LEN		(3)
#define BNO055_GYRO_BW_REG		BNO055_GYRO_CONFIG_ADDR

/* Gyro power mode configuration register*/
#define BNO055_GYRO_POWER_MODE_POS		(0)
#define BNO055_GYRO_POWER_MODE_MSK		(0X07)
#define BNO055_GYRO_POWER_MODE_LEN		(3)
#define BNO055_GYRO_POWER_MODE_REG		BNO055_GYRO_MODE_CONFIG_ADDR

/* Sleep configuration registers*/
/* Accel sleep mode configuration register*/
#define BNO055_ACCEL_SLEEP_MODE_POS		(0)
#define BNO055_ACCEL_SLEEP_MODE_MSK		(0X01)
#define BNO055_ACCEL_SLEEP_MODE_LEN		(1)
#define BNO055_ACCEL_SLEEP_MODE_REG		BNO055_ACCEL_SLEEP_CONFIG_ADDR

/* Accel sleep duration configuration register*/
#define BNO055_ACCEL_SLEEP_DURN_POS		(1)
#define BNO055_ACCEL_SLEEP_DURN_MSK		(0X1E)
#define BNO055_ACCEL_SLEEP_DURN_LEN		(4)
#define BNO055_ACCEL_SLEEP_DURN_REG		BNO055_ACCEL_SLEEP_CONFIG_ADDR

/* Gyro sleep duration configuration register*/
#define BNO055_GYRO_SLEEP_DURN_POS		(0)
#define BNO055_GYRO_SLEEP_DURN_MSK		(0X07)
#define BNO055_GYRO_SLEEP_DURN_LEN		(3)
#define BNO055_GYRO_SLEEP_DURN_REG		BNO055_GYRO_SLEEP_CONFIG_ADDR

/* Gyro auto sleep duration configuration register*/
#define BNO055_GYRO_AUTO_SLEEP_DURN_POS		(3)
#define BNO055_GYRO_AUTO_SLEEP_DURN_MSK		(0X38)
#define BNO055_GYRO_AUTO_SLEEP_DURN_LEN		(3)
#define BNO055_GYRO_AUTO_SLEEP_DURN_REG		BNO055_GYRO_SLEEP_CONFIG_ADDR

/* Mag sleep mode configuration register*/
#define BNO055_MAG_SLEEP_MODE_POS		(0)
#define BNO055_MAG_SLEEP_MODE_MSK		(0X01)
#define BNO055_MAG_SLEEP_MODE_LEN		(1)
#define BNO055_MAG_SLEEP_MODE_REG		BNO055_MAG_SLEEP_CONFIG_ADDR

/* Mag sleep duration configuration register*/
#define BNO055_MAG_SLEEP_DURN_POS		(1)
#define BNO055_MAG_SLEEP_DURN_MSK		(0X1E)
#define BNO055_MAG_SLEEP_DURN_LEN		(4)
#define BNO055_MAG_SLEEP_DURN_REG		BNO055_MAG_SLEEP_CONFIG_ADDR

/* Interrupt registers*/
/* Gyro any motion interrupt msk register*/
#define BNO055_GYRO_ANY_MOTION_INTR_MASK_POS		(2)
#define BNO055_GYRO_ANY_MOTION_INTR_MASK_MSK		(0X04)
#define BNO055_GYRO_ANY_MOTION_INTR_MASK_LEN		(1)
#define BNO055_GYRO_ANY_MOTION_INTR_MASK_REG		BNO055_INT_MASK_ADDR

/* Gyro high rate interrupt msk register*/
#define BNO055_GYRO_HIGHRATE_INTR_MASK_POS		(3)
#define BNO055_GYRO_HIGHRATE_INTR_MASK_MSK		(0X08)
#define BNO055_GYRO_HIGHRATE_INTR_MASK_LEN		(1)
#define BNO055_GYRO_HIGHRATE_INTR_MASK_REG		BNO055_INT_MASK_ADDR

/* Accel high g interrupt msk register*/
#define BNO055_ACCEL_HIGH_G_INTR_MASK_POS		(5)
#define BNO055_ACCEL_HIGH_G_INTR_MASK_MSK		(0X20)
#define BNO055_ACCEL_HIGH_G_INTR_MASK_LEN		(1)
#define BNO055_ACCEL_HIGH_G_INTR_MASK_REG		BNO055_INT_MASK_ADDR

/* Accel any motion interrupt msk register*/
#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_POS		(6)
#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_MSK		(0X40)
#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_LEN		(1)
#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG		BNO055_INT_MASK_ADDR

/* Accel any motion interrupt msk register*/
#define BNO055_ACCEL_NO_MOTION_INTR_MASK_POS		(7)
#define BNO055_ACCEL_NO_MOTION_INTR_MASK_MSK		(0X80)
#define BNO055_ACCEL_NO_MOTION_INTR_MASK_LEN		(1)
#define BNO055_ACCEL_NO_MOTION_INTR_MASK_REG		BNO055_INT_MASK_ADDR

/* Gyro any motion interrupt register*/
#define BNO055_GYRO_ANY_MOTION_INTR_POS		(2)
#define BNO055_GYRO_ANY_MOTION_INTR_MSK		(0X04)
#define BNO055_GYRO_ANY_MOTION_INTR_LEN		(1)
#define BNO055_GYRO_ANY_MOTION_INTR_REG		BNO055_INT_ADDR

/* Gyro high rate interrupt register*/
#define BNO055_GYRO_HIGHRATE_INTR_POS		(3)
#define BNO055_GYRO_HIGHRATE_INTR_MSK		(0X08)
#define BNO055_GYRO_HIGHRATE_INTR_LEN		(1)
#define BNO055_GYRO_HIGHRATE_INTR_REG		BNO055_INT_ADDR

/* Accel high g interrupt register*/
#define BNO055_ACCEL_HIGH_G_INTR_POS		(5)
#define BNO055_ACCEL_HIGH_G_INTR_MSK		(0X20)
#define BNO055_ACCEL_HIGH_G_INTR_LEN		(1)
#define BNO055_ACCEL_HIGH_G_INTR_REG		BNO055_INT_ADDR

/* Accel any motion interrupt register*/
#define BNO055_ACCEL_ANY_MOTION_INTR_POS		(6)
#define BNO055_ACCEL_ANY_MOTION_INTR_MSK		(0X40)
#define BNO055_ACCEL_ANY_MOTION_INTR_LEN		(1)
#define BNO055_ACCEL_ANY_MOTION_INTR_REG		BNO055_INT_ADDR

/*Accel any motion interrupt register*/
#define BNO055_ACCEL_NO_MOTION_INTR_POS		(7)
#define BNO055_ACCEL_NO_MOTION_INTR_MSK		(0X80)
#define BNO055_ACCEL_NO_MOTION_INTR_LEN		(1)
#define BNO055_ACCEL_NO_MOTION_INTR_REG		BNO055_INT_ADDR

/*Accel any motion threshold setting*/
#define BNO055_ACCEL_ANY_MOTION_THRES_POS	(0)
#define BNO055_ACCEL_ANY_MOTION_THRES_MSK	(0XFF)
#define BNO055_ACCEL_ANY_MOTION_THRES_LEN	(8)
#define BNO055_ACCEL_ANY_MOTION_THRES_REG  BNO055_ACCEL_ANY_MOTION_THRES_ADDR

/*Accel interrupt setting register*/
#define BNO055_ACCEL_ANY_MOTION_DURN_SET_POS		(0)
#define BNO055_ACCEL_ANY_MOTION_DURN_SET_MSK		(0X03)
#define BNO055_ACCEL_ANY_MOTION_DURN_SET_LEN		(2)
#define BNO055_ACCEL_ANY_MOTION_DURN_SET_REG  BNO055_ACCEL_INTR_SETTINGS_ADDR

/* Accel AM/NM axis selection register*/
#define BNO055_ACCEL_ANY_MOTION_X_AXIS_POS		(2)
#define BNO055_ACCEL_ANY_MOTION_X_AXIS_MSK		(0X04)
#define BNO055_ACCEL_ANY_MOTION_X_AXIS_LEN		(1)
#define BNO055_ACCEL_ANY_MOTION_X_AXIS_REG  BNO055_ACCEL_INTR_SETTINGS_ADDR

#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_POS		(3)
#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_MSK		(0X08)
#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_LEN		(1)
#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG  BNO055_ACCEL_INTR_SETTINGS_ADDR

#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_POS		(4)
#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_MSK		(0X10)
#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_LEN		(1)
#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG  BNO055_ACCEL_INTR_SETTINGS_ADDR

/* Accel high g axis selection register*/
#define BNO055_ACCEL_HIGH_G_X_AXIS_POS		(5)
#define BNO055_ACCEL_HIGH_G_X_AXIS_MSK		(0X20)
#define BNO055_ACCEL_HIGH_G_X_AXIS_LEN		(1)
#define BNO055_ACCEL_HIGH_G_X_AXIS_REG		BNO055_ACCEL_INTR_SETTINGS_ADDR

#define BNO055_ACCEL_HIGH_G_Y_AXIS_POS		(6)
#define BNO055_ACCEL_HIGH_G_Y_AXIS_MSK		(0X40)
#define BNO055_ACCEL_HIGH_G_Y_AXIS_LEN		(1)
#define BNO055_ACCEL_HIGH_G_Y_AXIS_REG		BNO055_ACCEL_INTR_SETTINGS_ADDR

#define BNO055_ACCEL_HIGH_G_Z_AXIS_POS		(7)
#define BNO055_ACCEL_HIGH_G_Z_AXIS_MSK		(0X80)
#define BNO055_ACCEL_HIGH_G_Z_AXIS_LEN		(1)
#define BNO055_ACCEL_HIGH_G_Z_AXIS_REG		BNO055_ACCEL_INTR_SETTINGS_ADDR

/* Accel High g duration setting register*/
#define BNO055_ACCEL_HIGH_G_DURN_POS		(0)
#define BNO055_ACCEL_HIGH_G_DURN_MSK		(0XFF)
#define BNO055_ACCEL_HIGH_G_DURN_LEN		(8)
#define BNO055_ACCEL_HIGH_G_DURN_REG		BNO055_ACCEL_HIGH_G_DURN_ADDR

/* Accel High g threshold setting register*/
#define BNO055_ACCEL_HIGH_G_THRES_POS		(0)
#define BNO055_ACCEL_HIGH_G_THRES_MSK		(0XFF)
#define BNO055_ACCEL_HIGH_G_THRES_LEN		(8)
#define BNO055_ACCEL_HIGH_G_THRES_REG		BNO055_ACCEL_HIGH_G_THRES_ADDR

/* Accel no/slow motion threshold setting*/
#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_POS		(0)
#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_MSK		(0XFF)
#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_LEN		(8)
#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG		\
BNO055_ACCEL_NO_MOTION_THRES_ADDR

/* Accel no/slow motion enable setting*/
#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_POS		(0)
#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_MSK		(0X01)
#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_LEN		(1)
#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG BNO055_ACCEL_NO_MOTION_SET_ADDR

/* Accel no/slow motion duration setting*/
#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_POS		(1)
#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_MSK		(0X7E)
#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_LEN		(6)
#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG   BNO055_ACCEL_NO_MOTION_SET_ADDR

/*Gyro interrupt setting register*/
/*Gyro any motion axis setting*/
#define BNO055_GYRO_ANY_MOTION_X_AXIS_POS		(0)
#define BNO055_GYRO_ANY_MOTION_X_AXIS_MSK		(0X01)
#define BNO055_GYRO_ANY_MOTION_X_AXIS_LEN		(1)
#define BNO055_GYRO_ANY_MOTION_X_AXIS_REG    BNO055_GYRO_INTR_SETING_ADDR

#define BNO055_GYRO_ANY_MOTION_Y_AXIS_POS		(1)
#define BNO055_GYRO_ANY_MOTION_Y_AXIS_MSK		(0X02)
#define BNO055_GYRO_ANY_MOTION_Y_AXIS_LEN		(1)
#define BNO055_GYRO_ANY_MOTION_Y_AXIS_REG    BNO055_GYRO_INTR_SETING_ADDR

