BNO055 Calibration with bno055.c driver

To whom it may concern,

I use the bno055 sensor and i would like to calibrate it.

To do this, I use a STM32 as brain, as well as the provided bno055.c driver and I communicate in I2C between them.

And I don't know how to do to calibrate the sensor.I read the documentation of the sensor on the calibration, I watch the video on the calibration of the sensor that bosch has done. But in the video you use a software

At this time, I made this code :

u8 sys_stat = 0, accel_stat = 0, gyro_stat = 0, mag_stat = 0;

bno055_reset_sensor(); //function which applies a low signal to the nReset pin for more than 20ns
bno055_init(&bno055);
bno055_set_power_mode(BNO055_POWER_MODE_NORMAL);
bno055_set_operation_mode(BNO055_OPERATION_MODE_NDOF);
BNO055_delay_msek(7);  //switching time

do{

	if(bno055_get_all_calib_stat(&sys_stat,
			             &accel_stat,
			             &gyro_stat,
				     &mag_stat) != BNO055_SUCCESS) break;
	BNO055_delay_msek(5000);

}while(sys_stat      != 3 || 
       accel_stat    != 3 ||
       gyro_stat     != 3 ||
       mag_stat      != 3);

But nothing happens when the sensor does not move (for gyro) or even if it make 8 (for mag)

Thank you in advance

Regards