From c1dd60cac657e4289086185460499a6a941403ea Mon Sep 17 00:00:00 2001 From: Jack Rubacha Date: Wed, 4 Dec 2024 19:42:22 -0500 Subject: [PATCH 01/12] Make msb lsm signed --- cangen/can-messages/msb.json | 74 ++++++++++++++++++++++++------------ 1 file changed, 49 insertions(+), 25 deletions(-) diff --git a/cangen/can-messages/msb.json b/cangen/can-messages/msb.json index 545c4db..858f44d 100644 --- a/cangen/can-messages/msb.json +++ b/cangen/can-messages/msb.json @@ -52,13 +52,16 @@ }, "points": [ { - "size": 16 + "size": 16, + "signed": true }, { - "size": 16 + "size": 16, + "signed": true }, { - "size": 16 + "size": 16, + "signed": true } ] } @@ -80,13 +83,16 @@ "unit": "", "points": [ { - "size": 16 + "size": 16, + "signed": true }, { - "size": 16 + "size": 16, + "signed": true }, { - "size": 16 + "size": 16, + "signed": true } ] } @@ -237,13 +243,16 @@ }, "points": [ { - "size": 16 + "size": 16, + "signed": true }, { - "size": 16 + "size": 16, + "signed": true }, { - "size": 16 + "size": 16, + "signed": true } ] } @@ -265,13 +274,16 @@ }, "points": [ { - "size": 16 + "size": 16, + "signed": true }, { - "size": 16 + "size": 16, + "signed": true }, { - "size": 16 + "size": 16, + "signed": true } ] } @@ -422,13 +434,16 @@ }, "points": [ { - "size": 16 + "size": 16, + "signed": true }, { - "size": 16 + "size": 16, + "signed": true }, { - "size": 16 + "size": 16, + "signed": true } ] } @@ -450,13 +465,16 @@ }, "points": [ { - "size": 16 + "size": 16, + "signed": true }, { - "size": 16 + "size": 16, + "signed": true }, { - "size": 16 + "size": 16, + "signed": true } ] } @@ -607,13 +625,16 @@ }, "points": [ { - "size": 16 + "size": 16, + "signed": true }, { - "size": 16 + "size": 16, + "signed": true }, { - "size": 16 + "size": 16, + "signed": true } ] } @@ -635,13 +656,16 @@ }, "points": [ { - "size": 16 + "size": 16, + "signed": true }, { - "size": 16 + "size": 16, + "signed": true }, { - "size": 16 + "size": 16, + "signed": true } ] } @@ -739,4 +763,4 @@ } ] } -] \ No newline at end of file +] From bbfb6c525c1a757d03b43bb4c2a0293078537996 Mon Sep 17 00:00:00 2001 From: Myers-Ty Date: Wed, 4 Dec 2024 23:09:04 -0500 Subject: [PATCH 02/12] Updated driver (#213) * Updated driver * Update .clang-format-ignore --- general/.clang-format-ignore | 3 +- general/include/lsm6dso.h | 476 +- general/include/lsm6dso_reg.h | 4063 +++++++++++ general/src/lsm6dso.c | 3838 +++++++++- general/src/lsm6dso_reg.c | 12579 ++++++++++++++++++++++++++++++++ 5 files changed, 20723 insertions(+), 236 deletions(-) create mode 100644 general/include/lsm6dso_reg.h create mode 100644 general/src/lsm6dso_reg.c diff --git a/general/.clang-format-ignore b/general/.clang-format-ignore index 4830892..1502a21 100644 --- a/general/.clang-format-ignore +++ b/general/.clang-format-ignore @@ -1 +1,2 @@ -./*/vl6180x* \ No newline at end of file +./*/vl6180x* +./*/lsm6dso* diff --git a/general/include/lsm6dso.h b/general/include/lsm6dso.h index 6ac3d55..9e2de9e 100644 --- a/general/include/lsm6dso.h +++ b/general/include/lsm6dso.h @@ -1,128 +1,394 @@ -/* - LSM6DSOXTR IMU DRIVER Header File - Link to part Datasheet for reference: - https://www.st.com/resource/en/datasheet/lsm6dsox.pdf - - Author: Hamza Iqbal -*/ +/** + ****************************************************************************** + * @file lsm6dso.h + * @author MEMS Software Solutions Team + * @brief LSM6DSO header driver file + ****************************************************************************** + * @attention + * + * Copyright (c) 2019 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* Define to prevent recursive inclusion -------------------------------------*/ #ifndef LSM6DSO_H #define LSM6DSO_H -#include "stm32xx_hal.h" -#include - -#define LSM6DSO_I2C_ADDRESS 0x6A << 1 /* Shifted because datasheet said to */ -// Not sure if these are all needed, also not sure if more need to be added -/* For register descriptions reference datasheet pages 47 - 98 */ -#define LSM6DSO_REG_FUNC_CFG_ACCESS \ - 0x01 /* Enable embedded functions register */ -#define LSM6DSO_REG_INTERRUPT_CTRL_1 \ - 0x0D /* INT1 pin control, used for interrupts */ -#define LSM6DSO_REG_INTERRUPT_CTRL_2 \ - 0x0E /* INT2 pin control, used for interrupts */ -#define LSM6DSO_REG_DEVICE_ID 0x0F /* Register for checking communication */ -#define LSM6DSO_REG_ACCEL_CTRL 0x10 /* Accelerometer Control Register */ -#define LSM6DSO_REG_GYRO_CTRL 0x11 /* Gyroscope Control Register */ -#define LSM6DSO_REG_ALL_INTERRUPT_SRC \ - 0x1A /* Source Register for all interupsts */ -#define LSM6DSO_REG_WAKEUP_INTERRUPT_SRC \ - 0x1B /* Wake up interupt source register */ -#define LSM6DSO_REG_TAP_INTERRUPT_SRC 0x1C /* Tap Interrupt source register */ -#define LSM6DSO_REG_6D_INTERRUPT_SRC \ - 0x1D /* 6-direction Interrupt source register */ -#define LSM6DSO_REG_STATUS 0x1E /* Status register */ -#define LSM6DSO_REG_GYRO_X_AXIS_L 0x22 /* Gyro pitch axis lower bits */ -#define LSM6DSO_REG_GYRO_X_AXIS_H 0x23 /* Gyro pitch axis upper bits */ -#define LSM6DSO_REG_GYRO_Y_AXIS_L 0x24 /* Gyro roll axis lower bits */ -#define LSM6DSO_REG_GYRO_Y_AXIS_H 0x25 /* Gyro roll axis upper bits */ -#define LSM6DSO_REG_GYRO_Z_AXIS_L 0x26 /* Gyro yaw axis lower bits */ -#define LSM6DSO_REG_GYRO_Z_AXIS_H 0x27 /* Gyro yaw axis higher bits */ -#define LSM6DSO_REG_ACCEL_X_AXIS_L 0x28 /* Accelerometer X axis lower bits */ -#define LSM6DSO_REG_ACCEL_X_AXIS_H 0x29 /* Accelerometer X axis upper bits */ -#define LSM6DSO_REG_ACCEL_Y_AXIS_L 0x2A /* Accelerometer Y axis lower bits */ -#define LSM6DSO_REG_ACCEL_Y_AXIS_H 0x2B /* Accelerometer Y axis upper bits */ -#define LSM6DSO_REG_ACCEL_Z_AXIS_L 0x2C /* Accelerometer Z axis lower bits */ -#define LSM6DSO_REG_ACCEL_Z_AXIS_H 0x2D /* Accelerometer Z axis upper bits */ - -/* Function Pointers*/ -typedef int (*I2C_Read)(uint8_t *data, uint8_t reg, uint8_t length); -typedef int (*I2C_Write)(uint8_t *data, uint8_t reg, uint8_t length); -/** - * @brief Enumeration of axes of data available from the LSM6DSO IMU - * - */ -enum lsm6dso_axes { +#ifdef __cplusplus +extern "C" { +#endif - LSM6DSO_X_AXIS = 0, - LSM6DSO_Y_AXIS = 1, - LSM6DSO_Z_AXIS = 2 -}; +/* Includes ------------------------------------------------------------------*/ +#include "lsm6dso_reg.h" +#include + +/** @addtogroup BSP BSP + * @{ + */ + +/** @addtogroup Component Component + * @{ + */ + +/** @addtogroup LSM6DSO LSM6DSO + * @{ + */ + +/** @defgroup LSM6DSO_Exported_Types LSM6DSO Exported Types + * @{ + */ + +typedef int32_t (*LSM6DSO_Init_Func)(void); +typedef int32_t (*LSM6DSO_DeInit_Func)(void); +typedef int32_t (*LSM6DSO_GetTick_Func)(void); +typedef void (*LSM6DSO_Delay_Func)(uint32_t); +typedef int32_t (*LSM6DSO_WriteReg_Func)(uint16_t, uint16_t, uint8_t *, + uint16_t); +typedef int32_t (*LSM6DSO_ReadReg_Func)(uint16_t, uint16_t, uint8_t *, + uint16_t); + +typedef enum { + LSM6DSO_INT1_PIN, + LSM6DSO_INT2_PIN, +} LSM6DSO_SensorIntPin_t; + +typedef enum { + LSM6DSO_ACC_HIGH_PERFORMANCE_MODE, + LSM6DSO_ACC_LOW_POWER_NORMAL_MODE, + LSM6DSO_ACC_ULTRA_LOW_POWER_MODE +} LSM6DSO_ACC_Operating_Mode_t; + +typedef enum { + LSM6DSO_GYRO_HIGH_PERFORMANCE_MODE, + LSM6DSO_GYRO_LOW_POWER_NORMAL_MODE +} LSM6DSO_GYRO_Operating_Mode_t; + +typedef struct { + LSM6DSO_Init_Func Init; + LSM6DSO_DeInit_Func DeInit; + uint32_t BusType; /*0 means I2C, 1 means SPI 4-Wires, 2 means SPI-3-Wires */ + uint8_t Address; + LSM6DSO_WriteReg_Func WriteReg; + LSM6DSO_ReadReg_Func ReadReg; + LSM6DSO_GetTick_Func GetTick; + LSM6DSO_Delay_Func Delay; +} LSM6DSO_IO_t; + +typedef struct { + int16_t x; + int16_t y; + int16_t z; +} LSM6DSO_AxesRaw_t; + +typedef struct { + int32_t x; + int32_t y; + int32_t z; +} LSM6DSO_Axes_t; + +typedef struct { + unsigned int FreeFallStatus : 1; + unsigned int TapStatus : 1; + unsigned int DoubleTapStatus : 1; + unsigned int WakeUpStatus : 1; + unsigned int StepStatus : 1; + unsigned int TiltStatus : 1; + unsigned int D6DOrientationStatus : 1; + unsigned int SleepStatus : 1; +} LSM6DSO_Event_Status_t; + +typedef struct { + LSM6DSO_IO_t IO; + stmdev_ctx_t Ctx; + uint8_t is_initialized; + uint8_t acc_is_enabled; + uint8_t gyro_is_enabled; + lsm6dso_odr_xl_t acc_odr; + lsm6dso_odr_g_t gyro_odr; +} LSM6DSO_Object_t; + +typedef struct { + uint8_t Acc; + uint8_t Gyro; + uint8_t Magneto; + uint8_t LowPower; + uint32_t GyroMaxFS; + uint32_t AccMaxFS; + uint32_t MagMaxFS; + float_t GyroMaxOdr; + float_t AccMaxOdr; + float_t MagMaxOdr; +} LSM6DSO_Capabilities_t; + +typedef struct { + int32_t (*Init)(LSM6DSO_Object_t *); + int32_t (*DeInit)(LSM6DSO_Object_t *); + int32_t (*ReadID)(LSM6DSO_Object_t *, uint8_t *); + int32_t (*GetCapabilities)(LSM6DSO_Object_t *, + LSM6DSO_Capabilities_t *); +} LSM6DSO_CommonDrv_t; + +typedef struct { + int32_t (*Enable)(LSM6DSO_Object_t *); + int32_t (*Disable)(LSM6DSO_Object_t *); + int32_t (*GetSensitivity)(LSM6DSO_Object_t *, float_t *); + int32_t (*GetOutputDataRate)(LSM6DSO_Object_t *, float_t *); + int32_t (*SetOutputDataRate)(LSM6DSO_Object_t *, float_t); + int32_t (*GetFullScale)(LSM6DSO_Object_t *, int32_t *); + int32_t (*SetFullScale)(LSM6DSO_Object_t *, int32_t); + int32_t (*GetAxes)(LSM6DSO_Object_t *, LSM6DSO_Axes_t *); + int32_t (*GetAxesRaw)(LSM6DSO_Object_t *, LSM6DSO_AxesRaw_t *); +} LSM6DSO_ACC_Drv_t; -/** - * @brief Struct containing data relevant to the LSM6DSO IMU - * - */ typedef struct { - uint8_t accel_config; // TODO: We should make these cfg packed unions with - // bitfield structs + int32_t (*Enable)(LSM6DSO_Object_t *); + int32_t (*Disable)(LSM6DSO_Object_t *); + int32_t (*GetSensitivity)(LSM6DSO_Object_t *, float_t *); + int32_t (*GetOutputDataRate)(LSM6DSO_Object_t *, float_t *); + int32_t (*SetOutputDataRate)(LSM6DSO_Object_t *, float_t); + int32_t (*GetFullScale)(LSM6DSO_Object_t *, int32_t *); + int32_t (*SetFullScale)(LSM6DSO_Object_t *, int32_t); + int32_t (*GetAxes)(LSM6DSO_Object_t *, LSM6DSO_Axes_t *); + int32_t (*GetAxesRaw)(LSM6DSO_Object_t *, LSM6DSO_AxesRaw_t *); +} LSM6DSO_GYRO_Drv_t; - uint8_t gyro_config; +typedef union { + int16_t i16bit[3]; + uint8_t u8bit[6]; +} lsm6dso_axis3bit16_t; - int16_t accel_data[3]; +typedef union { + int16_t i16bit; + uint8_t u8bit[2]; +} lsm6dso_axis1bit16_t; - int16_t gyro_data[3]; +typedef union { + int32_t i32bit[3]; + uint8_t u8bit[12]; +} lsm6dso_axis3bit32_t; - I2C_Read read_reg; +typedef union { + int32_t i32bit; + uint8_t u8bit[4]; +} lsm6dso_axis1bit32_t; - I2C_Write