#define BNO055_GYRO_ANY_MOTION_Z_AXIS_POS		(2)
#define BNO055_GYRO_ANY_MOTION_Z_AXIS_MSK		(0X04)
#define BNO055_GYRO_ANY_MOTION_Z_AXIS_LEN		(1)
#define BNO055_GYRO_ANY_MOTION_Z_AXIS_REG     BNO055_GYRO_INTR_SETING_ADDR

/*Gyro high rate axis setting*/
#define BNO055_GYRO_HIGHRATE_X_AXIS_POS		(3)
#define BNO055_GYRO_HIGHRATE_X_AXIS_MSK		(0X08)
#define BNO055_GYRO_HIGHRATE_X_AXIS_LEN		(1)
#define BNO055_GYRO_HIGHRATE_X_AXIS_REG		BNO055_GYRO_INTR_SETING_ADDR

#define BNO055_GYRO_HIGHRATE_Y_AXIS_POS		(4)
#define BNO055_GYRO_HIGHRATE_Y_AXIS_MSK		(0X10)
#define BNO055_GYRO_HIGHRATE_Y_AXIS_LEN		(1)
#define BNO055_GYRO_HIGHRATE_Y_AXIS_REG		BNO055_GYRO_INTR_SETING_ADDR

#define BNO055_GYRO_HIGHRATE_Z_AXIS_POS		(5)
#define BNO055_GYRO_HIGHRATE_Z_AXIS_MSK		(0X20)
#define BNO055_GYRO_HIGHRATE_Z_AXIS_LEN		(1)
#define BNO055_GYRO_HIGHRATE_Z_AXIS_REG		BNO055_GYRO_INTR_SETING_ADDR

/* Gyro filter setting*/
#define BNO055_GYRO_ANY_MOTION_FILTER_POS		(6)
#define BNO055_GYRO_ANY_MOTION_FILTER_MSK		(0X40)
#define BNO055_GYRO_ANY_MOTION_FILTER_LEN		(1)
#define BNO055_GYRO_ANY_MOTION_FILTER_REG    BNO055_GYRO_INTR_SETING_ADDR

#define BNO055_GYRO_HIGHRATE_FILTER_POS		(7)
#define BNO055_GYRO_HIGHRATE_FILTER_MSK		(0X80)
#define BNO055_GYRO_HIGHRATE_FILTER_LEN		(1)
#define BNO055_GYRO_HIGHRATE_FILTER_REG		BNO055_GYRO_INTR_SETING_ADDR

/* Gyro high rate X axis settings*/
#define BNO055_GYRO_HIGHRATE_X_THRES_POS		(0)
#define BNO055_GYRO_HIGHRATE_X_THRES_MSK		(0X1F)
#define BNO055_GYRO_HIGHRATE_X_THRES_LEN		(5)
#define BNO055_GYRO_HIGHRATE_X_THRES_REG    BNO055_GYRO_HIGHRATE_X_SET_ADDR

#define BNO055_GYRO_HIGHRATE_X_HYST_POS		(5)
#define BNO055_GYRO_HIGHRATE_X_HYST_MSK		(0X60)
#define BNO055_GYRO_HIGHRATE_X_HYST_LEN		(2)
#define BNO055_GYRO_HIGHRATE_X_HYST_REG		BNO055_GYRO_HIGHRATE_X_SET_ADDR

#define BNO055_GYRO_HIGHRATE_X_DURN_POS		(0)
#define BNO055_GYRO_HIGHRATE_X_DURN_MSK		(0XFF)
#define BNO055_GYRO_HIGHRATE_X_DURN_LEN		(8)
#define BNO055_GYRO_HIGHRATE_X_DURN_REG		BNO055_GYRO_DURN_X_ADDR

/* Gyro high rate Y axis settings*/
#define BNO055_GYRO_HIGHRATE_Y_THRES_POS		(0)
#define BNO055_GYRO_HIGHRATE_Y_THRES_MSK		(0X1F)
#define BNO055_GYRO_HIGHRATE_Y_THRES_LEN		(5)
#define BNO055_GYRO_HIGHRATE_Y_THRES_REG    BNO055_GYRO_HIGHRATE_Y_SET_ADDR

#define BNO055_GYRO_HIGHRATE_Y_HYST_POS		(5)
#define BNO055_GYRO_HIGHRATE_Y_HYST_MSK		(0X60)
#define BNO055_GYRO_HIGHRATE_Y_HYST_LEN		(2)
#define BNO055_GYRO_HIGHRATE_Y_HYST_REG		BNO055_GYRO_HIGHRATE_Y_SET_ADDR

#define BNO055_GYRO_HIGHRATE_Y_DURN_POS		(0)
#define BNO055_GYRO_HIGHRATE_Y_DURN_MSK		(0XFF)
#define BNO055_GYRO_HIGHRATE_Y_DURN_LEN		(8)
#define BNO055_GYRO_HIGHRATE_Y_DURN_REG		BNO055_GYRO_DURN_Y_ADDR

/* Gyro high rate Z axis settings*/
#define BNO055_GYRO_HIGHRATE_Z_THRES_POS		(0)
#define BNO055_GYRO_HIGHRATE_Z_THRES_MSK		(0X1F)
#define BNO055_GYRO_HIGHRATE_Z_THRES_LEN		(5)
#define BNO055_GYRO_HIGHRATE_Z_THRES_REG    BNO055_GYRO_HIGHRATE_Z_SET_ADDR

#define BNO055_GYRO_HIGHRATE_Z_HYST_POS		(5)
#define BNO055_GYRO_HIGHRATE_Z_HYST_MSK		(0X60)
#define BNO055_GYRO_HIGHRATE_Z_HYST_LEN		(2)
#define BNO055_GYRO_HIGHRATE_Z_HYST_REG		BNO055_GYRO_HIGHRATE_Z_SET_ADDR

#define BNO055_GYRO_HIGHRATE_Z_DURN_POS		(0)
#define BNO055_GYRO_HIGHRATE_Z_DURN_MSK		(0XFF)
#define BNO055_GYRO_HIGHRATE_Z_DURN_LEN		(8)
#define BNO055_GYRO_HIGHRATE_Z_DURN_REG		(BNO055_GYRO_DURN_Z_ADDR)

/*Gyro any motion threshold setting*/
#define BNO055_GYRO_ANY_MOTION_THRES_POS		(0)
#define BNO055_GYRO_ANY_MOTION_THRES_MSK		(0X7F)
#define BNO055_GYRO_ANY_MOTION_THRES_LEN		(7)
#define BNO055_GYRO_ANY_MOTION_THRES_REG		\
BNO055_GYRO_ANY_MOTION_THRES_ADDR

/* Gyro any motion slope sample setting*/
#define BNO055_GYRO_SLOPE_SAMPLES_POS		(0)
#define BNO055_GYRO_SLOPE_SAMPLES_MSK		(0X03)
#define BNO055_GYRO_SLOPE_SAMPLES_LEN		(2)
#define BNO055_GYRO_SLOPE_SAMPLES_REG		BNO055_GYRO_ANY_MOTION_SET_ADDR

/* Gyro awake duration setting*/
#define BNO055_GYRO_AWAKE_DURN_POS		(2)
#define BNO055_GYRO_AWAKE_DURN_MSK		(0X0C)
#define BNO055_GYRO_AWAKE_DURN_LEN		(2)
#define BNO055_GYRO_AWAKE_DURN_REG		BNO055_GYRO_ANY_MOTION_SET_ADDR

/* PAGE1 DATA REGISTERS DEFINITION END*/
/*************************************************/
/**\name GET AND SET BITSLICE FUNCTIONS    */
/*************************************************/
#define BNO055_GET_BITSLICE(regvar, bitname)\
((regvar & bitname##_MSK) >> bitname##_POS)


