This is BNO055 driver on linux, you can reference it.

博世BN055Linux系统驱动源码，驱动程序包文件包括 bno055.h, bno055.c 和 bno055_support.c文件。(BOSCH BN055Linux system driver source,The sensor driver package includes bno055.h, bno055.c and bno055_support.c files.)