write_reg; +/** + * @} + */ + +/** @defgroup LSM6DSO_Exported_Constants LSM6DSO Exported Constants + * @{ + */ + +#define LSM6DSO_OK 0 +#define LSM6DSO_ERROR -1 + +#define LSM6DSO_I2C_BUS 0U +#define LSM6DSO_SPI_4WIRES_BUS 1U +#define LSM6DSO_SPI_3WIRES_BUS 2U -} lsm6dso_t; +#define LSM6DSO_ACC_SENSITIVITY_FS_2G 0.061f +#define LSM6DSO_ACC_SENSITIVITY_FS_4G 0.122f +#define LSM6DSO_ACC_SENSITIVITY_FS_8G 0.244f +#define LSM6DSO_ACC_SENSITIVITY_FS_16G 0.488f + +#define LSM6DSO_GYRO_SENSITIVITY_FS_125DPS 4.375f +#define LSM6DSO_GYRO_SENSITIVITY_FS_250DPS 8.750f +#define LSM6DSO_GYRO_SENSITIVITY_FS_500DPS 17.500f +#define LSM6DSO_GYRO_SENSITIVITY_FS_1000DPS 35.000f +#define LSM6DSO_GYRO_SENSITIVITY_FS_2000DPS 70.000f /** - * @brief Initializes the LSM6DSO IMU - * - * @return 0 if OK, other if ERROR - */ -int lsm6dso_init(lsm6dso_t *imu, I2C_Read read_func, I2C_Write write_func); + * @} + */ + +/** @addtogroup LSM6DSO_Exported_Functions LSM6DSO Exported Functions + * @{ + */ + +int32_t LSM6DSO_RegisterBusIO(LSM6DSO_Object_t *pObj, LSM6DSO_IO_t *pIO); +int32_t LSM6DSO_Init(LSM6DSO_Object_t *pObj); +int32_t LSM6DSO_DeInit(LSM6DSO_Object_t *pObj); +int32_t LSM6DSO_ReadID(LSM6DSO_Object_t *pObj, uint8_t *Id); +int32_t LSM6DSO_GetCapabilities(LSM6DSO_Object_t *pObj, + LSM6DSO_Capabilities_t *Capabilities); + +int32_t LSM6DSO_ACC_Enable(LSM6DSO_Object_t *pObj); +int32_t LSM6DSO_ACC_Disable(LSM6DSO_Object_t *pObj); +int32_t LSM6DSO_ACC_GetSensitivity(LSM6DSO_Object_t *pObj, + float_t *Sensitivity); +int32_t LSM6DSO_ACC_GetOutputDataRate(LSM6DSO_Object_t *pObj, float_t *Odr); +int32_t LSM6DSO_ACC_SetOutputDataRate(LSM6DSO_Object_t *pObj, float_t Odr); +int32_t +LSM6DSO_ACC_SetOutputDataRate_With_Mode(LSM6DSO_Object_t *pObj, float_t Odr, + LSM6DSO_ACC_Operating_Mode_t Mode); +int32_t LSM6DSO_ACC_GetFullScale(LSM6DSO_Object_t *pObj, int32_t *FullScale); +int32_t LSM6DSO_ACC_SetFullScale(LSM6DSO_Object_t *pObj, int32_t FullScale); +int32_t LSM6DSO_ACC_GetAxesRaw(LSM6DSO_Object_t *pObj, + LSM6DSO_AxesRaw_t *Value); +int32_t LSM6DSO_ACC_GetAxes(LSM6DSO_Object_t *pObj, + LSM6DSO_Axes_t *Acceleration); + +int32_t LSM6DSO_GYRO_Enable(LSM6DSO_Object_t *pObj); +int32_t LSM6DSO_GYRO_Disable(LSM6DSO_Object_t *pObj); +int32_t LSM6DSO_GYRO_GetSensitivity(LSM6DSO_Object_t *pObj, + float_t *Sensitivity); +int32_t LSM6DSO_GYRO_GetOutputDataRate(LSM6DSO_Object_t *pObj, float_t *Odr); +int32_t LSM6DSO_GYRO_SetOutputDataRate(LSM6DSO_Object_t *pObj, float_t Odr); +int32_t +LSM6DSO_GYRO_SetOutputDataRate_With_Mode(LSM6DSO_Object_t *pObj, float_t Odr, + LSM6DSO_GYRO_Operating_Mode_t Mode); +int32_t LSM6DSO_GYRO_GetFullScale(LSM6DSO_Object_t *pObj, int32_t *FullScale); +int32_t LSM6DSO_GYRO_SetFullScale(LSM6DSO_Object_t *pObj, int32_t FullScale); +int32_t LSM6DSO_GYRO_GetAxesRaw(LSM6DSO_Object_t *pObj, + LSM6DSO_AxesRaw_t *Value); +int32_t LSM6DSO_GYRO_GetAxes(LSM6DSO_Object_t *pObj, + LSM6DSO_Axes_t *AngularRate); + +int32_t LSM6DSO_Read_Reg(LSM6DSO_Object_t *pObj, uint8_t reg, uint8_t *Data); +int32_t LSM6DSO_Write_Reg(LSM6DSO_Object_t *pObj, uint8_t reg, uint8_t Data); +int32_t LSM6DSO_Set_Interrupt_Latch(LSM6DSO_Object_t *pObj, uint8_t Status); + +int32_t LSM6DSO_ACC_Enable_Free_Fall_Detection(LSM6DSO_Object_t *pObj, + LSM6DSO_SensorIntPin_t IntPin); +int32_t LSM6DSO_ACC_Disable_Free_Fall_Detection(LSM6DSO_Object_t *pObj); +int32_t LSM6DSO_ACC_Set_Free_Fall_Threshold(LSM6DSO_Object_t *pObj, + uint8_t Threshold); +int32_t LSM6DSO_ACC_Set_Free_Fall_Duration(LSM6DSO_Object_t *pObj, + uint8_t Duration); + +int32_t LSM6DSO_ACC_Enable_Pedometer(LSM6DSO_Object_t *pObj); +int32_t LSM6DSO_ACC_Disable_Pedometer(LSM6DSO_Object_t *pObj); +int32_t LSM6DSO_ACC_Get_Step_Count(LSM6DSO_Object_t *pObj, uint16_t *StepCount); +int32_t LSM6DSO_ACC_Step_Counter_Reset(LSM6DSO_Object_t *pObj); + +int32_t LSM6DSO_ACC_Enable_Tilt_Detection(LSM6DSO_Object_t *pObj, + LSM6DSO_SensorIntPin_t IntPin); +int32_t LSM6DSO_ACC_Disable_Tilt_Detection(LSM6DSO_Object_t *pObj); + +int32_t LSM6DSO_ACC_Enable_Wake_Up_Detection(LSM6DSO_Object_t *pObj, + LSM6DSO_SensorIntPin_t IntPin); +int32_t LSM6DSO_ACC_Disable_Wake_Up_Detection(LSM6DSO_Object_t *pObj); +int32_t LSM6DSO_ACC_Set_Wake_Up_Threshold(LSM6DSO_Object_t *pObj, + uint8_t Threshold); +int32_t LSM6DSO_ACC_Set_Wake_Up_Duration(LSM6DSO_Object_t *pObj, + uint8_t Duration); + +int32_t LSM6DSO_ACC_Enable_Single_Tap_Detection(LSM6DSO_Object_t *pObj, + LSM6DSO_SensorIntPin_t IntPin); +int32_t LSM6DSO_ACC_Disable_Single_Tap_Detection(LSM6DSO_Object_t *pObj); +int32_t LSM6DSO_ACC_Enable_Double_Tap_Detection(LSM6DSO_Object_t *pObj, + LSM6DSO_SensorIntPin_t IntPin); +int32_t LSM6DSO_ACC_Disable_Double_Tap_Detection(LSM6DSO_Object_t *pObj); +int32_t LSM6DSO_ACC_Set_Tap_Threshold(LSM6DSO_Object_t *pObj, + uint8_t Threshold); +int32_t LSM6DSO_ACC_Set_Tap_Shock_Time(LSM6DSO_Object_t *pObj, uint8_t Time); +int32_t LSM6DSO_ACC_Set_Tap_Quiet_Time(LSM6DSO_Object_t *pObj, uint8_t Time); +int32_t LSM6DSO_ACC_Set_Tap_Duration_Time(LSM6DSO_Object_t *pObj, uint8_t Time); + +int32_t LSM6DSO_ACC_Enable_6D_Orientation(LSM6DSO_Object_t *pObj, + LSM6DSO_SensorIntPin_t IntPin); +int32_t LSM6DSO_ACC_Disable_6D_Orientation(LSM6DSO_Object_t *pObj); +int32_t LSM6DSO_ACC_Set_6D_Orientation_Threshold(LSM6DSO_Object_t *pObj, + uint8_t Threshold); +int32_t LSM6DSO_ACC_Get_6D_Orientation_XL(LSM6DSO_Object_t *pObj, + uint8_t *XLow); +int32_t LSM6DSO_ACC_Get_6D_Orientation_XH(LSM6DSO_Object_t *pObj, + uint8_t *XHigh); +int32_t LSM6DSO_ACC_Get_6D_Orientation_YL(LSM6DSO_Object_t *pObj, + uint8_t *YLow); +int32_t LSM6DSO_ACC_Get_6D_Orientation_YH(LSM6DSO_Object_t *pObj, + uint8_t *YHigh); +int32_t LSM6DSO_ACC_Get_6D_Orientation_ZL(LSM6DSO_Object_t *pObj, + uint8_t *ZLow); +int32_t LSM6DSO_ACC_Get_6D_Orientation_ZH(LSM6DSO_Object_t *pObj, + uint8_t *ZHigh); + +int32_t LSM6DSO_ACC_Get_DRDY_Status(LSM6DSO_Object_t *pObj, uint8_t *Status); +int32_t LSM6DSO_ACC_Get_Event_Status(LSM6DSO_Object_t *pObj, + LSM6DSO_Event_Status_t *Status); +int32_t LSM6DSO_ACC_Set_SelfTest(LSM6DSO_Object_t *pObj, uint8_t Status); + +int32_t LSM6DSO_GYRO_Get_DRDY_Status(LSM6DSO_Object_t *pObj, uint8_t *Status); +int32_t LSM6DSO_GYRO_Set_SelfTest(LSM6DSO_Object_t *pObj, uint8_t Status); + +int32_t LSM6DSO_FIFO_Get_Num_Samples(LSM6DSO_Object_t *pObj, + uint16_t *NumSamples); +int32_t LSM6DSO_FIFO_Get_Full_Status(LSM6DSO_Object_t *pObj, uint8_t *Status); +int32_t LSM6DSO_FIFO_Set_INT1_FIFO_Full(LSM6DSO_Object_t *pObj, uint8_t Status); +int32_t LSM6DSO_FIFO_Set_Watermark_Level(LSM6DSO_Object_t *pObj, + uint16_t Watermark); +int32_t LSM6DSO_FIFO_Set_Stop_On_Fth(LSM6DSO_Object_t *pObj, uint8_t Status); +int32_t LSM6DSO_FIFO_Set_Mode(LSM6DSO_Object_t *pObj, uint8_t Mode); +int32_t LSM6DSO_FIFO_Get_Tag(LSM6DSO_Object_t *pObj, uint8_t *Tag); +int32_t LSM6DSO_FIFO_Get_Data(LSM6DSO_Object_t *pObj, uint8_t *Data); +int32_t LSM6DSO_FIFO_Get_Empty_Status(LSM6DSO_Object_t *pObj, uint8_t *Status); +int32_t LSM6DSO_FIFO_Get_Overrun_Status(LSM6DSO_Object_t *pObj, + uint8_t *Status); +int32_t LSM6DSO_FIFO_ACC_Get_Axes(LSM6DSO_Object_t *pObj, + LSM6DSO_Axes_t *Acceleration); +int32_t LSM6DSO_FIFO_ACC_Set_BDR(LSM6DSO_Object_t *pObj, float_t Bdr); +int32_t LSM6DSO_FIFO_GYRO_Get_Axes(LSM6DSO_Object_t *pObj, + LSM6DSO_Axes_t *AngularVelocity); +int32_t LSM6DSO_FIFO_GYRO_Set_BDR(LSM6DSO_Object_t *pObj, float_t Bdr); + +int32_t LSM6DSO_ACC_Enable_DRDY_On_INT1(LSM6DSO_Object_t *pObj); +int32_t LSM6DSO_ACC_Disable_DRDY_On_INT1(LSM6DSO_Object_t *pObj); +int32_t LSM6DSO_ACC_Set_Power_Mode(LSM6DSO_Object_t *pObj, uint8_t PowerMode); +int32_t LSM6DSO_ACC_Set_Filter_Mode(LSM6DSO_Object_t *pObj, + uint8_t LowHighPassFlag, + uint8_t FilterMode); +int32_t LSM6DSO_ACC_Enable_Inactivity_Detection(LSM6DSO_Object_t *pObj, + lsm6dso_inact_en_t InactMode, + LSM6DSO_SensorIntPin_t IntPin); +int32_t LSM6DSO_ACC_Disable_Inactivity_Detection(LSM6DSO_Object_t *pObj); +int32_t LSM6DSO_ACC_Set_Sleep_Duration(LSM6DSO_Object_t *pObj, + uint8_t Duration); + +int32_t LSM6DSO_GYRO_Enable_DRDY_On_INT2(LSM6DSO_Object_t *pObj); +int32_t LSM6DSO_GYRO_Set_Power_Mode(LSM6DSO_Object_t *pObj, uint8_t PowerMode); +int32_t LSM6DSO_GYRO_Set_Filter_Mode(LSM6DSO_Object_t *pObj, + uint8_t LowHighPassFlag, + uint8_t FilterMode); + +int32_t LSM6DSO_DRDY_Set_Mode(LSM6DSO_Object_t *pObj, uint8_t Mode); -/* IMU Setting Configuration */ /** - * @brief Configures the accelerometer of the LSM6DSO IMU - * - * @param imu - * @param odr_sel - * @param fs_sel - * @param lp_f2_enable - * @return 0 if OK, other if ERROR - */ - -int lsm6dso_set_accel_cfg(lsm6dso_t *imu, int8_t odr_sel, int8_t fs_sel, - int8_t lp_f2_enable); + * @} + */ + +/** @addtogroup LSM6DSO_Exported_Variables LSM6DSO Exported Variables + * @{ + */ + +extern LSM6DSO_CommonDrv_t LSM6DSO_COMMON_Driver; +extern LSM6DSO_ACC_Drv_t LSM6DSO_ACC_Driver; +extern LSM6DSO_GYRO_Drv_t LSM6DSO_GYRO_Driver; /** - * @brief Configures the accelerometer of the LSM6DSO IMU - * - * @param odr_sel - * @param fs_sel - * @param fs_125 - * @return 0 if OK, other if ERROR - */ - -int lsm6dso_set_gyro_cfg(lsm6dso_t *imu, int8_t odr_sel, int8_t fs_sel, - int8_t fs_125); - -/* Data Aquisition */ + * @} + */ + +#ifdef __cplusplus +} +#endif + +#endif + /** - * @brief Retrieves accelerometer data from the LSM6DSO IMU - * @return 0 if OK, other if ERROR - */ -int lsm6dso_read_accel(lsm6dso_t *imu); + * @} + */ /** - * @brief Retreives the gyroscope data from the LSM6DSO IMU - * @return 0 if OK, other if ERROR - */ -int lsm6dso_read_gyro(lsm6dso_t *imu); + * @} + */ -#endif // LSM6DSO_H +/** + * @} + */ diff --git a/general/include/lsm6dso_reg.h b/general/include/lsm6dso_reg.h new file mode 100644 index 0000000..347f6c4 --- /dev/null +++ b/general/include/lsm6dso_reg.h @@ -0,0 +1,4063 @@ +/** + ****************************************************************************** + * @file lsm6dso_reg.h + * @author Sensors Software Solution Team + * @brief This file contains all the functions prototypes for the + * lsm6dso_reg.c driver. + ****************************************************************************** + * @attention + * + * Copyright (c) 2019 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef LSM6DSO_REGS_H +#define LSM6DSO_REGS_H + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include +#include +#include + +/** @addtogroup LSM6DSO + * @{ + * + */ + +/** @defgroup Endianness definitions + * @{ + * + */ + +#ifndef DRV_BYTE_ORDER +#ifndef __BYTE_ORDER__ + +#define DRV_LITTLE_ENDIAN 1234 +#define DRV_BIG_ENDIAN 4321 + +/** if _BYTE_ORDER is not defined, choose the endianness of your architecture + * by uncommenting the define which fits your platform endianness + */ +//#define DRV_BYTE_ORDER DRV_BIG_ENDIAN +#define DRV_BYTE_ORDER DRV_LITTLE_ENDIAN + +#else /* defined __BYTE_ORDER__ */ + +#define DRV_LITTLE_ENDIAN __ORDER_LITTLE_ENDIAN__ +#define DRV_BIG_ENDIAN __ORDER_BIG_ENDIAN__ +#define DRV_BYTE_ORDER __BYTE_ORDER__ + +#endif /* __BYTE_ORDER__*/ +#endif /* DRV_BYTE_ORDER */ + +/** + * @} + * + */ + +/** @defgroup STMicroelectronics sensors common types + * @{ + * + */ + +#ifndef MEMS_SHARED_TYPES +#define MEMS_SHARED_TYPES + +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t bit0 : 1; + uint8_t bit1 : 1; + uint8_t bit2 : 1; + uint8_t bit3 : 1; + uint8_t bit4 : 1; + uint8_t bit5 : 1; + uint8_t bit6 : 1; + uint8_t bit7 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t bit7 : 1; + uint8_t bit6 : 1; + uint8_t bit5 : 1; + uint8_t bit4 : 1; + uint8_t bit3 : 1; + uint8_t bit2 : 1; + uint8_t bit1 : 1; + uint8_t bit0 : 1; +#endif /* DRV_BYTE_ORDER */ +} bitwise_t; + +#define PROPERTY_DISABLE (0U) +#define PROPERTY_ENABLE (1U) + +/** @addtogroup Interfaces_Functions + * @brief This section provide a set of functions used to read and + * write a generic register of the device. + * MANDATORY: return 0 -> no Error. + * @{ + * + */ + +typedef int32_t (*stmdev_write_ptr)(void *, uint8_t, uint8_t *, uint16_t); +typedef int32_t (*stmdev_read_ptr)(void *, uint8_t, uint8_t *, uint16_t); +typedef void (*stmdev_mdelay_ptr)(uint32_t millisec); + +typedef struct { + /** Component mandatory fields **/ + stmdev_write_ptr write_reg; + stmdev_read_ptr read_reg; + /** Component optional fields **/ + stmdev_mdelay_ptr mdelay; + /** Customizable optional pointer **/ + void *handle; +} stmdev_ctx_t; + +#ifndef __weak +#define __weak __attribute__((weak)) +#endif /* __weak */ + +/* + * These are the basic platform dependent I/O routines to read + * and write device registers connected on a standard bus. + * The driver keeps offering a default implementation based on function + * pointers to read/write routines for backward compatibility. + * The __weak directive allows the final application to overwrite + * them with a custom implementation. + */ +int32_t lsm6dso_read_reg(stmdev_ctx_t *ctx, uint8_t reg, uint8_t *data, + uint16_t len); +int32_t lsm6dso_write_reg(stmdev_ctx_t *ctx, uint8_t reg, uint8_t *data, + uint16_t len); + +/** + * @} + * + */ + +#endif /* MEMS_SHARED_TYPES */ + +#ifndef MEMS_UCF_SHARED_TYPES +#define MEMS_UCF_SHARED_TYPES + +/** @defgroup Generic address-data structure definition + * @brief This structure is useful to load a predefined configuration + * of a sensor. + * You can create a sensor configuration by your own or using + * Unico / Unicleo tools available on STMicroelectronics + * web site. + * + * @{ + * + */ + +typedef struct { + uint8_t address; + uint8_t data; +} ucf_line_t; + +/** + * @} + * + */ + +#endif /* MEMS_UCF_SHARED_TYPES */ + +/** + * @} + * + */ + +/** @defgroup LSM6DSO_Infos + * @{ + * + */ + +/** I2C Device Address 8 bit format if SA0=0 -> D5 if SA0=1 -> D7 **/ +#define LSM6DSO_I2C_ADD_L 0xD5 +#define LSM6DSO_I2C_ADD_H 0xD7 + +/** Device Identification (Who am I) **/ +#define LSM6DSO_ID 0x6C + +/** + * @} + * + */ + +#define LSM6DSO_FUNC_CFG_ACCESS 0x01U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t not_used_01 : 6; + uint8_t reg_access : 2; /* shub_reg_access + func_cfg_access */ +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t reg_access : 2; /* shub_reg_access + func_cfg_access */ + uint8_t not_used_01 : 6; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_func_cfg_access_t; + +#define LSM6DSO_PIN_CTRL 0x02U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t not_used_01 : 6; + uint8_t sdo_pu_en : 1; + uint8_t ois_pu_dis : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t ois_pu_dis : 1; + uint8_t sdo_pu_en : 1; + uint8_t not_used_01 : 6; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_pin_ctrl_t; + +#define LSM6DSO_FIFO_CTRL1 0x07U +typedef struct { + uint8_t wtm : 8; +} lsm6dso_fifo_ctrl1_t; + +#define LSM6DSO_FIFO_CTRL2 0x08U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t wtm : 1; + uint8_t uncoptr_rate : 2; + uint8_t not_used_01 : 1; + uint8_t odrchg_en : 1; + uint8_t not_used_02 : 1; + uint8_t fifo_compr_rt_en : 1; + uint8_t stop_on_wtm : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t stop_on_wtm : 1; + uint8_t fifo_compr_rt_en : 1; + uint8_t not_used_02 : 1; + uint8_t odrchg_en : 1; + uint8_t not_used_01 : 1; + uint8_t uncoptr_rate : 2; + uint8_t wtm : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fifo_ctrl2_t; + +#define LSM6DSO_FIFO_CTRL3 0x09U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t bdr_xl : 4; + uint8_t bdr_gy : 4; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t bdr_gy : 4; + uint8_t bdr_xl : 4; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fifo_ctrl3_t; + +#define LSM6DSO_FIFO_CTRL4 0x0AU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t fifo_mode : 3; + uint8_t not_used_01 : 1; + uint8_t odr_t_batch : 2; + uint8_t odr_ts_batch : 2; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t odr_ts_batch : 2; + uint8_t odr_t_batch : 2; + uint8_t not_used_01 : 1; + uint8_t fifo_mode : 3; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fifo_ctrl4_t; + +#define LSM6DSO_COUNTER_BDR_REG1 0x0BU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t cnt_bdr_th : 3; + uint8_t not_used_01 : 2; + uint8_t trig_counter_bdr : 1; + uint8_t rst_counter_bdr : 1; + uint8_t dataready_pulsed : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t dataready_pulsed : 1; + uint8_t rst_counter_bdr : 1; + uint8_t trig_counter_bdr : 1; + uint8_t not_used_01 : 2; + uint8_t cnt_bdr_th : 3; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_counter_bdr_reg1_t; + +#define LSM6DSO_COUNTER_BDR_REG2 0x0CU +typedef struct { + uint8_t cnt_bdr_th : 8; +} lsm6dso_counter_bdr_reg2_t; + +#define LSM6DSO_INT1_CTRL 0x0D +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t int1_drdy_xl : 1; + uint8_t int1_drdy_g : 1; + uint8_t int1_boot : 1; + uint8_t int1_fifo_th : 1; + uint8_t int1_fifo_ovr : 1; + uint8_t int1_fifo_full : 1; + uint8_t int1_cnt_bdr : 1; + uint8_t den_drdy_flag : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t den_drdy_flag : 1; + uint8_t int1_cnt_bdr : 1; + uint8_t int1_fifo_full : 1; + uint8_t int1_fifo_ovr : 1; + uint8_t int1_fifo_th : 1; + uint8_t int1_boot : 1; + uint8_t int1_drdy_g : 1; + uint8_t int1_drdy_xl : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_int1_ctrl_t; + +#define LSM6DSO_INT2_CTRL 0x0EU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t int2_drdy_xl : 1; + uint8_t int2_drdy_g : 1; + uint8_t int2_drdy_temp : 1; + uint8_t int2_fifo_th : 1; + uint8_t int2_fifo_ovr : 1; + uint8_t int2_fifo_full : 1; + uint8_t int2_cnt_bdr : 1; + uint8_t not_used_01 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_01 : 1; + uint8_t int2_cnt_bdr : 1; + uint8_t int2_fifo_full : 1; + uint8_t int2_fifo_ovr : 1; + uint8_t int2_fifo_th : 1; + uint8_t int2_drdy_temp : 1; + uint8_t int2_drdy_g : 1; + uint8_t int2_drdy_xl : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_int2_ctrl_t; + +#define LSM6DSO_WHO_AM_I 0x0FU +#define LSM6DSO_CTRL1_XL 0x10U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t not_used_01 : 1; + uint8_t lpf2_xl_en : 1; + uint8_t fs_xl : 2; + uint8_t odr_xl : 4; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t odr_xl : 4; + uint8_t fs_xl : 2; + uint8_t lpf2_xl_en : 1; + uint8_t not_used_01 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_ctrl1_xl_t; + +#define LSM6DSO_CTRL2_G 0x11U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t not_used_01 : 1; + uint8_t fs_g : 3; /* fs_125 + fs_g */ + uint8_t odr_g : 4; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t odr_g : 4; + uint8_t fs_g : 3; /* fs_125 + fs_g */ + uint8_t not_used_01 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_ctrl2_g_t; + +#define LSM6DSO_CTRL3_C 0x12U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t sw_reset : 1; + uint8_t not_used_01 : 1; + uint8_t if_inc : 1; + uint8_t sim : 1; + uint8_t pp_od : 1; + uint8_t h_lactive : 1; + uint8_t bdu : 1; + uint8_t boot : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t boot : 1; + uint8_t bdu : 1; + uint8_t h_lactive : 1; + uint8_t pp_od : 1; + uint8_t sim : 1; + uint8_t if_inc : 1; + uint8_t not_used_01 : 1; + uint8_t sw_reset : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_ctrl3_c_t; + +#define LSM6DSO_CTRL4_C 0x13U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t not_used_01 : 1; + uint8_t lpf1_sel_g : 1; + uint8_t i2c_disable : 1; + uint8_t drdy_mask : 1; + uint8_t not_used_02 : 1; + uint8_t int2_on_int1 : 1; + uint8_t sleep_g : 1; + uint8_t not_used_03 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_03 : 1; + uint8_t sleep_g : 1; + uint8_t int2_on_int1 : 1; + uint8_t not_used_02 : 1; + uint8_t drdy_mask : 1; + uint8_t i2c_disable : 1; + uint8_t lpf1_sel_g : 1; + uint8_t not_used_01 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_ctrl4_c_t; + +#define LSM6DSO_CTRL5_C 0x14U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t st_xl : 2; + uint8_t st_g : 2; + uint8_t not_used_01 : 1; + uint8_t rounding : 2; + uint8_t xl_ulp_en : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t xl_ulp_en : 1; + uint8_t rounding : 2; + uint8_t not_used_01 : 1; + uint8_t st_g : 2; + uint8_t st_xl : 2; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_ctrl5_c_t; + +#define LSM6DSO_CTRL6_C 0x15U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t ftype : 3; + uint8_t usr_off_w : 1; + uint8_t xl_hm_mode : 1; + uint8_t den_mode : 3; /* trig_en + lvl1_en + lvl2_en */ +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t den_mode : 3; /* trig_en + lvl1_en + lvl2_en */ + uint8_t xl_hm_mode : 1; + uint8_t usr_off_w : 1; + uint8_t ftype : 3; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_ctrl6_c_t; + +#define LSM6DSO_CTRL7_G 0x16U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t ois_on : 1; + uint8_t usr_off_on_out : 1; + uint8_t ois_on_en : 1; + uint8_t not_used_01 : 1; + uint8_t hpm_g : 2; + uint8_t hp_en_g : 1; + uint8_t g_hm_mode : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t g_hm_mode : 1; + uint8_t