#define BNO055_SET_BITSLICE(regvar, bitname, val)\
((regvar & ~bitname##_MSK) | ((val<<bitname##_POS)&bitname##_MSK))
/*************************************************/
/**\name FUNCTION DECLARATION    */
/*************************************************/
/**************************************************/
/**\name INITIALIZATION AND REVISION ID 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);
/*!
 *	@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);
/*!
 *	@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);
/*!
 *	@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);
/*!
 *	@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);
/*!
 *	@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);
/*!
 *	@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);
/*!
 *	@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);
/*!
 *	@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);
/*!
 *	@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);
/*!
 *	@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);
/**************************************************/
/**\name ACCEL DATA READ FUNCTIONS */
/**************************************************/
/*!
 *	@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);
/*!
 *	@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);
/*!
 *	@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);
/*!
 *	@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);
/**************************************************/
/**\name MAG DATA READ FUNCTIONS */
/**************************************************/
/*!
 *	@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);
/*!
 *	@brief This API reads mag data y values
 *	from register 0x10 and 0x11 it is a two byte data
 *
 *
 *
 *
 *	@param mag_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_mag_y(s16 *mag_y_s16);
/*!
 *	@brief This API reads mag data z values
 *	from register 0x12 and 0x13 it is a two byte data
 *
 *
 *
 *
 *	@param mag_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_mag_z(s16 *mag_z_s16);
/*!
 *	@brief This API reads mag data xyz values
 *	from register 0x0E to 0x13 it is a six byte data
 *
 *
 *	@param mag : The mag xyz values
 *
 *	Parameter |    result
 *  --------- | -----------------
 *	 x        | The mag x data
 *	 y        | The mag y data
 *	 z        | The mag z data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_xyz(struct bno055_mag_t *mag);
/**************************************************/
/**\name GYRO DATA READ FUNCTIONS */
/**************************************************/
/*!
 *	@brief This API reads gyro data x values
 *	from register 0x14 and 0x15 it is a two byte data
 *
 *
 *
 *
 *	@param gyro_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_gyro_x(s16 *gyro_x_s16);
/*!
 *	@brief This API reads gyro data y values
 *	from register 0x16 and 0x17 it is a two byte data
 *
 *
 *
 *
 *	@param gyro_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_gyro_y(s16 *gyro_y_s16);
/*!
 *	@brief This API reads gyro data z values
 *	from register 0x18 and 0x19 it is a two byte data
 *
 *	@param gyro_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_gyro_z(s16 *gyro_z_s16);
/*!
 *	@brief This API reads gyro data xyz values
 *	from register 0x14 to 0x19 it is a six byte data
 *
 *
 *	@param 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
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_xyz(struct bno055_gyro_t *gyro);
/**************************************************/
/**\name EULER DATA READ FUNCTIONS */
/**************************************************/
/*!
 *	@brief This API reads gyro data z values
 *	from register 0x1A and 0x1B it is a two byte data
 *
 *	@param euler_h_s16 : The raw h data
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_h(s16 *euler_h_s16);
/*!
 *	@brief This API reads Euler data r values
 *	from register 0x1C and 0x1D it is a two byte data
 *
 *	@param euler_r_s16 : The raw r data
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_r(s16 *euler_r_s16);
/*!
 *	@brief This API reads Euler data p values
 *	from register 0x1E and 0x1F it is a two byte data
 *
 *	@param euler_p_s16 : The raw p data
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_p(s16 *euler_p_s16);
/*!
 *	@brief This API reads Euler data hrp values
 *	from register 0x1A to 0x1F it is a six byte data
 *
 *
 *	@param euler : The Euler hrp data's
 *
 *	Parameter |    result
 *  --------- | -----------------
 *	 h        | The Euler h data
 *	 r        | The Euler r data
 *	 p        | The Euler p data
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_hrp(
struct bno055_euler_t *euler);
/**************************************************/
/**\name QUATERNION DATA READ FUNCTIONS */
/**************************************************/
/*!
 *	@brief This API reads quaternion data w values
 *	from register 0x20 and 0x21 it is a two byte data
 *
 *	@param quaternion_w_s16 : The raw w data
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_w(
s16 *quaternion_w_s16);
/*!
 *	@brief This API reads quaternion data x values
 *	from register 0x22 and 0x23 it is a two byte data
 *
 *	@param quaternion_x_s16 : The raw x data
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_x(
s16 *quaternion_x_s16);
/*!
 *	@brief This API reads quaternion data y values
 *	from register 0x24 and 0x25 it is a two byte data
 *
 *	@param quaternion_y_s16 : The raw y data
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_y(
s16 *quaternion_y_s16);
/*!
 *	@brief This API reads quaternion data z values
 *	from register 0x26 and 0x27 it is a two byte data
 *
 *	@param quaternion_z_s16 : The raw z data
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_z(
s16 *quaternion_z_s16);
/*!
 *	@brief This API reads Quaternion data wxyz values
 *	from register 0x20 to 0x27 it is a six byte data
 *
 *
 *	@param 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
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_wxyz(
struct bno055_quaternion_t *quaternion);
/**************************************************/
/**\name LINEAR ACCEL DATA READ FUNCTIONS */
/**************************************************/
/*!
 *	@brief This API reads Linear accel data x values
 *	from register 0x29 and 0x2A it is a two byte data
 *
 *	@param linear_accel_x_s16 : The raw x data
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_x(
s16 *linear_accel_x_s16);
/*!
 *	@brief This API reads Linear accel data x values
 *	from register 0x2B and 0x2C it is a two byte data
 *
 *	@param linear_accel_y_s16 : The raw y data
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_y(
s16 *linear_accel_y_s16);
/*!
 *	@brief This API reads Linear accel data x values
 *	from register 0x2C and 0x2D it is a two byte data
 *
 *	@param linear_accel_z_s16 : The raw z data
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_z(
s16 *linear_accel_z_s16);
/*!
 *	@brief This API reads Linear accel data xyz values
 *	from register 0x28 to 0x2D it is a six byte data
 *
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 */
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_xyz(
struct bno055_linear_accel_t *linear_accel);
/**************************************************/
/**\name GRAVITY DATA READ FUNCTIONS */
/**************************************************/
/*!
 *	@brief This API reads gravity data x values
 *	from register 0x2E and 0x2F it is a two byte data
 *
 *	@param gravity_x_s16 : The raw x data
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_x(
s16 *gravity_x_s16);
/*!
 *	@brief This API reads gravity data y values
 *	from register 0x30 and 0x31 it is a two byte data
 *
 *	@param gravity_y_s16 : The raw y data
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_y(
s16 *gravity_y_s16);
/*!
 *	@brief This API reads gravity data z values
 *	from register 0x32 and 0x33 it is a two byte data
 *
 *	@param gravity_z_s16 : The raw z data
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_z(
s16 *gravity_z_s16);
/*!
  *	@brief This API reads gravity data xyz values
 *	from register 0x2E to 0x33 it is a six byte data
 *
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_xyz(
struct bno055_gravity_t *gravity);
/**************************************************/
/**\name TEMPERATURE DATA READ FUNCTIONS */
/**************************************************/
/*!
 *	@brief This API reads temperature values
 *	from register 0x33 it is a byte data
 *
 *	@param temp_s8 : The raw temperature data
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_read_temp_data(s8 *temp_s8);
#ifdef	BNO055_FLOAT_ENABLE
/********************************************************************/
/**\name FUNCTIONS FOR READING ACCEL DATA OUTPUT AS FLOAT PRECISION */
/********************************************************************/
/*!
 *	@brief This API is used to convert the accel x raw data
 *	to meterpersecseq output as float
 *
 *	@param accel_x_f : The accel x meterpersecseq data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_msq(
float *accel_x_f);
/*!
 *	@brief This API is used to convert the accel x raw data
 *	to meterpersecseq output as float
 *
 *	@param accel_y_f : The accel y meterpersecseq data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_msq(
float *accel_y_f);
/*!
 *	@brief This API is used to convert the accel z raw data
 *	to meterpersecseq output as float
 *
 *	@param accel_z_f : The accel z meterpersecseq data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_msq(
float *accel_z_f);
/*!
 *	@brief This API is used to convert the accel y raw data
 *	to millig output as float
 *
 *	@param accel_x_f : The accel y millig data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_mg(
float *accel_x_f);
/*!
 *	@brief This API is used to convert the accel y raw data
 *	to millig output as float
 *
 *	@param accel_y_f : The accel y millig data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_mg(
float *accel_y_f);
/*!
 *	@brief This API is used to convert the accel z raw data
 *	to millig output as float
 *
 *	@param accel_z_f : The accel z millig data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_mg(
float *accel_z_f);
/*!
 *	@brief This API is used to convert the accel xyz raw data
 *	to meterpersecseq output as float
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_msq(
struct bno055_accel_float_t *accel_xyz);
/*!
 *	@brief This API is used to convert the accel xyz raw data
 *	to millig output as float
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_mg(
struct bno055_accel_float_t *accel_xyz);
/********************************************************************/
/**\name FUNCTIONS FOR READING MAG DATA OUTPUT AS FLOAT PRECISION */
/********************************************************************/
/*!
 *	@brief This API is used to convert the mag x raw data
 *	to microTesla output as float
 *
 *	@param mag_x_f : The mag x microTesla data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_x_uT(
float *mag_x_f);
/*!
 *	@brief This API is used to convert the mag y raw data
 *	to microTesla output as float
 *
 *	@param mag_y_f : The mag y microTesla data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_y_uT(
float *mag_y_f);
/*!
 *	@brief This API is used to convert the mag z raw data
 *	to microTesla output as float
 *
 *	@param mag_z_f : The mag z microTesla data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_z_uT(
float *mag_z_f);
/*!
 *	@brief This API is used to convert the mag yz raw data
 *	to microTesla output as float
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_xyz_uT(
struct bno055_mag_float_t *mag_xyz_data);
/********************************************************************/
/**\name FUNCTIONS FOR READING GYRO DATA OUTPUT AS FLOAT PRECISION */
/********************************************************************/
/*!
 *	@brief This API is used to convert the gyro x raw data
 *	to dps output as float
 *
 *	@param gyro_x_f : The gyro x dps float data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_dps(
float *gyro_x_f);
/*!
 *	@brief This API is used to convert the gyro x raw data
 *	to rps output as float
 *
 *	@param gyro_x_f : The gyro x dps float data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_rps(
float *gyro_x_f);
/*!
 *	@brief This API is used to convert the gyro y raw data
 *	to dps output as float
 *
 *	@param gyro_y_f : The gyro y dps float data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_dps(
float *gyro_y_f);
/*!
 *	@brief This API is used to convert the gyro y raw data
 *	to rps output as float
 *
 *	@param gyro_y_f : The gyro y dps float data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_rps(
float *gyro_y_f);
/*!
 *	@brief This API is used to convert the gyro z raw data
 *	to dps output as float
 *
 *	@param gyro_z_f : The gyro z dps float data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_dps(
float *gyro_z_f);
/*!
 *	@brief This API is used to convert the gyro z raw data
 *	to rps output as float
 *
 *	@param gyro_z_f : The gyro z rps float data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_rps(
float *gyro_z_f);
/*!
 *	@brief This API is used to convert the gyro xyz raw data
 *	to dps output as float
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_dps(
struct bno055_gyro_float_t *gyro_xyz_data);
/*!
 *	@brief This API is used to convert the gyro xyz raw data
 *	to rps output as float
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_rps(
