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Hi frasics, Could you try the following snippets for read and write? s8 BNO055_I2C_bus_write(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt) { s32 BNO055_iERROR = 0; // this is the "status" we usually use in our R/W functions u8 idx; BNO055_iERROR = I2C_MasterSendStart(dev_addr, I2C_WRITE_XFER_MODE); // Check for BNO055_iERROR before proceeding BNO055_iERROR = I2C_MasterWriteByte(reg_addr); for (idx = 0; (idx < cnt) && (BNO055_iERROR == 0); idx++) { BNO055_iERROR = I2C_MasterWriteByte(reg_data[idx]); } // Check for BNO055_iERROR before proceeding BNO055_iERROR = I2C_MasterSendStop(); return (s8)BNO055_iERROR; } s8 BNO055_I2C_bus_read(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt) { s32 BNO055_iERROR = 0; // this is the "status" we usually use in our R/W functions u8 idx; BNO055_iERROR = I2C_MasterSendStart(dev_addr, I2C_WRITE_XFER_MODE); // Check for BNO055_iERROR before proceeding BNO055_iERROR = I2C_MasterWriteByte(reg_addr); // Check for BNO055_iERROR before proceeding BNO055_iERROR = I2C_MasterSendStop(); BNO055_iERROR = I2C_MasterSendStart(dev_addr, I2C_READ_XFER_MODE); for (idx = 0; (idx < cnt) && (BNO055_iERROR == 0); idx++) { reg_data[idx] = I2C_MasterReadByte(I2C_ACK_DATA); } // Check for BNO055_iERROR before proceeding BNO055_iERROR = I2C_MasterSendStop(); return (s8)BNO055_iERROR; } ... View more

Hi easeas, We have launched a new software tool called COINES. Accessing the Application Board 2.0 using C and SensorAPI COINES ("COmmunication with INertial and Environmental Sensors") provides a low-level interface to Bosch Sensortec’s Application Board APP2.0. The user can access Bosch Sensortec’s MEMS sensors through a C interface. COINES can be used with the SensorAPI of the sensor. The SensorAPI is available at https://github.com/BoschSensortec . Source code of sample applications and SensorAPI are provided with the COINES library as a package. The user can modify, compile and run the sample applications. COINES can be used to see how to use the SensorAPI in an embedded environment and allows convenient data logging. Intended audience This software package is intended for experienced embedded software developers with good knowledge of the programming language C and the appropriate build tools. https://www.bosch-sensortec.com/bst/support_tools/downloads/overview_downloads ... View more

Hi Pvand2019, the general formulas are described below to get the gravity vector in the sensor frame (typically device/object frame). gravityVectorNED = [0 0 1]; rotationNED2SF= conjugate(rotationVector) gravitySF = rotation NED2SF ∙ gravityVectorNED ∙ rotationNED2SF-1 Since we are using unit quaternions for the rotations, the inverse of the rotationNED2SF is equal to the conjugate of the quaternion. The operator ∙ is defined as the quaternion multiplication. The final equation would be this: grav_x = 2*(rv_x *rv_z - rv_w * rv_y) grav_y = 2*(rv_y*rv_z + rv_w*rv_x) grav_z = rv_w*rv_w - rv_x*rv_x - rv_y*rv_y - rv_z* rv_z Hope this helps, Regards, kgoveas ... View more