hp_en_g : 1; + uint8_t hpm_g : 2; + uint8_t not_used_01 : 1; + uint8_t ois_on_en : 1; + uint8_t usr_off_on_out : 1; + uint8_t ois_on : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_ctrl7_g_t; + +#define LSM6DSO_CTRL8_XL 0x17U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t low_pass_on_6d : 1; + uint8_t xl_fs_mode : 1; + uint8_t hp_slope_xl_en : 1; + uint8_t fastsettl_mode_xl : 1; + uint8_t hp_ref_mode_xl : 1; + uint8_t hpcf_xl : 3; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t hpcf_xl : 3; + uint8_t hp_ref_mode_xl : 1; + uint8_t fastsettl_mode_xl : 1; + uint8_t hp_slope_xl_en : 1; + uint8_t xl_fs_mode : 1; + uint8_t low_pass_on_6d : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_ctrl8_xl_t; + +#define LSM6DSO_CTRL9_XL 0x18U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t not_used_01 : 1; + uint8_t i3c_disable : 1; + uint8_t den_lh : 1; + uint8_t den_xl_g : 2; /* den_xl_en + den_xl_g */ + uint8_t den_z : 1; + uint8_t den_y : 1; + uint8_t den_x : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t den_x : 1; + uint8_t den_y : 1; + uint8_t den_z : 1; + uint8_t den_xl_g : 2; /* den_xl_en + den_xl_g */ + uint8_t den_lh : 1; + uint8_t i3c_disable : 1; + uint8_t not_used_01 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_ctrl9_xl_t; + +#define LSM6DSO_CTRL10_C 0x19U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t not_used_01 : 5; + uint8_t timestamp_en : 1; + uint8_t not_used_02 : 2; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_02 : 2; + uint8_t timestamp_en : 1; + uint8_t not_used_01 : 5; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_ctrl10_c_t; + +#define LSM6DSO_ALL_INT_SRC 0x1AU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t ff_ia : 1; + uint8_t wu_ia : 1; + uint8_t single_tap : 1; + uint8_t double_tap : 1; + uint8_t d6d_ia : 1; + uint8_t sleep_change_ia : 1; + uint8_t not_used_01 : 1; + uint8_t timestamp_endcount : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t timestamp_endcount : 1; + uint8_t not_used_01 : 1; + uint8_t sleep_change_ia : 1; + uint8_t d6d_ia : 1; + uint8_t double_tap : 1; + uint8_t single_tap : 1; + uint8_t wu_ia : 1; + uint8_t ff_ia : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_all_int_src_t; + +#define LSM6DSO_WAKE_UP_SRC 0x1BU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t z_wu : 1; + uint8_t y_wu : 1; + uint8_t x_wu : 1; + uint8_t wu_ia : 1; + uint8_t sleep_state : 1; + uint8_t ff_ia : 1; + uint8_t sleep_change_ia : 1; + uint8_t not_used_01 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_01 : 1; + uint8_t sleep_change_ia : 1; + uint8_t ff_ia : 1; + uint8_t sleep_state : 1; + uint8_t wu_ia : 1; + uint8_t x_wu : 1; + uint8_t y_wu : 1; + uint8_t z_wu : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_wake_up_src_t; + +#define LSM6DSO_TAP_SRC 0x1CU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t z_tap : 1; + uint8_t y_tap : 1; + uint8_t x_tap : 1; + uint8_t tap_sign : 1; + uint8_t double_tap : 1; + uint8_t single_tap : 1; + uint8_t tap_ia : 1; + uint8_t not_used_02 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_02 : 1; + uint8_t tap_ia : 1; + uint8_t single_tap : 1; + uint8_t double_tap : 1; + uint8_t tap_sign : 1; + uint8_t x_tap : 1; + uint8_t y_tap : 1; + uint8_t z_tap : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_tap_src_t; + +#define LSM6DSO_D6D_SRC 0x1DU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t xl : 1; + uint8_t xh : 1; + uint8_t yl : 1; + uint8_t yh : 1; + uint8_t zl : 1; + uint8_t zh : 1; + uint8_t d6d_ia : 1; + uint8_t den_drdy : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t den_drdy : 1; + uint8_t d6d_ia : 1; + uint8_t zh : 1; + uint8_t zl : 1; + uint8_t yh : 1; + uint8_t yl : 1; + uint8_t xh : 1; + uint8_t xl : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_d6d_src_t; + +#define LSM6DSO_STATUS_REG 0x1EU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t xlda : 1; + uint8_t gda : 1; + uint8_t tda : 1; + uint8_t not_used_01 : 5; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_01 : 5; + uint8_t tda : 1; + uint8_t gda : 1; + uint8_t xlda : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_status_reg_t; + +#define LSM6DSO_STATUS_SPIAUX 0x1EU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t xlda : 1; + uint8_t gda : 1; + uint8_t gyro_settling : 1; + uint8_t not_used_01 : 5; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_01 : 5; + uint8_t gyro_settling : 1; + uint8_t gda : 1; + uint8_t xlda : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_status_spiaux_t; + +#define LSM6DSO_OUT_TEMP_L 0x20U +#define LSM6DSO_OUT_TEMP_H 0x21U +#define LSM6DSO_OUTX_L_G 0x22U +#define LSM6DSO_OUTX_H_G 0x23U +#define LSM6DSO_OUTY_L_G 0x24U +#define LSM6DSO_OUTY_H_G 0x25U +#define LSM6DSO_OUTZ_L_G 0x26U +#define LSM6DSO_OUTZ_H_G 0x27U +#define LSM6DSO_OUTX_L_A 0x28U +#define LSM6DSO_OUTX_H_A 0x29U +#define LSM6DSO_OUTY_L_A 0x2AU +#define LSM6DSO_OUTY_H_A 0x2BU +#define LSM6DSO_OUTZ_L_A 0x2CU +#define LSM6DSO_OUTZ_H_A 0x2DU +#define LSM6DSO_EMB_FUNC_STATUS_MAINPAGE 0x35U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t not_used_01 : 3; + uint8_t is_step_det : 1; + uint8_t is_tilt : 1; + uint8_t is_sigmot : 1; + uint8_t not_used_02 : 1; + uint8_t is_fsm_lc : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t is_fsm_lc : 1; + uint8_t not_used_02 : 1; + uint8_t is_sigmot : 1; + uint8_t is_tilt : 1; + uint8_t is_step_det : 1; + uint8_t not_used_01 : 3; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_emb_func_status_mainpage_t; + +#define LSM6DSO_FSM_STATUS_A_MAINPAGE 0x36U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t is_fsm1 : 1; + uint8_t is_fsm2 : 1; + uint8_t is_fsm3 : 1; + uint8_t is_fsm4 : 1; + uint8_t is_fsm5 : 1; + uint8_t is_fsm6 : 1; + uint8_t is_fsm7 : 1; + uint8_t is_fsm8 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t is_fsm8 : 1; + uint8_t is_fsm7 : 1; + uint8_t is_fsm6 : 1; + uint8_t is_fsm5 : 1; + uint8_t is_fsm4 : 1; + uint8_t is_fsm3 : 1; + uint8_t is_fsm2 : 1; + uint8_t is_fsm1 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_status_a_mainpage_t; + +#define LSM6DSO_FSM_STATUS_B_MAINPAGE 0x37U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t is_fsm9 : 1; + uint8_t is_fsm10 : 1; + uint8_t is_fsm11 : 1; + uint8_t is_fsm12 : 1; + uint8_t is_fsm13 : 1; + uint8_t is_fsm14 : 1; + uint8_t is_fsm15 : 1; + uint8_t is_fsm16 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t is_fsm16 : 1; + uint8_t is_fsm15 : 1; + uint8_t is_fsm14 : 1; + uint8_t is_fsm13 : 1; + uint8_t is_fsm12 : 1; + uint8_t is_fsm11 : 1; + uint8_t is_fsm10 : 1; + uint8_t is_fsm9 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_status_b_mainpage_t; + +#define LSM6DSO_STATUS_MASTER_MAINPAGE 0x39U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t sens_hub_endop : 1; + uint8_t not_used_01 : 2; + uint8_t slave0_nack : 1; + uint8_t slave1_nack : 1; + uint8_t slave2_nack : 1; + uint8_t slave3_nack : 1; + uint8_t wr_once_done : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t wr_once_done : 1; + uint8_t slave3_nack : 1; + uint8_t slave2_nack : 1; + uint8_t slave1_nack : 1; + uint8_t slave0_nack : 1; + uint8_t not_used_01 : 2; + uint8_t sens_hub_endop : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_status_master_mainpage_t; + +#define LSM6DSO_FIFO_STATUS1 0x3AU +typedef struct { + uint8_t diff_fifo : 8; +} lsm6dso_fifo_status1_t; + +#define LSM6DSO_FIFO_STATUS2 0x3B +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t diff_fifo : 2; + uint8_t not_used_01 : 1; + uint8_t over_run_latched : 1; + uint8_t counter_bdr_ia : 1; + uint8_t fifo_full_ia : 1; + uint8_t fifo_ovr_ia : 1; + uint8_t fifo_wtm_ia : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t fifo_wtm_ia : 1; + uint8_t fifo_ovr_ia : 1; + uint8_t fifo_full_ia : 1; + uint8_t counter_bdr_ia : 1; + uint8_t over_run_latched : 1; + uint8_t not_used_01 : 1; + uint8_t diff_fifo : 2; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fifo_status2_t; + +#define LSM6DSO_TIMESTAMP0 0x40U +#define LSM6DSO_TIMESTAMP1 0x41U +#define LSM6DSO_TIMESTAMP2 0x42U +#define LSM6DSO_TIMESTAMP3 0x43U +#define LSM6DSO_TAP_CFG0 0x56U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t lir : 1; + uint8_t tap_z_en : 1; + uint8_t tap_y_en : 1; + uint8_t tap_x_en : 1; + uint8_t slope_fds : 1; + uint8_t sleep_status_on_int : 1; + uint8_t int_clr_on_read : 1; + uint8_t not_used_01 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_01 : 1; + uint8_t int_clr_on_read : 1; + uint8_t sleep_status_on_int : 1; + uint8_t slope_fds : 1; + uint8_t tap_x_en : 1; + uint8_t tap_y_en : 1; + uint8_t tap_z_en : 1; + uint8_t lir : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_tap_cfg0_t; + +#define LSM6DSO_TAP_CFG1 0x57U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t tap_ths_x : 5; + uint8_t tap_priority : 3; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t tap_priority : 3; + uint8_t tap_ths_x : 5; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_tap_cfg1_t; + +#define LSM6DSO_TAP_CFG2 0x58U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t tap_ths_y : 5; + uint8_t inact_en : 2; + uint8_t interrupts_enable : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t interrupts_enable : 1; + uint8_t inact_en : 2; + uint8_t tap_ths_y : 5; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_tap_cfg2_t; + +#define LSM6DSO_TAP_THS_6D 0x59U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t tap_ths_z : 5; + uint8_t sixd_ths : 2; + uint8_t d4d_en : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t d4d_en : 1; + uint8_t sixd_ths : 2; + uint8_t tap_ths_z : 5; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_tap_ths_6d_t; + +#define LSM6DSO_INT_DUR2 0x5AU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t shock : 2; + uint8_t quiet : 2; + uint8_t dur : 4; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t dur : 4; + uint8_t quiet : 2; + uint8_t shock : 2; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_int_dur2_t; + +#define LSM6DSO_WAKE_UP_THS 0x5BU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t wk_ths : 6; + uint8_t usr_off_on_wu : 1; + uint8_t single_double_tap : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t single_double_tap : 1; + uint8_t usr_off_on_wu : 1; + uint8_t wk_ths : 6; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_wake_up_ths_t; + +#define LSM6DSO_WAKE_UP_DUR 0x5CU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t