struct bno055_gyro_float_t *gyro_xyz_data);
/********************************************************************/
/**\name FUNCTIONS FOR READING EULER DATA OUTPUT AS FLOAT PRECISION */
/********************************************************************/
/*!
 *	@brief This API is used to convert the Euler h raw data
 *	to degree output as float
 *
 *	@param euler_h_f : The float value of Euler h degree
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_deg(
float *euler_h_f);
/*!
 *	@brief This API is used to convert the Euler h raw data
 *	to radians output as float
 *
 *	@param euler_h_f : The float value of Euler h radians
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_rad(
float *euler_h_f);
/*!
 *	@brief This API is used to convert the Euler r raw data
 *	to degree output as float
 *
 *	@param euler_r_f : The float value of Euler r degree
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_deg(
float *euler_r_f);
/*!
 *	@brief This API is used to convert the Euler r raw data
 *	to radians output as float
 *
 *	@param euler_r_f : The float value of Euler r radians
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_rad(
float *euler_r_f);
/*!
 *	@brief This API is used to convert the Euler p raw data
 *	to degree output as float
 *
 *	@param euler_p_f : The float value of Euler p degree
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_deg(
float *euler_p_f);
/*!
 *	@brief This API is used to convert the Euler p raw data
 *	to radians output as float
 *
 *	@param euler_p_f : The float value of Euler p radians
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_rad(
float *euler_p_f);
/*!
 *	@brief This API is used to convert the Euler hrp raw data
 *	to degree output as float
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_deg(
struct bno055_euler_float_t *euler_hpr);
/*!
 *	@brief This API is used to convert the Euler xyz raw data
 *	to radians output as float
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_rad(
struct bno055_euler_float_t *euler_hpr);
/***************************************************************************/
/**\name FUNCTIONS FOR READING LINEAR ACCEL DATA OUTPUT AS FLOAT PRECISION */
/**************************************************************************/
/*!
 *	@brief This API is used to convert the linear
 *	accel x raw data to meterpersecseq output as float
 *
 *	@param linear_accel_x_f : The float value of linear accel x meterpersecseq
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_x_msq(
float *linear_accel_x_f);
/*!
 *	@brief This API is used to convert the linear
 *	accel y raw data to meterpersecseq output as float
 *
 *	@param linear_accel_y_f : The float value of linear accel y meterpersecseq
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_y_msq(
float *linear_accel_y_f);
/*!
 *	@brief This API is used to convert the linear
 *	accel z raw data to meterpersecseq output as float
 *
 *	@param linear_accel_z_f : The float value of linear accel z meterpersecseq
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_z_msq(
float *linear_accel_z_f);
/*!
 *	@brief This API is used to convert the linear accel xyz raw data
 *	to meterpersecseq output as float
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_xyz_msq(
struct bno055_linear_accel_float_t *linear_accel_xyz);
/********************************************************************/
/**\name FUNCTIONS FOR READING GRAVITY DATA OUTPUT AS FLOAT PRECISION */
/********************************************************************/
/*!
 *	@brief This API is used to convert the gravity
 *	x raw data to meterpersecseq output as float
 *
 *	@param gravity_x_f : The float value of gravity x meterpersecseq
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_x_msq(
float *gravity_x_f);
/*!
 *	@brief This API is used to convert the gravity
 *	y raw data to meterpersecseq output as float
 *
 *	@param gravity_y_f : The float value of gravity y meterpersecseq
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_y_msq(
float *gravity_y_f);
/*!
 *	@brief This API is used to convert the gravity
 *	z raw data to meterpersecseq output as float
 *
 *	@param gravity_z_f : The float value of gravity z meterpersecseq
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_z_msq(
float *gravity_z_f);
/*!
 *	@brief This API is used to convert the gravity xyz raw data
 *	to meterpersecseq output as float
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gravity_xyz_msq(
struct bno055_gravity_float_t *gravity_xyz);
/**************************************************************************/
/**\name FUNCTIONS FOR READING TEMPERATURE DATA OUTPUT AS FLOAT PRECISION */
/*************************************************************************/
/*!
 *	@brief This API is used to convert the temperature
 *	data to Fahrenheit output as float
 *
 *	@param temp_f : The float value of temperature Fahrenheit
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_fahrenheit(
float *temp_f);
/*!
 *	@brief This API is used to convert the temperature
 *	data to Celsius output as float
 *
 *	@param temp_f : The float value of temperature Celsius
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_celsius(
float *temp_f);
#endif
#ifdef	BNO055_DOUBLE_ENABLE
/**************************************************************************/
/**\name FUNCTIONS FOR READING ACCEL DATA OUTPUT AS DOUBLE PRECISION */
/*************************************************************************/
/*!
 *	@brief This API is used to convert the accel x raw data
 *	to meterpersecseq output as double
 *
 *	@param accel_x_d : The accel x meterpersecseq data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_msq(
double *accel_x_d);
/*!
 *	@brief This API is used to convert the accel y raw data
 *	to meterpersecseq output as double
 *
 *	@param accel_y_d : The accel y meterpersecseq data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_msq(
double *accel_y_d);
/*!
 *	@brief This API is used to convert the accel z raw data
 *	to meterpersecseq output as double
 *
 *	@param accel_z_d : The accel z meterpersecseq data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_msq(
double *accel_z_d);
/*!
 *	@brief This API is used to convert the accel x raw data
 *	to millig output as double
 *
 *	@param accel_x_d : The accel x millig data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_mg(
double *accel_x_d);
/*!
 *	@brief This API is used to convert the accel y raw data
 *	to millig output as double
 *
 *	@param accel_y_d : The accel y millig data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_mg(
double *accel_y_d);
/*!
 *	@brief This API is used to convert the accel z raw data
 *	to millig output as double
 *
 *	@param accel_z_d : The accel z millig data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_mg(
double *accel_z_d);
/*!
 *	@brief This API is used to convert the accel xyz raw data
 *	to meterpersecseq output as double
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_msq(
struct bno055_accel_double_t *accel_xyz);
/*!
 *	@brief This API is used to convert the accel xyz raw data
 *	to millig output as double
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_mg(
struct bno055_accel_double_t *accel_xyz);
/**************************************************************************/
/**\name FUNCTIONS FOR READING MAG DATA OUTPUT AS DOUBLE PRECISION */
/*************************************************************************/
/*!
 *	@brief This API is used to convert the mag x raw data
 *	to microTesla output as double
 *
 *	@param mag_x_d : The mag x microTesla data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_x_uT(
double *mag_x_d);
/*!
 *	@brief This API is used to convert the mag x raw data
 *	to microTesla output as double
 *
 *	@param mag_y_d : The mag x microTesla data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_y_uT(
double *mag_y_d);
/*!
 *	@brief This API is used to convert the mag z raw data
 *	to microTesla output as double
 *
 *	@param mag_z_d : The mag z microTesla data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_z_uT(
double *mag_z_d);
/*!
 *	@brief This API is used to convert the mag yz raw data
 *	to microTesla output as double
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_xyz_uT(
struct bno055_mag_double_t *mag_xyz);
/**************************************************************************/
/**\name FUNCTIONS FOR READING GYRO DATA OUTPUT AS DOUBLE PRECISION */
/*************************************************************************/
/*!
 *	@brief This API is used to convert the gyro x raw data
 *	to dps output as double
 *
 *	@param gyro_x_d : The gyro x dps double data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_dps(
double *gyro_x_d);
/*!
 *	@brief This API is used to convert the gyro y raw data
 *	to dps output as double
 *
 *	@param gyro_y_d : The gyro y dps double data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_dps(
double *gyro_y_d);
/*!
 *	@brief This API is used to convert the gyro z raw data
 *	to dps output as double
 *
 *	@param gyro_z_d : The gyro z dps double data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_dps(
double *gyro_z_d);
/*!
 *	@brief This API is used to convert the gyro x raw data
 *	to rps output as double
 *
 *	@param gyro_x_d : The gyro x dps double data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_rps(
double *gyro_x_d);
/*!
 *	@brief This API is used to convert the gyro y raw data
 *	to rps output as double
 *
 *	@param gyro_y_d : The gyro y dps double data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_rps(
double *gyro_y_d);
/*!
 *	@brief This API is used to convert the gyro z raw data
 *	to rps output as double
 *
 *	@param gyro_z_d : The gyro z rps double data
 *
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_rps(
double *gyro_z_d);
/*!
 *	@brief This API is used to convert the gyro xyz raw data
 *	to dps output as double
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_dps(
struct bno055_gyro_double_t *gyro_xyz);
/*!
 *	@brief This API is used to convert the gyro xyz raw data
 *	to rps output as double
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_rps(
struct bno055_gyro_double_t *gyro_xyz);
/**************************************************************************/
/**\name FUNCTIONS FOR READING EULER DATA OUTPUT AS DOUBLE PRECISION */
/*************************************************************************/
/*!
 *	@brief This API is used to convert the Euler h raw data
 *	to degree output as double
 *
 *	@param euler_h_d : The double value of Euler h degree
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_deg(
double *euler_h_d);
/*!
 *	@brief This API is used to convert the Euler p raw data
 *	to degree output as double
 *
 *	@param euler_p_d : The double value of Euler p degree
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_deg(
double *euler_p_d);
/*!
 *	@brief This API is used to convert the Euler r raw data
 *	to degree output as double
 *
 *	@param euler_r_d : The double value of Euler r degree
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_deg(
double *euler_r_d);
/*!
 *	@brief This API is used to convert the Euler h raw data
 *	to radians output as double
 *
 *	@param euler_h_d : The double value of Euler h radians
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_rad(
double *euler_h_d);
/*!
 *	@brief This API is used to convert the Euler p raw data
 *	to radians output as double
 *
 *	@param euler_p_d : The double value of Euler p radians
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_rad(
double *euler_p_d);
/*!
 *	@brief This API is used to convert the Euler r raw data
 *	to radians output as double
 *
 *	@param euler_r_d : The double value of Euler r radians
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_rad(
double *euler_r_d);
/*!
 *	@brief This API is used to convert the Euler hpr raw data
 *	to degree output as double
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_deg(
struct bno055_euler_double_t *euler_hpr);
/*!
 *	@brief This API is used to convert the Euler hpr raw data
 *	to radians output as double
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_rad(
struct bno055_euler_double_t *euler_hpr);
/****************************************************************************/
/**\name FUNCTIONS FOR READING LINEAR ACCEL DATA OUTPUT AS DOUBLE PRECISION */
/****************************************************************************/
/*!
 *	@brief This API is used to convert the linear
 *	accel x raw data to meterpersecseq output as double
 *
 *	@param linear_accel_x_d : The double value of
 *	linear accel x meterpersecseq
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_x_msq(
double *linear_accel_x_d);
/*!
 *	@brief This API is used to convert the linear
 *	accel y raw data to meterpersecseq output as double
 *
 *	@param linear_accel_y_d : The double value of
 *	linear accel y meterpersecseq
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_y_msq(
double *linear_accel_y_d);
/*!
 *	@brief This API is used to convert the linear
 *	accel z raw data to meterpersecseq output as double
 *
 *	@param linear_accel_z_d : The double value of
 *	linear accel z meterpersecseq
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_z_msq(
double *linear_accel_z_d);
/*!
 *	@brief This API is used to convert the linear accel xyz raw data
 *	to meterpersecseq output as double
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */

BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_xyz_msq(
struct bno055_linear_accel_double_t *linear_accel_xyz);
/**************************************************************************/
/**\name FUNCTIONS FOR READING GRAVITY DATA OUTPUT AS DOUBLE PRECISION */
/*************************************************************************/
/*!
 *	@brief This API is used to convert the gravity
 *	x raw data to meterpersecseq output as double
 *
 *	@param gravity_x_d : The double value of gravity x meterpersecseq
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_x_msq(
double *gravity_x_d);
/*!
 *	@brief This API is used to convert the gravity
 *	y raw data to meterpersecseq output as double
 *
 *	@param gravity_y_d : The double value of gravity y meterpersecseq
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_y_msq(
double *gravity_y_d);
/*!
 *	@brief This API is used to convert the gravity
 *	z raw data to meterpersecseq output as double
 *
 *	@param gravity_z_d : The double value of gravity z meterpersecseq
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_z_msq(
double *gravity_z_d);
/*!
 *	@brief This API is used to convert the gravity xyz raw data
 *	to meterpersecseq output as double
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gravity_xyz_msq(
struct bno055_gravity_double_t *gravity_xyz);
/**************************************************************************/
/**\name FUNCTIONS FOR READING TEMPERATURE DATA OUTPUT AS DOUBLE PRECISION*/
/*************************************************************************/
/*!
 *	@brief This API is used to convert the temperature
 *	data to Fahrenheit output as double
 *
 *	@param temp_d : The double value of temperature Fahrenheit
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_fahrenheit(
double *temp_d);
/*!
 *	@brief This API is used to convert the temperature
 *	data to Celsius output as double
 *
 *	@param temp_d : The double value of temperature Celsius
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_celsius(
double *temp_d);
#endif
/**************************************************************************/
/**\name FUNCTIONS FOR READING ACCEL,MAG,GYRO AND SYSTEM CALIBRATION STATUS*/
/*************************************************************************/
/*!
 *	@brief This API used to read
 *	mag calibration status from register from 0x35 bit 0 and 1
 *
 *	@param mag_calib_u8 : The value of mag calib status
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_calib_stat(
u8 *mag_calib_u8);
/*!
 *	@brief This API used to read
 *	accel calibration status from register from 0x35 bit 2 and 3
 *
 *	@param accel_calib_u8 : The value of accel calib status
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_calib_stat(
u8 *accel_calib_u8);
/*!
 *	@brief This API used to read
 *	gyro calibration status from register from 0x35 bit 4 and 5
 *
 *	@param gyro_calib_u8 : The value of gyro calib status
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_calib_stat(
u8 *gyro_calib_u8);
/*!
 *	@brief This API used to read
 *	system calibration status from register from 0x35 bit 6 and 7
 *
 *	@param sys_calib_u8 : The value of system calib status
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_calib_stat(
u8 *sys_calib_u8);
/******************************************************************/
/**\name FUNCTIONS FOR READING ACCEL,MAG,GYRO AND SYSTEM SELF TEST */
/******************************************************************/
/*!
 *	@brief This API used to read
 *	self test of accel from register from 0x36 bit 0
 *
 *	@param selftest_accel_u8 : The value of self test of accel
 *
 *    selftest_accel_u8 |  result
 *   -------------------- | ---------------------
 *     0x00               | indicates test failed
 *     0x01               | indicated test passed
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_accel(
u8 *selftest_accel_u8);
/*!
 *	@brief This API used to read
 *	self test of mag from register from 0x36 bit 1
 *
 *	@param selftest_mag_u8 : The value of self test of mag
 *
 *     selftest_mag_u8  |  result
 *   -------------------- | ---------------------
 *     0x00               | indicates test failed
 *     0x01               | indicated test passed
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mag(
u8 *selftest_mag_u8);
/*!
 *	@brief This API used to read
 *	self test of gyro from register from 0x36 bit 2
 *
 *	@param selftest_gyro_u8 : The value of self test of gyro
 *
 *     selftest_gyro_u8 |  result
 *   -------------------- | ---------------------
 *     0x00               | indicates test failed
 *     0x01               | indicated test passed
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_gyro(
u8 *selftest_gyro_u8);
/*!
 *	@brief This API used to read
 *	self test of micro controller from register from 0x36 bit 3
 *
 *	@param selftest_mcu_u8 : The value of self test of micro controller
 *
 *     selftest_mcu_u8  |  result
 *   -------------------- | ---------------------
 *     0x00               | indicates test failed
 *     0x01               | indicated test passed
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mcu(
u8 *selftest_mcu_u8);
/*****************************************************/
/**\name FUNCTIONS FOR READING GYRO INTERRUPT STATUS */
/*****************************************************/
/*!
 *	@brief This API used to read the stat_s8 of
 *	gyro anymotion interrupt from register from 0x37 bit 2
 *
 *	@param gyro_any_motion_u8 : The value of gyro anymotion interrupt
 *
 *     gyro_any_motion_u8  |  result
 *    --------------------   | ---------------------
 *     0x00                  | indicates no interrupt triggered
 *     0x01                  | indicates interrupt triggered
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_any_motion(
u8 *gyro_any_motion_u8);
/*!
 *	@brief This API used to read the stat_s8 of
 *	gyro highrate interrupt from register from 0x37 bit 3
 *
 *	@param gyro_highrate_u8 : The value of gyro highrate interrupt
 *
 *     gyro_highrate_u8   |  result
 *    ------------------- | ---------------------
 *     0x00               | indicates no interrupt triggered
 *     0x01               | indicates interrupt triggered
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_highrate(
u8 *gyro_highrate_u8);
/*****************************************************/
/**\name FUNCTIONS FOR READING ACCEL INTERRUPT STATUS */
/*****************************************************/
/*!
 *	@brief This API used to read the status of
 *	accel highg interrupt from register from 0x37 bit 5
 *
 *	@param accel_high_g_u8 : The value of accel highg interrupt
 *
 *     accel_high_g_u8    |  result
 *    -------------------   | ---------------------
 *     0x00                 | indicates no interrupt triggered
 *     0x01                 | indicates interrupt triggered
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_high_g(
u8 *accel_high_g_u8);
/*!
 *	@brief This API used to read the stat_s8 of
 *	accel anymotion interrupt from register from 0x37 bit 6
 *
 *	@param accel_any_motion_u8 : The value of accel anymotion interrupt
 *
 *     accel_any_motion_u8 |  result
 *    -------------------   | ---------------------
 *     0x00                 | indicates no interrupt triggered
 *     0x01                 | indicates interrupt triggered
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_any_motion(
u8 *accel_any_motion_u8);
/*!
 *	@brief This API used to read the stat_s8 of
 *	accel nomotion/slowmotion interrupt from register from 0x37 bit 6
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_no_motion(
u8 *accel_no_motion_u8);
/**************************************************************************/
/**\name FUNCTIONS FOR READING SYSTEM CLOCK, STATUS AND BNO055_ERROR CODE */
/*************************************************************************/
/*!
 *	@brief This API is used to read status of main clock
 *	from the register 0x38 bit 0
 *
 *	@param stat_main_clk_u8 : the status of main clock
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_stat_main_clk(
u8 *stat_main_clk_u8);
/*!
 *	@brief This API is used to read system status
 *	code from the register 0x39 it is a byte of data
 *
 *	@param sys_stat_u8 : the status of system
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_stat_code(
u8 *sys_stat_u8);
/*!
 *	@brief This API is used to read system BNO055_ERROR
 *	code from the register 0x3A it is a byte of data
 *
 *	@param sys_error_u8 : The value of system BNO055_ERROR code
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_error_code(
u8 *sys_error_u8);
/********************************************/
/**\name FUNCTIONS FOR ACCEL UNIT SELECTION */
/********************************************/
/*!
 *	@brief This API used to read the accel unit
 *	from register from 0x3B bit 0
 *
 *	@param accel_unit_u8 : The value of accel unit
 *
 *    accel_unit_u8 |   result
 *   -------------    | ---------------
 *        0x00        | BNO055_ACCEL_UNIT_MSQ
 *        0x01        | BNO055_ACCEL_UNIT_MG
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_unit(
u8 *accel_unit_u8);
/*!
 *	@brief This API used to write the accel unit
 *	from register from 0x3B bit 0
 *
 *	@param accel_unit_u8 : The value of accel unit
 *
 *    accel_unit_u8 |   result
 *   -------------    | ---------------
 *        0x00        | BNO055_ACCEL_UNIT_MSQ
 *        0x01        | BNO055_ACCEL_UNIT_MG
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_unit(
u8 accel_unit_u8);
/********************************************/
/**\name FUNCTIONS FOR GYRO UNIT SELECTION */
/********************************************/
/*!
 *	@brief This API used to read the gyro unit
 *	from register from 0x3B bit 1
 *
 *	@param gyro_unit_u8 : The value of accel unit
 *
 *	gyro_unit_u8  |  result
 *	-------------   | -----------
 *    0x00          | BNO055_GYRO_UNIT_DPS
 *    0x01          | BNO055_GYRO_UNIT_RPS
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_unit(
u8 *gyro_unit_u8);
/*!
 *	@brief This API used to write the gyro unit
 *	from register from 0x3B bit 1
 *
 *	@param gyro_unit_u8 : The value of accel unit
 *
 *	gyro_unit_u8  |  result
 *	-------------   | -----------
 *    0x00          | BNO055_GYRO_UNIT_DPS
 *    0x01          | BNO055_GYRO_UNIT_RPS
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_unit(u8 gyro_unit_u8);
/********************************************/
/**\name FUNCTIONS FOR EULER UNIT SELECTION */
/********************************************/
/*!
 *	@brief This API used to read the Euler unit
 *	from register from 0x3B bit 2
 *
 *	@param euler_unit_u8 : The value of accel unit
 *
 *    euler_unit_u8 | result
 *   --------------   | -----------
 *      0x00          | BNO055_EULER_UNIT_DEG
 *      0x01          | BNO055_EULER_UNIT_RAD
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_euler_unit(
u8 *euler_unit_u8);
/*!
 *	@brief This API used to write the Euler unit
 *	from register from 0x3B bit 2
 *
 *	@param euler_unit_u8 : The value of Euler unit
 *
 *    euler_unit_u8 | result
 *   --------------   | -----------
 *      0x00          | BNO055_EULER_UNIT_DEG
 *      0x01          | BNO055_EULER_UNIT_RAD
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_euler_unit(u8 euler_unit_u8);
/********************************************/
/**\name FUNCTIONS FOR TILT UNIT SELECTION */
/********************************************/
/*!
 *	@brief This API used to write the tilt unit
 *	from register from 0x3B bit 3
 *
 *	@param tilt_unit_u8 : The value of tilt unit
 *
 *    tilt_unit_u8  | result
 *   ---------------  | ---------
 *     0x00           | degrees
 *     0x01           | radians
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_tilt_unit(
u8 *tilt_unit_u8);
/*!
 *	@brief This API used to write the tilt unit