sleep_dur : 4; + uint8_t wake_ths_w : 1; + uint8_t wake_dur : 2; + uint8_t ff_dur : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t ff_dur : 1; + uint8_t wake_dur : 2; + uint8_t wake_ths_w : 1; + uint8_t sleep_dur : 4; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_wake_up_dur_t; + +#define LSM6DSO_FREE_FALL 0x5DU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t ff_ths : 3; + uint8_t ff_dur : 5; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t ff_dur : 5; + uint8_t ff_ths : 3; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_free_fall_t; + +#define LSM6DSO_MD1_CFG 0x5EU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t int1_shub : 1; + uint8_t int1_emb_func : 1; + uint8_t int1_6d : 1; + uint8_t int1_double_tap : 1; + uint8_t int1_ff : 1; + uint8_t int1_wu : 1; + uint8_t int1_single_tap : 1; + uint8_t int1_sleep_change : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t int1_sleep_change : 1; + uint8_t int1_single_tap : 1; + uint8_t int1_wu : 1; + uint8_t int1_ff : 1; + uint8_t int1_double_tap : 1; + uint8_t int1_6d : 1; + uint8_t int1_emb_func : 1; + uint8_t int1_shub : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_md1_cfg_t; + +#define LSM6DSO_MD2_CFG 0x5FU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t int2_timestamp : 1; + uint8_t int2_emb_func : 1; + uint8_t int2_6d : 1; + uint8_t int2_double_tap : 1; + uint8_t int2_ff : 1; + uint8_t int2_wu : 1; + uint8_t int2_single_tap : 1; + uint8_t int2_sleep_change : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t int2_sleep_change : 1; + uint8_t int2_single_tap : 1; + uint8_t int2_wu : 1; + uint8_t int2_ff : 1; + uint8_t int2_double_tap : 1; + uint8_t int2_6d : 1; + uint8_t int2_emb_func : 1; + uint8_t int2_timestamp : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_md2_cfg_t; + +#define LSM6DSO_I3C_BUS_AVB 0x62U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t pd_dis_int1 : 1; + uint8_t not_used_01 : 2; + uint8_t i3c_bus_avb_sel : 2; + uint8_t not_used_02 : 3; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_02 : 3; + uint8_t i3c_bus_avb_sel : 2; + uint8_t not_used_01 : 2; + uint8_t pd_dis_int1 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_i3c_bus_avb_t; + +#define LSM6DSO_INTERNAL_FREQ_FINE 0x63U +typedef struct { + uint8_t freq_fine : 8; +} lsm6dso_internal_freq_fine_t; + +#define LSM6DSO_INT_OIS 0x6FU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t st_xl_ois : 2; + uint8_t not_used_01 : 3; + uint8_t den_lh_ois : 1; + uint8_t lvl2_ois : 1; + uint8_t int2_drdy_ois : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t int2_drdy_ois : 1; + uint8_t lvl2_ois : 1; + uint8_t den_lh_ois : 1; + uint8_t not_used_01 : 3; + uint8_t st_xl_ois : 2; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_int_ois_t; + +#define LSM6DSO_CTRL1_OIS 0x70U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t ois_en_spi2 : 1; + uint8_t fs_g_ois : 3; /* fs_125_ois + fs[1:0]_g_ois */ + uint8_t mode4_en : 1; + uint8_t sim_ois : 1; + uint8_t lvl1_ois : 1; + uint8_t not_used_01 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_01 : 1; + uint8_t lvl1_ois : 1; + uint8_t sim_ois : 1; + uint8_t mode4_en : 1; + uint8_t fs_g_ois : 3; /* fs_125_ois + fs[1:0]_g_ois */ + uint8_t ois_en_spi2 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_ctrl1_ois_t; + +#define LSM6DSO_CTRL2_OIS 0x71U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t hp_en_ois : 1; + uint8_t ftype_ois : 2; + uint8_t not_used_01 : 1; + uint8_t hpm_ois : 2; + uint8_t not_used_02 : 2; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_02 : 2; + uint8_t hpm_ois : 2; + uint8_t not_used_01 : 1; + uint8_t ftype_ois : 2; + uint8_t hp_en_ois : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_ctrl2_ois_t; + +#define LSM6DSO_CTRL3_OIS 0x72U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t st_ois_clampdis : 1; + uint8_t st_ois : 2; + uint8_t filter_xl_conf_ois : 3; + uint8_t fs_xl_ois : 2; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t fs_xl_ois : 2; + uint8_t filter_xl_conf_ois : 3; + uint8_t st_ois : 2; + uint8_t st_ois_clampdis : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_ctrl3_ois_t; + +#define LSM6DSO_X_OFS_USR 0x73U +#define LSM6DSO_Y_OFS_USR 0x74U +#define LSM6DSO_Z_OFS_USR 0x75U +#define LSM6DSO_FIFO_DATA_OUT_TAG 0x78U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t tag_parity : 1; + uint8_t tag_cnt : 2; + uint8_t tag_sensor : 5; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t tag_sensor : 5; + uint8_t tag_cnt : 2; + uint8_t tag_parity : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fifo_data_out_tag_t; + +#define LSM6DSO_FIFO_DATA_OUT_X_L 0x79U +#define LSM6DSO_FIFO_DATA_OUT_X_H 0x7AU +#define LSM6DSO_FIFO_DATA_OUT_Y_L 0x7BU +#define LSM6DSO_FIFO_DATA_OUT_Y_H 0x7CU +#define LSM6DSO_FIFO_DATA_OUT_Z_L 0x7DU +#define LSM6DSO_FIFO_DATA_OUT_Z_H 0x7EU +#define LSM6DSO_PAGE_SEL 0x02U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t not_used_01 : 4; + uint8_t page_sel : 4; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t page_sel : 4; + uint8_t not_used_01 : 4; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_page_sel_t; + +#define LSM6DSO_EMB_FUNC_EN_A 0x04U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t not_used_01 : 3; + uint8_t pedo_en : 1; + uint8_t tilt_en : 1; + uint8_t sign_motion_en : 1; + uint8_t not_used_02 : 2; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_02 : 2; + uint8_t sign_motion_en : 1; + uint8_t tilt_en : 1; + uint8_t pedo_en : 1; + uint8_t not_used_01 : 3; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_emb_func_en_a_t; + +#define LSM6DSO_EMB_FUNC_EN_B 0x05U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t fsm_en : 1; + uint8_t not_used_01 : 2; + uint8_t fifo_compr_en : 1; + uint8_t pedo_adv_en : 1; + uint8_t not_used_02 : 3; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_02 : 3; + uint8_t pedo_adv_en : 1; + uint8_t fifo_compr_en : 1; + uint8_t not_used_01 : 2; + uint8_t fsm_en : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_emb_func_en_b_t; + +#define LSM6DSO_PAGE_ADDRESS 0x08U +typedef struct { + uint8_t page_addr : 8; +} lsm6dso_page_address_t; + +#define LSM6DSO_PAGE_VALUE 0x09U +typedef struct { + uint8_t page_value : 8; +} lsm6dso_page_value_t; + +#define LSM6DSO_EMB_FUNC_INT1 0x0AU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t not_used_01 : 3; + uint8_t int1_step_detector : 1; + uint8_t int1_tilt : 1; + uint8_t int1_sig_mot : 1; + uint8_t not_used_02 : 1; + uint8_t int1_fsm_lc : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t int1_fsm_lc : 1; + uint8_t not_used_02 : 1; + uint8_t int1_sig_mot : 1; + uint8_t int1_tilt : 1; + uint8_t int1_step_detector : 1; + uint8_t not_used_01 : 3; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_emb_func_int1_t; + +#define LSM6DSO_FSM_INT1_A 0x0BU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t int1_fsm1 : 1; + uint8_t int1_fsm2 : 1; + uint8_t int1_fsm3 : 1; + uint8_t int1_fsm4 : 1; + uint8_t int1_fsm5 : 1; + uint8_t int1_fsm6 : 1; + uint8_t int1_fsm7 : 1; + uint8_t int1_fsm8 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t int1_fsm8 : 1; + uint8_t int1_fsm7 : 1; + uint8_t int1_fsm6 : 1; + uint8_t int1_fsm5 : 1; + uint8_t int1_fsm4 : 1; + uint8_t int1_fsm3 : 1; + uint8_t int1_fsm2 : 1; + uint8_t int1_fsm1 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_int1_a_t; + +#define LSM6DSO_FSM_INT1_B 0x0CU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t int1_fsm9 : 1; + uint8_t int1_fsm10 : 1; + uint8_t int1_fsm11 : 1; + uint8_t int1_fsm12 : 1; + uint8_t int1_fsm13 : 1; + uint8_t int1_fsm14 : 1; + uint8_t int1_fsm15 : 1; + uint8_t int1_fsm16 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t int1_fsm16 : 1; + uint8_t int1_fsm15 : 1; + uint8_t int1_fsm14 : 1; + uint8_t int1_fsm13 : 1; + uint8_t int1_fsm12 : 1; + uint8_t int1_fsm11 : 1; + uint8_t int1_fsm10 : 1; + uint8_t int1_fsm9 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_int1_b_t; + +#define LSM6DSO_EMB_FUNC_INT2 0x0EU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t not_used_01 : 3; + uint8_t int2_step_detector : 1; + uint8_t int2_tilt : 1; + uint8_t int2_sig_mot : 1; + uint8_t not_used_02 : 1; + uint8_t int2_fsm_lc : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t int2_fsm_lc : 1; + uint8_t not_used_02 : 1; + uint8_t int2_sig_mot : 1; + uint8_t int2_tilt : 1; + uint8_t int2_step_detector : 1; + uint8_t not_used_01 : 3; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_emb_func_int2_t; + +#define LSM6DSO_FSM_INT2_A 0x0FU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t int2_fsm1 : 1; + uint8_t int2_fsm2 : 1; + uint8_t int2_fsm3 : 1; + uint8_t int2_fsm4 : 1; + uint8_t int2_fsm5 : 1; + uint8_t int2_fsm6 : 1; + uint8_t int2_fsm7 : 1; + uint8_t int2_fsm8 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t int2_fsm8 : 1; + uint8_t int2_fsm7 : 1; + uint8_t int2_fsm6 : 1; + uint8_t int2_fsm5 : 1; + uint8_t int2_fsm4 : 1; + uint8_t int2_fsm3 : 1; + uint8_t int2_fsm2 : 1; + uint8_t int2_fsm1 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_int2_a_t; + +#define LSM6DSO_FSM_INT2_B 0x10U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t int2_fsm9 : 1; + uint8_t int2_fsm10 : 1; + uint8_t int2_fsm11 : 1; + uint8_t int2_fsm12 : 1; + uint8_t int2_fsm13 : 1; + uint8_t int2_fsm14 : 1; + uint8_t int2_fsm15 : 1; + uint8_t int2_fsm16 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t int2_fsm16 : 1; + uint8_t int2_fsm15 : 1; + uint8_t int2_fsm14 : 1; + uint8_t int2_fsm13 : 1; + uint8_t int2_fsm12 : 1; + uint8_t int2_fsm11 : 1; + uint8_t int2_fsm10 : 1; + uint8_t int2_fsm9 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_int2_b_t; + +#define LSM6DSO_EMB_FUNC_STATUS 0x12U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t not_used_01 : 3; + uint8_t is_step_det : 1; + uint8_t is_tilt : 1; + uint8_t is_sigmot : 1; + uint8_t not_used_02 : 1; + uint8_t is_fsm_lc : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t is_fsm_lc : 1; + uint8_t not_used_02 : 1; + uint8_t is_sigmot : 1; + uint8_t is_tilt : 1; + uint8_t is_step_det : 1; + uint8_t not_used_01 : 3; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_emb_func_status_t; + +#define LSM6DSO_FSM_STATUS_A 0x13U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t is_fsm1 : 1; + uint8_t is_fsm2 : 1; + uint8_t is_fsm3 : 1; + uint8_t is_fsm4 : 1; + uint8_t is_fsm5 : 1; + uint8_t is_fsm6 : 1; + uint8_t is_fsm7 : 1; + uint8_t is_fsm8 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t is_fsm8 : 1; + uint8_t is_fsm7 : 1; + uint8_t is_fsm6 : 1; + uint8_t is_fsm5 : 1; + uint8_t is_fsm4 : 1; + uint8_t is_fsm3 : 1; + uint8_t is_fsm2 : 1; + uint8_t is_fsm1 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_status_a_t; + +#define LSM6DSO_FSM_STATUS_B 0x14U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t is_fsm9 : 1; + uint8_t is_fsm10 : 1; + uint8_t is_fsm11 : 1; + uint8_t is_fsm12 : 1; + uint8_t is_fsm13 : 1; + uint8_t is_fsm14 : 1; + uint8_t is_fsm15 : 1; + uint8_t is_fsm16 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t is_fsm16 : 1; + uint8_t is_fsm15 : 1; + uint8_t is_fsm14 : 1; + uint8_t is_fsm13 : 1; + uint8_t is_fsm12 : 1; + uint8_t is_fsm11 : 1; + uint8_t is_fsm10 : 1; + uint8_t is_fsm9 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_status_b_t; + +#define LSM6DSO_PAGE_RW 0x17U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t not_used_01 : 5; + uint8_t page_rw : 2; /* page_write + page_read */ + uint8_t emb_func_lir : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t emb_func_lir : 1; + uint8_t page_rw : 2; /* page_write + page_read */ + uint8_t not_used_01 : 5; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_page_rw_t; + +#define LSM6DSO_EMB_FUNC_FIFO_CFG 0x44U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t not_used_00 : 6; + uint8_t pedo_fifo_en : 1; + uint8_t not_used_01 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_01 : 1; + uint8_t pedo_fifo_en : 1; + uint8_t not_used_00 : 6; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_emb_func_fifo_cfg_t; + +#define LSM6DSO_FSM_ENABLE_A 0x46U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t fsm1_en : 1; + uint8_t fsm2_en : 1; + uint8_t fsm3_en : 1; + uint8_t fsm4_en : 1; + uint8_t fsm5_en : 1; + uint8_t fsm6_en : 1; + uint8_t fsm7_en : 1; + uint8_t fsm8_en : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t fsm8_en : 1; + uint8_t fsm7_en : 1; + uint8_t fsm6_en : 1; + uint8_t fsm5_en : 1; + uint8_t fsm4_en : 1; + uint8_t fsm3_en : 1; + uint8_t fsm2_en : 1; + uint8_t fsm1_en : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_enable_a_t; + +#define LSM6DSO_FSM_ENABLE_B 0x47U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t fsm9_en : 1; + uint8_t fsm10_en : 1; + uint8_t fsm11_en : 1; + uint8_t fsm12_en : 1; + uint8_t fsm13_en : 1; + uint8_t fsm14_en : 1; + uint8_t fsm15_en : 1; + uint8_t fsm16_en : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t fsm16_en : 1; + uint8_t fsm15_en : 1; + uint8_t fsm14_en : 1; + uint8_t fsm13_en : 1; + uint8_t fsm12_en : 1; + uint8_t fsm11_en : 1; + uint8_t fsm10_en : 1; + uint8_t fsm9_en : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_enable_b_t; + +#define LSM6DSO_FSM_LONG_COUNTER_L 0x48U +#define LSM6DSO_FSM_LONG_COUNTER_H 0x49U +#define LSM6DSO_FSM_LONG_COUNTER_CLEAR 0x4AU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t fsm_lc_clr : 2; /* fsm_lc_cleared + fsm_lc_clear */ + uint8_t not_used_01 : 6; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_01 : 6; + uint8_t fsm_lc_clr : 2; /* fsm_lc_cleared + fsm_lc_clear */ +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_long_counter_clear_t; + +#define LSM6DSO_FSM_OUTS1 0x4CU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t n_v : 1; + uint8_t p_v : 1; + uint8_t n_z : 1; + uint8_t p_z : 1; + uint8_t n_y : 1; + uint8_t p_y : 1; + uint8_t n_x : 1; + uint8_t p_x : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t p_x : 1; + uint8_t n_x : 1; + uint8_t p_y : 1; + uint8_t n_y : 1; + uint8_t p_z : 1; + uint8_t n_z : 1; + uint8_t p_v : 1; + uint8_t n_v : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_outs1_t; + +#define LSM6DSO_FSM_OUTS2 0x4DU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t n_v : 1; + uint8_t p_v : 1; + uint8_t n_z : 1; + uint8_t p_z : 1; + uint8_t n_y : 1; + uint8_t p_y : 1; + uint8_t n_x : 1; + uint8_t p_x : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t p_x : 1; + uint8_t n_x : 1; + uint8_t p_y : 1; + uint8_t n_y : 1; + uint8_t p_z : 1; + uint8_t n_z : 1; + uint8_t p_v : 1; + uint8_t n_v : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_outs2_t; + +#define LSM6DSO_FSM_OUTS3 0x4EU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t n_v : 1; + uint8_t p_v : 1; + uint8_t n_z : 1; + uint8_t p_z : 1; + uint8_t n_y : 1; + uint8_t p_y : 1; + uint8_t n_x : 1; + uint8_t p_x : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t p_x : 1; + uint8_t n_x : 1; + uint8_t p_y : 1; + uint8_t n_y : 1; + uint8_t p_z : 1; + uint8_t n_z : 1; + uint8_t p_v : 1; + uint8_t n_v : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_outs3_t; + +#define LSM6DSO_FSM_OUTS4 0x4FU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t n_v : 1; + uint8_t p_v : 1; + uint8_t n_z : 1; + uint8_t p_z : 1; + uint8_t n_y : 1; + uint8_t p_y : 1; + uint8_t n_x : 1; + uint8_t p_x : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t p_x : 1; + uint8_t n_x : 1; + uint8_t p_y : 1; + uint8_t n_y : 1; + uint8_t p_z : 1; + uint8_t n_z : 1; + uint8_t p_v : 1; + uint8_t n_v : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_outs4_t; + +#define LSM6DSO_FSM_OUTS5 0x50U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t n_v : 1; + uint8_t p_v : 1; + uint8_t n_z : 1; + uint8_t p_z : 1; + uint8_t n_y : 1; + uint8_t p_y : 1; + uint8_t n_x : 1; + uint8_t p_x : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t p_x : 1; + uint8_t n_x : 1; + uint8_t p_y : 1; + uint8_t n_y : 1; + uint8_t p_z : 1; + uint8_t n_z : 1; + uint8_t p_v : 1; + uint8_t n_v : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_outs5_t; + +#define LSM6DSO_FSM_OUTS6 0x51U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t n_v : 1; + uint8_t p_v : 1; + uint8_t n_z : 1; + uint8_t p_z : 1; + uint8_t n_y : 1; + uint8_t p_y : 1; + uint8_t n_x : 1; + uint8_t p_x : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t p_x : 1; + uint8_t n_x : 1; + uint8_t p_y : 1; + uint8_t n_y : 1; + uint8_t p_z : 1; + uint8_t n_z : 1; + uint8_t p_v : 1; + uint8_t n_v : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_outs6_t; + +#define LSM6DSO_FSM_OUTS7 0x52U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t n_v : 1; + uint8_t p_v : 1; + uint8_t n_z : 1; + uint8_t p_z : 1; + uint8_t n_y : 1; + uint8_t p_y : 1; + uint8_t n_x : 1; + uint8_t p_x : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t p_x : 1; + uint8_t n_x : 1; + uint8_t p_y : 1; + uint8_t n_y : 1; + uint8_t p_z : 1; + uint8_t n_z : 1; + uint8_t p_v : 1; + uint8_t n_v : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_outs7_t; + +#define LSM6DSO_FSM_OUTS8 0x53U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t n_v : 1; + uint8_t p_v : 1; + uint8_t n_z : 1; + uint8_t p_z : 1; + uint8_t n_y : 1; + uint8_t p_y : 1; + uint8_t n_x : 1; + uint8_t p_x : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t p_x : 1; + uint8_t n_x : 1; + uint8_t p_y : 1; + uint8_t n_y : 1; + uint8_t p_z : 1; + uint8_t n_z : 1; + uint8_t p_v : 1; + uint8_t n_v : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_outs8_t; + +#define LSM6DSO_FSM_OUTS9 0x54U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t n_v : 1; + uint8_t p_v : 1; + uint8_t n_z : 1; + uint8_t p_z : 1; + uint8_t n_y : 1; + uint8_t p_y : 1; + uint8_t n_x : 1; + uint8_t p_x : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t p_x : 1; + uint8_t n_x : 1; + uint8_t p_y : 1; + uint8_t n_y : 1; + uint8_t p_z : 1; + uint8_t n_z : 1; + uint8_t p_v : 1; + uint8_t n_v : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_outs9_t; + +#define LSM6DSO_FSM_OUTS10 0x55U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t n_v : 1; + uint8_t p_v : 1; + uint8_t n_z : 1; + uint8_t p_z : 1; + uint8_t n_y : 1; + uint8_t p_y : 1; + uint8_t n_x : 1; + uint8_t p_x : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t p_x : 1; + uint8_t n_x : 1; + uint8_t p_y : 1; + uint8_t n_y : 1; + uint8_t p_z : 1; + uint8_t n_z : 1; + uint8_t p_v : 1; + uint8_t n_v : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_outs10_t; + +#define LSM6DSO_FSM_OUTS11 0x56U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t n_v : 1; + uint8_t p_v : 1; + uint8_t n_z : 1; + uint8_t p_z : 1; + uint8_t n_y : 1; + uint8_t p_y : 1; + uint8_t n_x : 1; + uint8_t p_x : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t p_x : 1; + uint8_t n_x : 1; + uint8_t p_y : 1; + uint8_t n_y : 1; + uint8_t p_z : 1; + uint8_t n_z : 1; + uint8_t p_v : 1; + uint8_t n_v : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_outs11_t; + +#define LSM6DSO_FSM_OUTS12 0x57U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t n_v : 1; + uint8_t p_v : 1; + uint8_t n_z : 1; + uint8_t p_z : 1; + uint8_t n_y : 1; + uint8_t p_y : 1; + uint8_t n_x : 1; + uint8_t p_x : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t p_x : 1; + uint8_t n_x : 1; + uint8_t p_y : 1; + uint8_t n_y : 1; + uint8_t p_z : 1; + uint8_t n_z : 1; + uint8_t p_v : 1; + uint8_t n_v : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_outs12_t; + +#define LSM6DSO_FSM_OUTS13 0x58U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t n_v : 1; + uint8_t p_v : 1; + uint8_t n_z : 1; + uint8_t p_z : 1; + uint8_t n_y : 1; + uint8_t p_y : 1; + uint8_t n_x : 1; + uint8_t p_x : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t p_x : 1; + uint8_t n_x : 1; + uint8_t p_y : 1; + uint8_t n_y : 1; + uint8_t p_z : 1; + uint8_t n_z : 1; + uint8_t p_v : 1; + uint8_t n_v : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_outs13_t; + +#define LSM6DSO_FSM_OUTS14 0x59U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t n_v : 1; + uint8_t p_v : 1; + uint8_t n_z : 1; + uint8_t p_z : 1; + uint8_t n_y : 1; + uint8_t p_y : 1; + uint8_t n_x : 1; + uint8_t p_x : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t p_x : 1; + uint8_t n_x : 1; + uint8_t p_y : 1; + uint8_t n_y : 1; + uint8_t p_z : 1; + uint8_t n_z : 1; + uint8_t p_v : 1; + uint8_t n_v : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_outs14_t; + +#define LSM6DSO_FSM_OUTS15 0x5AU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t n_v : 1; + uint8_t p_v : 1; + uint8_t n_z : 1; + uint8_t p_z : 1; + uint8_t n_y : 1; + uint8_t p_y : 1; + uint8_t n_x : 1; + uint8_t p_x : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t p_x : 1; + uint8_t n_x : 1; + uint8_t p_y : 1; + uint8_t n_y : 1; + uint8_t p_z : 1; + uint8_t n_z : 1; + uint8_t p_v : 1; + uint8_t n_v : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_outs15_t; + +#define LSM6DSO_FSM_OUTS16 0x5BU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t n_v : 1; + uint8_t p_v : 1; + uint8_t n_z : 1; + uint8_t p_z : 1; + uint8_t n_y : 1; + uint8_t p_y : 1; + uint8_t n_x : 1; + uint8_t p_x : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t p_x : 1; + uint8_t n_x : 1; + uint8_t p_y : 1; + uint8_t n_y : 1; + uint8_t p_z : 1; + uint8_t n_z : 1; + uint8_t p_v : 1; + uint8_t n_v : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_fsm_outs16_t; + +#define LSM6DSO_EMB_FUNC_ODR_CFG_B 0x5FU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t not_used_01 : 3; + uint8_t fsm_odr : 2; + uint8_t not_used_02 : 3; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_02 : 3; + uint8_t fsm_odr : 2; + uint8_t not_used_01 : 3; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_emb_func_odr_cfg_b_t; + +#define LSM6DSO_STEP_COUNTER_L 0x62U +#define LSM6DSO_STEP_COUNTER_H 0x63U +#define LSM6DSO_EMB_FUNC_SRC 0x64U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t not_used_01 : 2; + uint8_t stepcounter_bit_set : 1; + uint8_t step_overflow : 1; + uint8_t step_count_delta_ia : 1; + uint8_t step_detected : 1; + uint8_t not_used_02 : 1; + uint8_t pedo_rst_step : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t pedo_rst_step : 1; + uint8_t not_used_02 : 1; + uint8_t step_detected : 1; + uint8_t step_count_delta_ia : 1; + uint8_t step_overflow : 1; + uint8_t stepcounter_bit_set : 1; + uint8_t not_used_01 : 2; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_emb_func_src_t; + +#define LSM6DSO_EMB_FUNC_INIT_A 0x66U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t not_used_01 : 3; + uint8_t step_det_init : 1; + uint8_t tilt_init : 1; + uint8_t sig_mot_init : 1; + uint8_t not_used_02 : 2; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_02 : 2; + uint8_t sig_mot_init : 1; + uint8_t tilt_init : 1; + uint8_t step_det_init : 1; + uint8_t not_used_01 : 3; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_emb_func_init_a_t; + +#define LSM6DSO_EMB_FUNC_INIT_B 0x67U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t fsm_init : 1; + uint8_t not_used_01 : 2; + uint8_t fifo_compr_init : 1; + uint8_t not_used_02 : 4; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_02 : 4; + uint8_t fifo_compr_init : 1; + uint8_t not_used_01 : 2; + uint8_t fsm_init : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_emb_func_init_b_t; + +#define LSM6DSO_MAG_SENSITIVITY_L 0xBAU +#define LSM6DSO_MAG_SENSITIVITY_H 0xBBU +#define LSM6DSO_MAG_OFFX_L 0xC0U +#define LSM6DSO_MAG_OFFX_H 0xC1U +#define LSM6DSO_MAG_OFFY_L 0xC2U +#define LSM6DSO_MAG_OFFY_H 0xC3U +#define LSM6DSO_MAG_OFFZ_L 0xC4U +#define LSM6DSO_MAG_OFFZ_H 0xC5U +#define LSM6DSO_MAG_SI_XX_L 0xC6U +#define LSM6DSO_MAG_SI_XX_H 0xC7U +#define LSM6DSO_MAG_SI_XY_L 0xC8U +#define LSM6DSO_MAG_SI_XY_H 0xC9U +#define LSM6DSO_MAG_SI_XZ_L 0xCAU +#define LSM6DSO_MAG_SI_XZ_H 0xCBU +#define LSM6DSO_MAG_SI_YY_L 0xCCU +#define LSM6DSO_MAG_SI_YY_H 0xCDU +#define LSM6DSO_MAG_SI_YZ_L 0xCEU +#define LSM6DSO_MAG_SI_YZ_H 0xCFU +#define LSM6DSO_MAG_SI_ZZ_L 0xD0U +#define LSM6DSO_MAG_SI_ZZ_H 0xD1U +#define LSM6DSO_MAG_CFG_A 0xD4U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t mag_z_axis : 3; + uint8_t not_used_01 : 1; + uint8_t mag_y_axis : 3; + uint8_t not_used_02 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_02 : 1; + uint8_t mag_y_axis : 3; + uint8_t not_used_01 : 1; + uint8_t mag_z_axis : 3; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_mag_cfg_a_t; + +#define LSM6DSO_MAG_CFG_B 0xD5U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t mag_x_axis : 3; + uint8_t not_used_01 : 5; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_01 : 5; + uint8_t mag_x_axis : 3; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_mag_cfg_b_t; + +#define LSM6DSO_FSM_LC_TIMEOUT_L 0x17AU +#define LSM6DSO_FSM_LC_TIMEOUT_H 0x17BU +#define LSM6DSO_FSM_PROGRAMS 0x17CU +#define LSM6DSO_FSM_START_ADD_L 0x17EU +#define LSM6DSO_FSM_START_ADD_H 0x17FU +#define LSM6DSO_PEDO_CMD_REG 0x183U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t ad_det_en : 1; + uint8_t not_used_01 : 1; + uint8_t fp_rejection_en : 1; + uint8_t carry_count_en : 1; + uint8_t not_used_02 : 4; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_02 : 4; + uint8_t carry_count_en : 1; + uint8_t fp_rejection_en : 1; + uint8_t not_used_01 : 1; + uint8_t ad_det_en : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_pedo_cmd_reg_t; + +#define LSM6DSO_PEDO_DEB_STEPS_CONF 0x184U +#define LSM6DSO_PEDO_SC_DELTAT_L 0x1D0U +#define LSM6DSO_PEDO_SC_DELTAT_H 0x1D1U +#define LSM6DSO_SENSOR_HUB_1 0x02U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t bit0 : 1; + uint8_t bit1 : 1; + uint8_t bit2 : 1; + uint8_t bit3 : 1; + uint8_t bit4 : 1; + uint8_t bit5 : 1; + uint8_t bit6 : 1; + uint8_t bit7 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t bit7 : 1; + uint8_t bit6 : 1; + uint8_t bit5 : 1; + uint8_t bit4 : 1; + uint8_t bit3 : 1; + uint8_t bit2 : 1; + uint8_t bit1 : 1; + uint8_t bit0 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_sensor_hub_1_t; + +#define LSM6DSO_SENSOR_HUB_2 0x03U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t bit0 : 1; + uint8_t bit1 : 1; + uint8_t bit2 : 1; + uint8_t bit3 : 1; + uint8_t bit4 : 1; + uint8_t bit5 : 1; + uint8_t bit6 : 1; + uint8_t bit7 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t bit7 : 1; + uint8_t bit6 : 1; + uint8_t bit5 : 1; + uint8_t bit4 : 1; + uint8_t bit3 : 1; + uint8_t bit2 : 1; + uint8_t bit1 : 1; + uint8_t bit0 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_sensor_hub_2_t; + +#define LSM6DSO_SENSOR_HUB_3 0x04U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t bit0 : 1; + uint8_t bit1 : 1; + uint8_t bit2 : 1; + uint8_t bit3 : 1; + uint8_t bit4 : 1; + uint8_t bit5 : 1; + uint8_t bit6 : 1; + uint8_t bit7 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t bit7 : 1; + uint8_t bit6 : 1; + uint8_t bit5 : 1; + uint8_t bit4 : 1; + uint8_t bit3 : 1; + uint8_t bit2 : 1; + uint8_t bit1 : 1; + uint8_t bit0 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_sensor_hub_3_t; + +#define LSM6DSO_SENSOR_HUB_4 0x05U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t bit0 : 1; + uint8_t bit1 : 1; + uint8_t bit2 : 1; + uint8_t bit3 : 1; + uint8_t bit4 : 1; + uint8_t bit5 : 1; + uint8_t bit6 : 1; + uint8_t bit7 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t bit7 : 1; + uint8_t bit6 : 1; + uint8_t bit5 : 1; + uint8_t bit4 : 1; + uint8_t bit3 : 1; + uint8_t bit2 : 1; + uint8_t bit1 : 1; + uint8_t bit0 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_sensor_hub_4_t; + +#define LSM6DSO_SENSOR_HUB_5 0x06U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t bit0 : 1; + uint8_t bit1 : 1; + uint8_t bit2 : 1; + uint8_t bit3 : 1; + uint8_t bit4 : 1; + uint8_t bit5 : 1; + uint8_t bit6 : 1; + uint8_t bit7 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t bit7 : 1; + uint8_t bit6 : 1; + uint8_t bit5 : 1; + uint8_t bit4 : 1; + uint8_t bit3 : 1; + uint8_t bit2 : 1; + uint8_t bit1 : 1; + uint8_t bit0 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_sensor_hub_5_t; + +#define LSM6DSO_SENSOR_HUB_6 0x07U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t bit0 : 1; + uint8_t bit1 : 1; + uint8_t bit2 : 1; + uint8_t bit3 : 1; + uint8_t bit4 : 1; + uint8_t bit5 : 1; + uint8_t bit6 : 1; + uint8_t bit7 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t bit7 : 1; + uint8_t bit6 : 1; + uint8_t bit5 : 1; + uint8_t bit4 : 1; + uint8_t bit3 : 1; + uint8_t bit2 : 1; + uint8_t bit1 : 1; + uint8_t bit0 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_sensor_hub_6_t; + +#define LSM6DSO_SENSOR_HUB_7 0x08U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t bit0 : 1; + uint8_t bit1 : 1; + uint8_t bit2 : 1; + uint8_t bit3 : 1; + uint8_t bit4 : 1; + uint8_t bit5 : 1; + uint8_t bit6 : 1; + uint8_t bit7 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t bit7 : 1; + uint8_t bit6 : 1; + uint8_t bit5 : 1; + uint8_t bit4 : 1; + uint8_t bit3 : 1; + uint8_t bit2 : 1; + uint8_t bit1 : 1; + uint8_t bit0 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_sensor_hub_7_t; + +#define LSM6DSO_SENSOR_HUB_8 0x09U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t bit0 : 1; + uint8_t bit1 : 1; + uint8_t bit2 : 1; + uint8_t bit3 : 1; + uint8_t bit4 : 1; + uint8_t bit5 : 1; + uint8_t bit6 : 1; + uint8_t bit7 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t bit7 : 1; + uint8_t bit6 : 1; + uint8_t bit5 : 1; + uint8_t bit4 : 1; + uint8_t bit3 : 1; + uint8_t bit2 : 1; + uint8_t bit1 : 1; + uint8_t bit0 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_sensor_hub_8_t; + +#define LSM6DSO_SENSOR_HUB_9 0x0AU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t bit0 : 1; + uint8_t bit1 : 1; + uint8_t bit2 : 1; + uint8_t bit3 : 1; + uint8_t bit4 : 1; + uint8_t bit5 : 1; + uint8_t bit6 : 1; + uint8_t bit7 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t bit7 : 1; + uint8_t bit6 : 1; + uint8_t bit5 : 1; + uint8_t bit4 : 1; + uint8_t bit3 : 1; + uint8_t bit2 : 1; + uint8_t bit1 : 1; + uint8_t bit0 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_sensor_hub_9_t; + +#define LSM6DSO_SENSOR_HUB_10 0x0BU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t bit0 : 1; + uint8_t bit1 : 1; + uint8_t bit2 : 1; + uint8_t bit3 : 1; + uint8_t bit4 : 1; + uint8_t bit5 : 1; + uint8_t bit6 : 1; + uint8_t bit7 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t bit7 : 1; + uint8_t bit6 : 1; + uint8_t bit5 : 1; + uint8_t bit4 : 1; + uint8_t bit3 : 1; + uint8_t bit2 : 1; + uint8_t bit1 : 1; + uint8_t bit0 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_sensor_hub_10_t; + +#define LSM6DSO_SENSOR_HUB_11 0x0CU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t bit0 : 1; + uint8_t bit1 : 1; + uint8_t bit2 : 1; + uint8_t bit3 : 1; + uint8_t bit4 : 1; + uint8_t bit5 : 1; + uint8_t bit6 : 1; + uint8_t bit7 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t bit7 : 1; + uint8_t bit6 : 1; + uint8_t bit5 : 1; + uint8_t bit4 : 1; + uint8_t bit3 : 1; + uint8_t bit2 : 1; + uint8_t bit1 : 1; + uint8_t bit0 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_sensor_hub_11_t; + +#define LSM6DSO_SENSOR_HUB_12 0x0DU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t bit0 : 1; + uint8_t bit1 : 1; + uint8_t bit2 : 1; + uint8_t bit3 : 1; + uint8_t bit4 : 1; + uint8_t bit5 : 1; + uint8_t