 *	from register from 0x3B bit 3
 *
 *	@param tilt_unit_u8 : The value of tilt unit
 *
 *    tilt_unit_u8  | result
 *   ---------------  | ---------
 *     0x00           | degrees
 *     0x01           | radians
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 *
 *  \return Communication results
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_tilt_unit(
u8 tilt_unit_u8);
/**************************************************/
/**\name FUNCTIONS FOR TEMPERATURE UNIT SELECTION */
/**************************************************/
/*!
 *	@brief This API used to read the temperature unit
 *	from register from 0x3B bit 4
 *
 *	@param temp_unit_u8 : The value of temperature unit
 *
 *    temp_unit_u8  |  result
 *   -----------      | --------------
 *      0x00          | BNO055_TEMP_UNIT_CELSIUS
 *      0x01          | BNO055_TEMP_UNIT_FAHRENHEIT
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_unit(
u8 *temp_unit_u8);
/*!
 *	@brief This API used to write the temperature unit
 *	from register from 0x3B bit 4
 *
 *	@param temp_unit_u8 : The value of temperature unit
 *
 *    temp_unit_u8  |  result
 *   -----------      | --------------
 *      0x00          | BNO055_TEMP_UNIT_CELSIUS
 *      0x01          | BNO055_TEMP_UNIT_FAHRENHEIT
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_unit(
u8 temp_unit_u8);
/**************************************************/
/**\name FUNCTIONS FOR DATA OUTPUT FORMAT SELECT */
/**************************************************/
/*!
 *	@brief This API used to read the current selected orientation mode
 *	from register from 0x3B bit 7
 *
 *	@param data_output_format_u8 : The value of data output format
 *
 *	  data_output_format_u8  | result
 *   --------------------      | --------
 *    0x00                     | Windows
 *    0x01                     | Android
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_data_output_format(
u8 *data_output_format_u8);
/*!
 *	@brief This API used to read the current selected orientation mode
 *	from register from 0x3B bit 7
 *
 *	@param data_output_format_u8 : The value of data output format
 *
 *	  data_output_format_u8  | result
 *   --------------------      | --------
 *    0x00                     | Windows
 *    0x01                     | Android
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_data_output_format(
u8 data_output_format_u8);
/**************************************************/
/**\name FUNCTIONS FOR DATA OPERATION MODE  */
/**************************************************/
/*!	@brief This API used to read the operation mode
 *	from register from 0x3D bit 0 to 3
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_operation_mode(
u8 *operation_mode_u8);
/*!	@brief This API used to write the operation mode
 *	from register from 0x3D bit 0 to 3
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_operation_mode(u8 operation_mode_u8);
/**************************************************/
/**\name FUNCTIONS FOR POWER MODE  */
/**************************************************/
/*!	@brief This API used to read the power mode
 *	from register from 0x3E bit 0 to 1
 *
 *	@param power_mode_u8 : The value of power mode
 *
 * power_mode_u8|      result           | 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.
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *	@note For detailed about LOWPOWER mode
 *	refer data sheet 3.4.2
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_power_mode(
u8 *power_mode_u8);
/*!	@brief This API used to write the power mode
 *	from register from 0x3E bit 0 to 1
 *
 *	@param power_mode_u8 : The value of power mode
 *
 *
 * power_mode_u8|      result          | 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.
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *	@note For detailed about LOWPOWER mode
 *	refer data sheet 3.4.2
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_power_mode(u8 power_mode_u8);
/**************************************************/
/**\name FUNCTIONS FOR RESET INTERRUPT  */
/**************************************************/
/*!
 *	@brief This API used to read the reset interrupt
 *	from register from 0x3F bit 6
 *	It resets all the interrupt bit and interrupt output
 *
 *	@param intr_rst_u8 : The value of reset interrupt
 *
 *    intr_rst_u8 | result
 *   -------------|----------
 *     0x01       | BNO055_BIT_ENABLE
 *     0x00       | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_rst(
u8 *intr_rst_u8);
/*!
 *	@brief This API used to write the reset interrupt
 *  from register from 0x3F bit 6
 *	It resets all the interrupt bit and interrupt output
 *
 *	@param intr_rst_u8 : The value of reset interrupt
 *
 *    intr_rst_u8   | result
 *   -------------- |----------
 *     0x01         | BNO055_BIT_ENABLE
 *     0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_rst(u8 intr_rst_u8);
/**************************************************/
/**\name FUNCTIONS FOR CLOCK SOURCE  */
/**************************************************/
/*!
 *	@brief This API used to read the clk source
 *	from register from 0x3F bit 7
 *
 *	@param clk_src_u8 : The value of clk source
 *
 *	 clk_src_u8   | result
 *   -------------|----------
 *     0x01       | BNO055_BIT_ENABLE
 *     0x00       | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_clk_src(
u8 *clk_src_u8);
/*!
 *	@brief This API used to write the clk source
 *	from register from 0x3F bit 7
 *
 *	@param clk_src_u8 : The value of clk source
 *
 *	 clk_src_u8   | result
 *   -------------- |----------
 *     0x01         | BNO055_BIT_ENABLE
 *     0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_clk_src(u8 clk_src_u8);
/**************************************************/
/**\name FUNCTIONS FOR RESET SYSTEM  */
/**************************************************/
/*!
 *	@brief This API used to read the reset system
 *	from register from 0x3F bit 5
 *
 *	@param sys_rst_u8 : The value of reset system
 *
 *	 sys_rst_u8   | result
 *   -------------- |----------
 *     0x01         | BNO055_BIT_ENABLE
 *     0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *	@note It resets the whole system
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_rst(
u8 *sys_rst_u8);
/*!
 *	@brief This API used to write the reset system
 *	from register from 0x3F bit 5
 *
 *	@param sys_rst_u8 : The value of reset system
 *
 *	 sys_rst_u8   | result
 *   -------------- |----------
 *     0x01         | BNO055_BIT_ENABLE
 *     0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *	@note It resets the whole system
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_sys_rst(u8 sys_rst_u8);
/**************************************************/
/**\name FUNCTIONS FOR SELF TEST  */
/**************************************************/
/*!
 *	@brief This API used to read the self test
 *	from register from 0x3F bit 0
 *
 *	@param selftest_u8 : The value of self test
 *
 *	 selftest_u8  | result
 *   -------------- |----------
 *     0x01         | BNO055_BIT_ENABLE
 *     0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *	@note It triggers the self test
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest(
u8 *selftest_u8);
/*!
 *	@brief This API used to write the self test
 *	from register from 0x3F bit 0
 *
 *	@param selftest_u8 : The value of self test
 *
 *	 selftest_u8  | result
 *   -------------- |----------
 *     0x01         | BNO055_BIT_ENABLE
 *     0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *	@note It triggers the self test
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_selftest(u8 selftest_u8);
/**************************************************/
/**\name FUNCTIONS FOR TEMPERATURE SOURCE  */
/**************************************************/
/*!
 *	@brief This API used to read the temperature source
 *	from register from 0x40 bit 0 and 1
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_source(
u8 *temp_source_u8);
/*!
 *	@brief This API used to write the temperature source
 *	from register from 0x40 bit 0 and 1
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_source(u8 temp_source_u8);
/**************************************************/
/**\name APIs FOR AXIS REMAP  */
/**************************************************/
/*!
 *	@brief This API used to read the axis remap value
 *	from register from 0x41 bit 0 and 5
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_axis_remap_value(
u8 *remap_axis_u8);
/*!
 *	@brief This API used to write the axis remap value
 *	from register from 0x41 bit 0 and 5
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_axis_remap_value(
u8 remap_axis_u8);
/**************************************************/
/**\name APIs FOR AXIS REMAP SIGN  */
/**************************************************/
/*!
 *	@brief This API used to read the x-axis remap
 *	sign from register from 0x42 bit 2
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_x_sign(
u8 *remap_x_sign_u8);
/*!
 *	@brief This API used to write the x-axis remap
 *	sign from register from 0x42 bit 2
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_x_sign(
u8 remap_x_sign_u8);
/*!
 *	@brief This API used to read the y-axis remap
 *	sign from register from 0x42 bit 1
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_y_sign(
u8 *remap_y_sign_u8);
/*!
 *	@brief This API used to write the y-axis remap
 *	sign from register from 0x42 bit 1
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_y_sign(
u8 remap_y_sign_u8);
/*!
 *	@brief This API used to read the z-axis remap
 *	sign from register from 0x42 bit 0
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_z_sign(
u8 *remap_z_sign_u8);
/*!
 *	@brief This API used to write the z-axis remap
 *	sign from register from 0x42 bit 0
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_z_sign(
u8 remap_z_sign_u8);
/*****************************************************/
/**\name FUNCTIONS FOR SOFT IRON CALIBRATION MATRIX  */
/*****************************************************/
/*!
 *	@brief This API is used to read soft iron calibration matrix
 *	from the register 0x43 to 0x53 it is a 18 bytes of data
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *	@note : Each soft iron calibration matrix range from -32768 to +32767
 */
BNO055_RETURN_FUNCTION_TYPE bno055_read_sic_matrix(
struct bno055_sic_matrix_t  *sic_matrix);
/*!
 *	@brief This API is used to write soft iron calibration matrix
 *	from the register 0x43 to 0x53 it is a 18 bytes of data
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *	@note : Each soft iron calibration matrix range from -32768 to +32767
 */
BNO055_RETURN_FUNCTION_TYPE bno055_write_sic_matrix(
struct bno055_sic_matrix_t  *sic_matrix);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL OFFSET AND RADIUS */
/*****************************************************/
/*!
 *	@brief This API is used to read accel offset and accel radius
 *	offset form register 0x55 to 0x5A and radius form 0x67 and 0x68
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 */
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_offset(
struct bno055_accel_offset_t  *accel_offset);
/*!
 *	@brief This API is used to write accel offset and accel radius
 *	offset form register 0x55 to 0x5A and radius form 0x67 and 0x68
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 */
BNO055_RETURN_FUNCTION_TYPE bno055_write_accel_offset(
struct bno055_accel_offset_t  *accel_offset);
/*****************************************************/
/**\name FUNCTIONS FOR MAG OFFSET AND RADIUS*/
/*****************************************************/
/*!
 *	@brief This API is used to read mag offset
 *	offset form register 0x69 to 0x6A
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *	@note  The range of the magnetometer offset is +/-6400 in LSB
 */

BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_offset(
struct bno055_mag_offset_t  *mag_offset);
/*!
 *	@brief This API is used to read mag offset
 *	offset form register 0x69 to 0x6A
 *
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *	@note  The range of the magnetometer offset is +/-6400 in LSB
 */
BNO055_RETURN_FUNCTION_TYPE bno055_write_mag_offset(
struct bno055_mag_offset_t  *mag_offset);
/*****************************************************/
/**\name FUNCTIONS FOR GYRO OFFSET */
/*****************************************************/
/*!
 *	@brief This API is used to read gyro offset
 *	offset form register 0x61 to 0x66
 *
 *	@param gyro_offset : The value of gyro offset
 *
 *	    bno055_gyro_offset_t  |     result
 *      ------------------- | ----------------
 *	             x          |  gyro offset x
 *               y          |  gyro offset y
 *	             z          |  gyro offset z
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 */
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_offset(
struct bno055_gyro_offset_t  *gyro_offset);
/*!
 *	@brief This API is used to read gyro offset
 *	offset form register 0x61 to 0x66
 *
 *	@param gyro_offset : The value of gyro offset
 *
 *	    bno055_gyro_offset_t  |     result
 *      ------------------- | ----------------
 *	             x          |  gyro offset x
 *               y          |  gyro offset y
 *	             z          |  gyro offset z
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 */
BNO055_RETURN_FUNCTION_TYPE bno055_write_gyro_offset(
struct bno055_gyro_offset_t *gyro_offset);
/********************************************************/
/************** PAGE1 Functions *********************/
/********************************************************/
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL CONFIGURATION */
/*****************************************************/
/*!
 *	@brief This API used to read the accel range
 *	from page one register from 0x08 bit 0 and 1
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_range(
u8 *accel_range_u8);
/*!
 *	@brief This API used to write the accel range
 *	from page one register from 0x08 bit 0 and 1
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_range(
u8 accel_range_u8);
/*!
 *	@brief This API used to read the accel bandwidth
 *	from page one register from 0x08 bit 2 to 4
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_bw(
u8 *accel_bw_u8);
/*!
 *	@brief This API used to write the accel bandwidth
 *	from page one register from 0x08 bit 2 to 4
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_bw(
u8 accel_bw_u8);
/*!
 *	@brief This API used to read the accel power mode
 *	from page one register from 0x08 bit 5 to 7
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_power_mode(
u8 *accel_power_mode_u8);
/*!
 *	@brief This API used to write the accel power mode
 *	from page one register from 0x08 bit 5 to 7
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_power_mode(
u8 accel_power_mode_u8);
/*****************************************************/
/**\name FUNCTIONS FOR MAG CONFIGURATION */
/*****************************************************/
/*!
 *	@brief This API used to read the mag output data rate
 *	from page one register from 0x09 bit 0 to 2
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_data_output_rate(
u8 *mag_data_output_rate_u8);
/*!
 *	@brief This API used to write the mag output data rate
 *	from page one register from 0x09 bit 0 to 2
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_data_output_rate(
u8 mag_data_output_rate_u8);
/*!
 *	@brief This API used to read the mag operation mode
 *	from page one register from 0x09 bit 3 to 4
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_operation_mode(
u8 *mag_operation_mode_u8);
/*!
 *	@brief This API used to write the mag operation mode
 *	from page one register from 0x09 bit 3 to 4
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_operation_mode(
u8 mag_operation_mode_u8);
/*!
 *	@brief This API used to read the mag power mode
 *	from page one register from 0x09 bit 4 to 6
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_power_mode(
u8 *mag_power_mode_u8);
/*!
 *	@brief This API used to write the mag power mode
 *	from page one register from 0x09 bit 4 to 6
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_power_mode(
u8 mag_power_mode_u8);
/*****************************************************/
/**\name FUNCTIONS FOR GYRO CONFIGURATION */
/*****************************************************/
/*!
 *	@brief This API used to read the gyro range
 *	from page one register from 0x0A bit 0 to 3
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_range(
u8 *gyro_range_u8);
/*!
 *	@brief This API used to write the gyro range
 *	from page one register from 0x0A bit 0 to 3
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_range(
u8 gyro_range_u8);
/*!
 *	@brief This API used to read the gyro bandwidth
 *	from page one register from 0x0A bit 3 to 5
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_bw(
u8 *gyro_bw_u8);
/*!
 *	@brief This API used to write the gyro bandwidth
 *	from page one register from 0x0A bit 3 to 5
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_bw(
u8 gyro_bw_u8);
/*!
 *	@brief This API used to read the gyro power mode
 *	from page one register from 0x0B bit 0 to 2
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_power_mode(
u8 *gyro_power_mode_u8);
/*!
 *	@brief This API used to write the gyro power mode
 *	from page one register from 0x0B bit 0 to 2
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_power_mode(
u8 gyro_power_mode_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL SLEEP SETTINGS  */
/*****************************************************/
/*!
 *	@brief This API used to read the accel sleep mode
 *	from page one register from 0x0C bit 0
 *
 *	@param sleep_tmr_u8 : The value of accel sleep mode
 *
 *  sleep_tmr_u8   |   result
 * ----------------- |------------------------------------
 *     0x00          | enable EventDrivenSampling(EDT)
 *     0x01          | enable Equidistant sampling mode(EST)
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_tmr_mode(
u8 *sleep_tmr_u8);
/*!
 *	@brief This API used to write the accel sleep mode
 *	from page one register from 0x0C bit 0
 *
 *	@param sleep_tmr_u8 : The value of accel sleep mode
 *
 *  sleep_tmr_u8   |   result
 * ----------------- |------------------------------------
 *     0x00          | enable EventDrivenSampling(EDT)
 *     0x01          | enable Equidistant sampling mode(EST)
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_tmr_mode(
u8 sleep_tmr_u8);
/*!
 *	@brief This API used to read the accel sleep duration
 *	from page one register from 0x0C bit 1 to 4
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_durn(
u8 *sleep_durn_u8);
/*!
 *	@brief This API used to write the accel sleep duration
 *	from page one register from 0x0C bit 1 to 4
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_durn(
u8 sleep_durn_u8);
/*****************************************************/
/**\name FUNCTIONS FOR GYRO SLEEP SETTINGS  */
/*****************************************************/
/*!
 *	@brief This API used to write the gyro sleep duration
 *	from page one register from 0x0D bit 0 to 2
 *
 *	@param sleep_durn_u8 : The value of gyro sleep duration
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_sleep_durn(
u8 *sleep_durn_u8);
/*!
 *	@brief This API used to write the gyro sleep duration
 *	from page one register from 0x0D bit 0 to 2
 *
 *	@param sleep_durn_u8 : The value of gyro sleep duration
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_sleep_durn(
u8 sleep_durn);
/*!
 *	@brief This API used to read the gyro auto sleep duration
 *	from page one register from 0x0D bit 3 to 5
 *
 *	@param auto_sleep_durn_u8 : The value of gyro auto sleep duration
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_auto_sleep_durn(
u8 *auto_sleep_durn_u8);
/*!
 *	@brief This API used to write the gyro auto sleep duration
 *	from page one register from 0x0D bit 3 to 5
 *
 *	@param auto_sleep_durn_u8 : The value of gyro auto sleep duration
 *	@param bw : The value of gyro bandwidth
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_gyro_set_auto_sleep_durn(
u8 auto_sleep_durn_u8, u8 bw);
/*****************************************************/
/**\name FUNCTIONS FOR MAG SLEEP SETTINGS  */
/*****************************************************/
/*!
 *	@brief This API used to read the mag sleep mode
 *	from page one register from 0x0E bit 0
 *
 *	@param sleep_mode_u8 : The value of mag sleep mode
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_mode(
u8 *sleep_mode_u8);
/*!
 *	@brief This API used to write the mag sleep mode
 *	from page one register from 0x0E bit 0
 *
 *	@param sleep_mode_u8 : The value of mag sleep mode
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_mode(
u8 sleep_mode_u8);
/*!
 *	@brief This API used to read the mag sleep duration
 *	from page one register from 0x0E bit 1 to 4
 *
 *	@param sleep_durn_u8 : The value of mag sleep duration
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_durn(
u8 *sleep_durn_u8);
/*!
 *	@brief This API used to write the mag sleep duration
 *	from page one register from 0x0E bit 1 to 4
 *
 *	@param sleep_durn_u8 : The value of mag sleep duration
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_durn(
u8 sleep_durn_u8);
/*****************************************************/
/**\name FUNCTIONS FOR GYRO INTERRUPT MASK  */
/*****************************************************/
/*!
 *	@brief This API used to read the gyro anymotion interrupt mask
 *	from page one register from 0x0F bit 2
 *
 *	@param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask
 *		gyro_any_motion_u8 |   result
 *     --------------------  |------------
 *              0x01         | BNO055_BIT_ENABLE
 *              0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_any_motion(
u8 *gyro_any_motion_u8);
/*!
 *	@brief This API used to write the gyro anymotion interrupt mask
 *	from page one register from 0x0F bit 2
 *
 *	@param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask
 *		gyro_any_motion_u8 |   result
 *     --------------------  |------------
 *              0x01         | BNO055_BIT_ENABLE
 *              0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_any_motion(
u8 gyro_any_motion_u8);
/*!
 *	@brief This API used to read the gyro highrate interrupt mask
 *	from page one register from 0x0F bit 3
 *
 *	@param gyro_highrate_u8 : The value of gyro highrate interrupt mask
 *		  gyro_highrate_u8 |  result
 *     --------------------  |------------
 *              0x01         | BNO055_BIT_ENABLE
 *              0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_highrate(
u8 *gyro_highrate_u8);
/*!
 *	@brief This API used to write the gyro highrate interrupt mask
 *	from page one register from 0x0F bit 3
 *
 *	@param gyro_highrate_u8 : The value of gyro highrate interrupt mask
 *		  gyro_highrate_u8 |  result
 *     --------------------  |------------
 *              0x01         | BNO055_BIT_ENABLE
 *              0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_highrate(
u8 gyro_highrate_u8);
/*****************************************************/
/**\name APIs FOR ACCEL INTERRUPT MASK  */
/*****************************************************/
/*!
 *	@brief This API used to read the accel highg interrupt mask
 *	from page one register from 0x0F bit 5
 *
 *	@param accel_high_g_u8 : The value of accel highg interrupt mask
 *		   accel_high_g_u8 |   result
 *     --------------------  |------------
 *              0x01         | BNO055_BIT_ENABLE
 *              0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_high_g(
u8 *accel_high_g_u8);
/*!
 *	@brief This API used to write the accel highg interrupt mask
 *	from page one register from 0x0F bit 5
 *
 *	@param accel_high_g_u8 : The value of accel highg interrupt mask
 *		   accel_high_g_u8 |   result
 *     --------------------  |------------
 *              0x01         | BNO055_BIT_ENABLE
 *              0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_high_g(
u8 accel_high_g_u8);
/*!
 *	@brief This API used to read the accel anymotion interrupt mask
 *	from page one register from 0x0F bit 6
 *
 *	@param accel_any_motion_u8 : The value of accel anymotion interrupt mask
 *     accel_any_motion_u8 | result
 *     --------------------  |------------
 *              0x01         | BNO055_BIT_ENABLE
 *              0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_any_motion(
u8 *accel_any_motion_u8);
/*!
 *	@brief This API used to write the accel anymotion interrupt mask
 *	from page one register from 0x0F bit 6
 *
 *	@param accel_any_motion_u8 : The value of accel anymotion interrupt mask
 *     accel_any_motion_u8 | result
 *     --------------------  |------------
 *              0x01         | BNO055_BIT_ENABLE
 *              0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_any_motion(
u8 accel_any_motion_u8);
/*!
 *	@brief This API used to read the accel nomotion interrupt mask
 *	from page one register from 0x0F bit 7
 *
 *	@param accel_nomotion_u8 : The value of accel nomotion interrupt mask
 *     accel_nomotion_u8   | result
 *     --------------------  |------------
 *              0x01         | BNO055_BIT_ENABLE
 *              0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 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())
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_no_motion(
u8 *accel_nomotion_u8);
/*!
 *	@brief This API used to write the accel nomotion interrupt mask
 *	from page one register from 0x0F bit 7
 *
 *	@param accel_nomotion_u8 : The value of accel nomotion interrupt mask
 *     accel_nomotion_u8   | result
 *     --------------------  |------------
 *              0x01         | BNO055_BIT_ENABLE
 *              0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_no_motion(
u8 accel_nomotion_u8);
/*****************************************************/
/**\name FUNCTIONS FOR GYRO INTERRUPT */
/*****************************************************/
/*!
 *	@brief This API used to read the gyro anymotion interrupt
 *	from page one register from 0x10 bit 2
 *
 *	@param gyro_any_motion_u8 : The value of gyro anymotion interrupt
 *		gyro_any_motion_u8 | result
 *     --------------------  |------------
 *              0x01         | BNO055_BIT_ENABLE
 *              0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_any_motion(
u8 *gyro_any_motion_u8);
/*!
 *	@brief This API used to write the gyro anymotion interrupt
 *	from page one register from 0x10 bit 2
 *
 *	@param gyro_any_motion_u8 : The value of gyro anymotion interrupt
 *	  gyro_any_motion_u8   | result
 *     --------------------  |------------
 *              0x01         | BNO055_BIT_ENABLE
 *              0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_any_motion(
u8 gyro_any_motion_u8);
/*!
 *	@brief This API used to read the gyro highrate interrupt
 *	from page one register from 0x10 bit 3
 *
 *	@param gyro_highrate_u8 : The value of gyro highrate interrupt
 *		gyro_highrate_u8   | result
 *     --------------------  |------------
 *              0x01         | BNO055_BIT_ENABLE
 *              0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_highrate(
u8 *gyro_highrate_u8);
/*!
 *	@brief This API used to write the gyro highrate interrupt
 *	from page one register from 0x10 bit 3
 *
 *	@param gyro_highrate_u8 : The value of gyro highrate interrupt
 *		gyro_highrate_u8   | result
 *     --------------------  |------------
 *              0x01         | BNO055_BIT_ENABLE
 *              0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_highrate(
u8 gyro_highrate_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL INTERRUPT  */
/*****************************************************/
/*!
 *	@brief This API used to read the accel highg interrupt
 *	from page one register from 0x10 bit 5
 *
 *	@param accel_high_g_u8 : The value of accel highg interrupt
 *		accel_high_g_u8    | result
 *     --------------------  |------------
 *              0x01         | BNO055_BIT_ENABLE
 *              0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_high_g(
u8 *accel_high_g_u8);
/*!
 *	@brief This API used to write the accel highg interrupt
 *	from page one register from 0x10 bit 5
 *
 *	@param accel_high_g_u8 : The value of accel highg interrupt
 *		accel_high_g_u8    | result
 *     --------------------  |------------
 *              0x01         | BNO055_BIT_ENABLE
 *              0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_high_g(
u8 accel_high_g_u8);
/*!
 *	@brief This API used to read the accel anymotion interrupt
 *	from page one register from 0x10 bit 6
 *
 *	@param accel_any_motion_u8 : The value of accel anymotion interrupt
 *	accel_any_motion_u8    | result
 *     --------------------  |------------
 *              0x01         | BNO055_BIT_ENABLE
 *              0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_any_motion(
u8 *accel_any_motion_u8);
/*!
 *	@brief This API used to write the accel anymotion interrupt
 *	from page one register from 0x10 bit 6
 *
 *	@param accel_any_motion_u8 : The value of accel anymotion interrupt
 *	accel_any_motion_u8    | result
 *     --------------------  |------------
 *              0x01         | BNO055_BIT_ENABLE
 *              0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_any_motion(
u8 accel_any_motion_u8);
/*!
 *	@brief This API used to read the accel nomotion interrupt
 *	from page one register from 0x10 bit 6
 *
 *	@param accel_nomotion_u8 : The value of accel nomotion interrupt
 *	  accel_nomotion_u8    | result
 *     --------------------  |------------
 *              0x01         | BNO055_BIT_ENABLE
 *              0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_no_motion(
u8 *accel_nomotion_u8);
/*!
 *	@brief This API used to write the accel nomotion interrupt
 *	from page one register from 0x10 bit 6
 *
 *	@param accel_nomotion_u8 : The value of accel nomotion interrupt
 *	  accel_nomotion_u8    | result
 *     --------------------  |------------
 *              0x01         | BNO055_BIT_ENABLE
 *              0x00         | BNO055_BIT_DISABLE
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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()
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_no_motion(
u8 accel_nomotion_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL ANY_MOTION THRESHOLD  */
/*****************************************************/
/*!
 *	@brief This API used to read the accel any motion threshold
 *	from page one register from 0x11 bit 0 to 7
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_thres(
u8 *accel_any_motion_thres_u8);
/*!
 *	@brief This API used to write the accel any motion threshold
 *	from page one register from 0x11 bit 0 to 7
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_thres(
u8 accel_any_motion_thres_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL ANY_MOTION DURATION  */
/*****************************************************/
/*!
 *	@brief This API used to read the accel anymotion duration
 *	from page one register from 0x12 bit 0 to 1
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_durn(
u8 *accel_any_motion_durn_u8);
/*!
 *	@brief This API used to write the accel anymotion duration
 *	from page one register from 0x12 bit 0 to 1
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_durn(
u8 accel_any_motion_durn_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL ANY_MOTION AXIS ENABLE  */
/*****************************************************/
/*!
 *	@brief This API used to read the accel anymotion enable
 *	from page one register from 0x12 bit 2 to 4
 *
 *	@param data_u8 : The value of accel anymotion enable
 *	   data_u8 | result
 *  ------------ | -------------
 *      0x01     | BNO055_BIT_ENABLE
 *      0x00     | BNO055_BIT_DISABLE
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_no_motion_axis_enable(
u8 channel_u8, u8 *data_u8);
/*!
 *	@brief This API used to write the accel anymotion enable
 *	from page one register from 0x12 bit 2 to 4
 *
 *	@param data_u8 : The value of accel anymotion enable
 *	   data_u8 | result
 *  ------------ | -------------
 *      0x01     | BNO055_BIT_ENABLE
 *      0x00     | BNO055_BIT_DISABLE
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_no_motion_axis_enable(
u8 channel_u8, u8 data_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL HIGHG AXIS ENABLE  */
/*****************************************************/
/*!
 *	@brief This API used to read the accel highg enable
 *	from page one register from 0x12 bit 5 to 7
 *
 *	@param data_u8 : The value of accel highg enable
 *      data_u8| result
 *  ------------ | -------------
 *      0x01     | BNO055_BIT_ENABLE
 *      0x00     | BNO055_BIT_DISABLE
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_axis_enable(
u8 channel_u8, u8 *data_u8);
/*!
 *	@brief This API used to write the accel highg enable
 *	from page one register from 0x12 bit 5 to 7
 *
 *	@param data_u8 : The value of accel highg enable
 *      data_u8| result
 *  ------------ | -------------
 *      0x01     | BNO055_BIT_ENABLE
 *      0x00     | BNO055_BIT_DISABLE
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_axis_enable(
u8 channel_u8, u8 data_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL HIGHG DURATION */
/*****************************************************/
/*!
 *	@brief This API used to read the accel highg duration
 *	from page one register from 0x13 bit 0 to 7
 *
 *	@param accel_high_g_durn_u8 : The value of accel highg duration
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_durn(
u8 *accel_high_g_durn_u8);
/*!
 *	@brief This API used to write the accel highg duration
 *	from page one register from 0x13 bit 0 to 7
 *
 *	@param accel_high_g_durn_u8 : The value of accel highg duration
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_durn(
u8 accel_high_g_durn_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL HIGHG THRESHOLD */
/*****************************************************/
/*!
 *	@brief This API used to read the accel highg threshold
 *	from page one register from 0x14 bit 0 to 7
 *
 *	@param accel_high_g_thres_u8 : The value of accel highg threshold
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_thres(
u8 *accel_high_g_thres_u8);
/*!
 *	@brief This API used to write the accel highg threshold
 *	from page one register from 0x14 bit 0 to 7
 *
 *	@param accel_high_g_thres_u8 : The value of accel highg threshold
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_thres(
u8 accel_high_g_thres_u8);
/**************************************************************/
/**\name FUNCTIONS FOR ACCEL SLOWNOMOTION THRESHOLD */
/**************************************************************/
/*!
 *	@brief This API used to read the accel slownomotion threshold
 *	from page one register from 0x15 bit 0 to 7
 *
 *	@param accel_slow_no_motion_thres_u8 :
 *	The value of accel slownomotion threshold
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_thres(
u8 *accel_slow_no_motion_thres_u8);
/*!
 *	@brief This API used to write the accel slownomotion threshold
 *	from page one register from 0x15 bit 0 to 7
 *
 *	@param accel_slow_no_motion_thres_u8 :
 *	The value of accel slownomotion threshold
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_thres(
u8 accel_slow_no_motion_thres_u8);
/**************************************************************/
/**\name FUNCTIONS FOR ACCEL SLOWNOMOTION ENABLE */
/**************************************************************/
/*!
 *	@brief This API used to read accel slownomotion enable
 *	from page one register from 0x16 bit 0
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_enable(
u8 *accel_slow_no_motion_en_u8);
/*!
 *	@brief This API used to write accel slownomotion enable
 *	from page one register from 0x16 bit 0
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_enable(
u8 accel_slow_no_motion_en_u8);
/**************************************************************/
/**\name FUNCTIONS FOR ACCEL SLOWNOMOTION DURATION */
/**************************************************************/
/*!
 *	@brief This API used to read accel slownomotion duration
 *	from page one register from 0x16 bit 1 to 6
 *
 *	@param accel_slow_no_motion_durn_u8 :
 *	The value of accel slownomotion duration
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_durn(
u8 *accel_slow_no_motion_durn_u8);
/*!
 *	@brief This API used to write accel slownomotion duration
 *	from page one register from 0x16 bit 1 to 6
 *
 *	@param accel_slow_no_motion_durn_u8 :
 *	The value of accel slownomotion duration
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_durn(
u8 accel_slow_no_motion_durn_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO ANY_MOTION AXIS ENABLE */
/**************************************************************/
/*!
 *	@brief This API used to read the gyro anymotion enable
 *	from page one register from 0x17 bit 0 to 2
 *
 *	@param data_u8 : The value of gyro anymotion enable
 *      data_u8     | result
 *  ----------------- |-------------
 *      0x01          | BNO055_BIT_ENABLE
 *      0x00          | BNO055_BIT_DISABLE
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_axis_enable(
u8 channel_u8, u8 *data_u8);
/*!
 *	@brief This API used to write the gyro anymotion enable
 *	from page one register from 0x17 bit 0 to 2
 *
 *	@param data_u8 : The value of gyro anymotion enable
 *      data_u8     | result
 *  ----------------- |-------------
 *      0x01          | BNO055_BIT_ENABLE
 *      0x00          | BNO055_BIT_DISABLE
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_axis_enable(
u8 channel_u8, u8  data_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE ENABLE */
/**************************************************************/
/*!
 *	@brief This API used to read the gyro highrate enable
 *	from page one register from 0x17 bit 3 to 5
 *
 *	@param data_u8 : The value of gyro highrate enable
 *      data_u8     | result
 *  ----------------  |-------------
 *      0x01          | BNO055_BIT_ENABLE
 *      0x00          | BNO055_BIT_DISABLE
 *	@param 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
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_axis_enable(
u8 channel_u8, u8 *data_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE AXIS ENABLE */
/**************************************************************/
/*!
 *	@brief This API used to write the gyro highrate enable
 *	from page one register from 0x17 bit 3 to 5
 *
 *	@param data_u8 : The value of gyro highrate enable
 *      data_u8     | result
 *  ----------------  |-------------
 *      0x01          | BNO055_BIT_ENABLE
 *      0x00          | BNO055_BIT_DISABLE
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_axis_enable(
u8 channel_u8, u8 data_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO ANY_MOTION FILTER */
/**************************************************************/
/*!
 *	@brief This API used to read gyro anymotion filter
 *	from page one register from 0x17 bit 6
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_filter(
u8 *gyro_any_motion_filter_u8);
/*!
 *	@brief This API used to write gyro anymotion filter
 *	from page one register from 0x17 bit 6
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_filter(
u8 gyro_any_motion_filter_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE FILTER */
/**************************************************************/
/*!
 *	@brief This API used to read gyro highrate filter
 *	from page one register from 0x17 bit 7
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_filter(
u8 *gyro_highrate_filter_u8);
/*!
 *	@brief This API used to write gyro highrate filter
 *	from page one register from 0x17 bit 7
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_filter(
u8 gyro_highrate_filter_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE X THRESHOLD */
/**************************************************************/
/*!
 *	@brief This API used to read gyro highrate x threshold
 *	from page one register from 0x18 bit 0 to 4
 *
 *	@param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_thres(
u8 *gyro_highrate_x_thres_u8);
/*!
 *	@brief This API used to write gyro highrate x threshold
 *	from page one register from 0x18 bit 0 to 4
 *
 *	@param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_thres(
u8 gyro_highrate_x_thres_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE X HYSTERESIS */
/**************************************************************/
/*!
 *	@brief This API used to read gyro highrate x hysteresis
 *	from page one register from 0x18 bit 5 to 6
 *
 *	@param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_hyst(
u8 *gyro_highrate_x_hyst_u8);
/*!
 *	@brief This API used to write gyro highrate x hysteresis
 *	from page one register from 0x18 bit 5 to 6
 *
 *	@param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_hyst(
u8 gyro_highrate_x_hyst_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE X DURATION */
/**************************************************************/
/*!
 *	@brief This API used to read gyro highrate x duration
 *	from page one register from 0x19 bit 0 to 7
 *
 *	@param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *	@note Gyro highrate duration calculate by using the formula
 *
 *	(1 + gyro_highrate_x_durn_u8)*2.5ms
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_durn(
u8 *gyro_highrate_x_durn_u8);
/*!
 *	@brief This API used to write gyro highrate x duration
 *	from page one register from 0x19 bit 0 to 7
 *
 *	@param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *	@note Gyro highrate duration calculate by using the formula
 *
 *	(1 + gyro_highrate_x_durn_u8)*2.5ms
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_durn(
u8 gyro_highrate_x_durn_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE Y THRESHOLD */
/**************************************************************/
/*!
 *	@brief This API used to read gyro highrate y threshold
 *	from page one register from 0x1A bit 0 to 4
 *
 *	@param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_thres(
u8 *gyro_highrate_y_thres_u8);
/*!
 *	@brief This API used to write gyro highrate y threshold
 *	from page one register from 0x1A bit 0 to 4
 *
 *	@param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_thres(
u8 gyro_highrate_y_thres_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE Y HYSTERESIS */
/**************************************************************/
/*!
 *	@brief This API used to read gyro highrate y hysteresis
 *	from page one register from 0x1A bit 5 to 6
 *
 *	@param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_hyst(
u8 *gyro_highrate_y_hyst_u8);
/*!
 *	@brief This API used to write gyro highrate y hysteresis
 *	from page one register from 0x1A bit 5 to 6
 *
 *	@param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_hyst(
u8 gyro_highrate_y_hyst_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE Y DURATION */
/**************************************************************/
/*!
 *	@brief This API used to read gyro highrate y duration
 *	from page one register from 0x1B bit 0 to 7
 *
 *	@param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *	@note Gyro highrate duration calculate by using the formula
 *
 *	(1 + gyro_highrate_y_durn_u8)*2.5ms
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_durn(
u8 *gyro_highrate_y_durn_u8);
/*!
 *	@brief This API used to write gyro highrate y duration
 *	from page one register from 0x1B bit 0 to 7
 *
 *	@param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *	@note Gyro highrate duration calculate by using the formula
 *
 *	(1 + gyro_highrate_y_durn_u8)*2.5ms
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_durn(
u8 gyro_highrate_y_durn_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE Z THRESHOLD */
/**************************************************************/
/*!
 *	@brief This API used to read gyro highrate z threshold
 *	from page one register from 0x1C bit 0 to 4
 *
 *	@param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_thres(
u8 *gyro_highrate_z_thres_u8);
/*!
 *	@brief This API used to write gyro highrate z threshold
 *	from page one register from 0x1C bit 0 to 4
 *
 *	@param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_thres(
u8 gyro_highrate_z_thres_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE Z HYSTERESIS */
/**************************************************************/
/*!
 *	@brief This API used to read gyro highrate z hysteresis
 *	from page one register from 0x1C bit 5 to 6
 *
 *	@param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_hyst(
u8 *gyro_highrate_z_hyst_u8);
/*!
 *	@brief This API used to write gyro highrate z hysteresis
 *	from page one register from 0x1C bit 5 to 6
 *
 *	@param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_hyst(
u8 gyro_highrate_z_hyst_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE Z DURATION */
/**************************************************************/
/*!
 *	@brief This API used to read gyro highrate z duration
 *	from page one register from 0x1D bit 0 to 7
 *
 *	@param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *	@note Gyro highrate duration calculate by using the formula
 *
 *	(1 + gyro_highrate_z_durn_u8)*2.5ms
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_durn(
u8 *gyro_highrate_z_durn_u8);
/*!
 *	@brief This API used to write gyro highrate z duration
 *	from page one register from 0x1D bit 0 to 7
 *
 *	@param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 *	@note Gyro highrate duration calculate by using the formula
 *
 *	(1 + gyro_highrate_z_durn_u8)*2.5ms
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_durn(
u8 gyro_highrate_z_durn_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO ANY_MOTION THRESHOLD */
/**************************************************************/
/*!
 *	@brief This API used to read gyro anymotion threshold
 *	from page one register from 0x1E bit 0 to 6
 *
 *	@param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_thres(
u8 *gyro_any_motion_thres_u8);
/*!
 *	@brief This API used to write gyro anymotion threshold
 *	from page one register from 0x1E bit 0 to 6
 *
 *	@param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 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
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_thres(
u8 gyro_any_motion_thres_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO ANY_MOTION SLOPE SAMPLES */
/**************************************************************/
/*!
 *	@brief This API used to read gyro anymotion slope samples
 *	from page one register from 0x1F bit 0 to 1
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_slope_samples(
u8 *gyro_any_motion_slope_samples_u8);
/*!
 *	@brief This API used to write gyro anymotion slope samples
 *	from page one register from 0x1F bit 0 to 1
 *
 *	@param 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
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_slope_samples(
u8 gyro_any_motion_slope_samples_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO ANY_MOTION AWAKE DURATION */
/**************************************************************/
/*!
 *	@brief This API used to read gyro anymotion awake duration
 *	from page one register from 0x1F bit 2 to 3
 *
 *	@param gyro_awake_durn_u8 : The value of gyro anymotion awake duration
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_awake_durn(
u8 *gyro_awake_durn_u8);
/*!
 *	@brief This API used to write gyro anymotion awake duration
 *	from page one register from 0x1F bit 2 to 3
 *
 *	@param gyro_awake_durn_u8 : The value of gyro anymotion awake duration
 *
 *	@return results of bus communication function
 *	@retval 0 -> BNO055_SUCCESS
 *	@retval 1 -> BNO055_ERROR
 *
 */
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_awake_durn(
u8 gyro_awake_durn_u8);
#endif