bit6 : 1; + uint8_t bit7 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t bit7 : 1; + uint8_t bit6 : 1; + uint8_t bit5 : 1; + uint8_t bit4 : 1; + uint8_t bit3 : 1; + uint8_t bit2 : 1; + uint8_t bit1 : 1; + uint8_t bit0 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_sensor_hub_12_t; + +#define LSM6DSO_SENSOR_HUB_13 0x0EU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t bit0 : 1; + uint8_t bit1 : 1; + uint8_t bit2 : 1; + uint8_t bit3 : 1; + uint8_t bit4 : 1; + uint8_t bit5 : 1; + uint8_t bit6 : 1; + uint8_t bit7 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t bit7 : 1; + uint8_t bit6 : 1; + uint8_t bit5 : 1; + uint8_t bit4 : 1; + uint8_t bit3 : 1; + uint8_t bit2 : 1; + uint8_t bit1 : 1; + uint8_t bit0 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_sensor_hub_13_t; + +#define LSM6DSO_SENSOR_HUB_14 0x0FU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t bit0 : 1; + uint8_t bit1 : 1; + uint8_t bit2 : 1; + uint8_t bit3 : 1; + uint8_t bit4 : 1; + uint8_t bit5 : 1; + uint8_t bit6 : 1; + uint8_t bit7 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t bit7 : 1; + uint8_t bit6 : 1; + uint8_t bit5 : 1; + uint8_t bit4 : 1; + uint8_t bit3 : 1; + uint8_t bit2 : 1; + uint8_t bit1 : 1; + uint8_t bit0 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_sensor_hub_14_t; + +#define LSM6DSO_SENSOR_HUB_15 0x10U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t bit0 : 1; + uint8_t bit1 : 1; + uint8_t bit2 : 1; + uint8_t bit3 : 1; + uint8_t bit4 : 1; + uint8_t bit5 : 1; + uint8_t bit6 : 1; + uint8_t bit7 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t bit7 : 1; + uint8_t bit6 : 1; + uint8_t bit5 : 1; + uint8_t bit4 : 1; + uint8_t bit3 : 1; + uint8_t bit2 : 1; + uint8_t bit1 : 1; + uint8_t bit0 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_sensor_hub_15_t; + +#define LSM6DSO_SENSOR_HUB_16 0x11U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t bit0 : 1; + uint8_t bit1 : 1; + uint8_t bit2 : 1; + uint8_t bit3 : 1; + uint8_t bit4 : 1; + uint8_t bit5 : 1; + uint8_t bit6 : 1; + uint8_t bit7 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t bit7 : 1; + uint8_t bit6 : 1; + uint8_t bit5 : 1; + uint8_t bit4 : 1; + uint8_t bit3 : 1; + uint8_t bit2 : 1; + uint8_t bit1 : 1; + uint8_t bit0 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_sensor_hub_16_t; + +#define LSM6DSO_SENSOR_HUB_17 0x12U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t bit0 : 1; + uint8_t bit1 : 1; + uint8_t bit2 : 1; + uint8_t bit3 : 1; + uint8_t bit4 : 1; + uint8_t bit5 : 1; + uint8_t bit6 : 1; + uint8_t bit7 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t bit7 : 1; + uint8_t bit6 : 1; + uint8_t bit5 : 1; + uint8_t bit4 : 1; + uint8_t bit3 : 1; + uint8_t bit2 : 1; + uint8_t bit1 : 1; + uint8_t bit0 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_sensor_hub_17_t; + +#define LSM6DSO_SENSOR_HUB_18 0x13U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t bit0 : 1; + uint8_t bit1 : 1; + uint8_t bit2 : 1; + uint8_t bit3 : 1; + uint8_t bit4 : 1; + uint8_t bit5 : 1; + uint8_t bit6 : 1; + uint8_t bit7 : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t bit7 : 1; + uint8_t bit6 : 1; + uint8_t bit5 : 1; + uint8_t bit4 : 1; + uint8_t bit3 : 1; + uint8_t bit2 : 1; + uint8_t bit1 : 1; + uint8_t bit0 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_sensor_hub_18_t; + +#define LSM6DSO_MASTER_CONFIG 0x14U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t aux_sens_on : 2; + uint8_t master_on : 1; + uint8_t shub_pu_en : 1; + uint8_t pass_through_mode : 1; + uint8_t start_config : 1; + uint8_t write_once : 1; + uint8_t rst_master_regs : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t rst_master_regs : 1; + uint8_t write_once : 1; + uint8_t start_config : 1; + uint8_t pass_through_mode : 1; + uint8_t shub_pu_en : 1; + uint8_t master_on : 1; + uint8_t aux_sens_on : 2; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_master_config_t; + +#define LSM6DSO_SLV0_ADD 0x15U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t rw_0 : 1; + uint8_t slave0 : 7; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t slave0 : 7; + uint8_t rw_0 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_slv0_add_t; + +#define LSM6DSO_SLV0_SUBADD 0x16U +typedef struct { + uint8_t slave0_reg : 8; +} lsm6dso_slv0_subadd_t; + +#define LSM6DSO_SLV0_CONFIG 0x17U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t slave0_numop : 3; + uint8_t batch_ext_sens_0_en : 1; + uint8_t not_used_01 : 2; + uint8_t shub_odr : 2; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t shub_odr : 2; + uint8_t not_used_01 : 2; + uint8_t batch_ext_sens_0_en : 1; + uint8_t slave0_numop : 3; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_slv0_config_t; + +#define LSM6DSO_SLV1_ADD 0x18U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t r_1 : 1; + uint8_t slave1_add : 7; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t slave1_add : 7; + uint8_t r_1 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_slv1_add_t; + +#define LSM6DSO_SLV1_SUBADD 0x19U +typedef struct { + uint8_t slave1_reg : 8; +} lsm6dso_slv1_subadd_t; + +#define LSM6DSO_SLV1_CONFIG 0x1AU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t slave1_numop : 3; + uint8_t batch_ext_sens_1_en : 1; + uint8_t not_used_01 : 4; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_01 : 4; + uint8_t batch_ext_sens_1_en : 1; + uint8_t slave1_numop : 3; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_slv1_config_t; + +#define LSM6DSO_SLV2_ADD 0x1BU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t r_2 : 1; + uint8_t slave2_add : 7; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t slave2_add : 7; + uint8_t r_2 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_slv2_add_t; + +#define LSM6DSO_SLV2_SUBADD 0x1CU +typedef struct { + uint8_t slave2_reg : 8; +} lsm6dso_slv2_subadd_t; + +#define LSM6DSO_SLV2_CONFIG 0x1DU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t slave2_numop : 3; + uint8_t batch_ext_sens_2_en : 1; + uint8_t not_used_01 : 4; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_01 : 4; + uint8_t batch_ext_sens_2_en : 1; + uint8_t slave2_numop : 3; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_slv2_config_t; + +#define LSM6DSO_SLV3_ADD 0x1EU +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t r_3 : 1; + uint8_t slave3_add : 7; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t slave3_add : 7; + uint8_t r_3 : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_slv3_add_t; + +#define LSM6DSO_SLV3_SUBADD 0x1FU +typedef struct { + uint8_t slave3_reg : 8; +} lsm6dso_slv3_subadd_t; + +#define LSM6DSO_SLV3_CONFIG 0x20U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t slave3_numop : 3; + uint8_t batch_ext_sens_3_en : 1; + uint8_t not_used_01 : 4; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t not_used_01 : 4; + uint8_t batch_ext_sens_3_en : 1; + uint8_t slave3_numop : 3; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_slv3_config_t; + +#define LSM6DSO_DATAWRITE_SLV0 0x21U +typedef struct { + uint8_t slave0_dataw : 8; +} lsm6dso_datawrite_src_mode_sub_slv0_t; + +#define LSM6DSO_STATUS_MASTER 0x22U +typedef struct { +#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN + uint8_t sens_hub_endop : 1; + uint8_t not_used_01 : 2; + uint8_t slave0_nack : 1; + uint8_t slave1_nack : 1; + uint8_t slave2_nack : 1; + uint8_t slave3_nack : 1; + uint8_t wr_once_done : 1; +#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN + uint8_t wr_once_done : 1; + uint8_t slave3_nack : 1; + uint8_t slave2_nack : 1; + uint8_t slave1_nack : 1; + uint8_t slave0_nack : 1; + uint8_t not_used_01 : 2; + uint8_t sens_hub_endop : 1; +#endif /* DRV_BYTE_ORDER */ +} lsm6dso_status_master_t; + +#define LSM6DSO_START_FSM_ADD 0x0400U + +/** + * @defgroup LSM6DSO_Register_Union + * @brief This union group all the registers having a bit-field + * description. + * This union is useful but it's not needed by the driver. + * + * REMOVING this union you are compliant with: + * MISRA-C 2012 [Rule 19.2] -> " Union are not allowed " + * + * @{ + * + */ +typedef union { + lsm6dso_func_cfg_access_t func_cfg_access; + lsm6dso_pin_ctrl_t pin_ctrl; + lsm6dso_fifo_ctrl1_t fifo_ctrl1; + lsm6dso_fifo_ctrl2_t fifo_ctrl2; + lsm6dso_fifo_ctrl3_t fifo_ctrl3; + lsm6dso_fifo_ctrl4_t fifo_ctrl4; + lsm6dso_counter_bdr_reg1_t counter_bdr_reg1; + lsm6dso_counter_bdr_reg2_t counter_bdr_reg2; + lsm6dso_int1_ctrl_t int1_ctrl; + lsm6dso_int2_ctrl_t int2_ctrl; + lsm6dso_ctrl1_xl_t ctrl1_xl; + lsm6dso_ctrl2_g_t ctrl2_g; + lsm6dso_ctrl3_c_t ctrl3_c; + lsm6dso_ctrl4_c_t ctrl4_c; + lsm6dso_ctrl5_c_t ctrl5_c; + lsm6dso_ctrl6_c_t ctrl6_c; + lsm6dso_ctrl7_g_t ctrl7_g; + lsm6dso_ctrl8_xl_t ctrl8_xl; + lsm6dso_ctrl9_xl_t ctrl9_xl; + lsm6dso_ctrl10_c_t ctrl10_c; + lsm6dso_all_int_src_t all_int_src; + lsm6dso_wake_up_src_t wake_up_src; + lsm6dso_tap_src_t tap_src; + lsm6dso_d6d_src_t d6d_src; + lsm6dso_status_reg_t status_reg; + lsm6dso_status_spiaux_t status_spiaux; + lsm6dso_fifo_status1_t fifo_status1; + lsm6dso_fifo_status2_t fifo_status2; + lsm6dso_tap_cfg0_t tap_cfg0; + lsm6dso_tap_cfg1_t tap_cfg1; + lsm6dso_tap_cfg2_t tap_cfg2; + lsm6dso_tap_ths_6d_t tap_ths_6d; + lsm6dso_int_dur2_t int_dur2; + lsm6dso_wake_up_ths_t wake_up_ths; + lsm6dso_wake_up_dur_t wake_up_dur; + lsm6dso_free_fall_t free_fall; + lsm6dso_md1_cfg_t md1_cfg; + lsm6dso_md2_cfg_t md2_cfg; + lsm6dso_i3c_bus_avb_t i3c_bus_avb; + lsm6dso_internal_freq_fine_t internal_freq_fine; + lsm6dso_int_ois_t int_ois; + lsm6dso_ctrl1_ois_t ctrl1_ois; + lsm6dso_ctrl2_ois_t ctrl2_ois; + lsm6dso_ctrl3_ois_t ctrl3_ois; + lsm6dso_fifo_data_out_tag_t fifo_data_out_tag; + lsm6dso_page_sel_t page_sel; + lsm6dso_emb_func_en_a_t emb_func_en_a; + lsm6dso_emb_func_en_b_t emb_func_en_b; + lsm6dso_page_address_t page_address; + lsm6dso_page_value_t page_value; + lsm6dso_emb_func_int1_t emb_func_int1; + lsm6dso_fsm_int1_a_t fsm_int1_a; + lsm6dso_fsm_int1_b_t fsm_int1_b; + lsm6dso_emb_func_int2_t emb_func_int2; + lsm6dso_fsm_int2_a_t fsm_int2_a; + lsm6dso_fsm_int2_b_t fsm_int2_b; + lsm6dso_emb_func_status_t emb_func_status; + lsm6dso_fsm_status_a_t fsm_status_a; + lsm6dso_fsm_status_b_t fsm_status_b; + lsm6dso_page_rw_t page_rw; + lsm6dso_emb_func_fifo_cfg_t emb_func_fifo_cfg; + lsm6dso_fsm_enable_a_t fsm_enable_a; + lsm6dso_fsm_enable_b_t fsm_enable_b; + lsm6dso_fsm_long_counter_clear_t fsm_long_counter_clear; + lsm6dso_fsm_outs1_t fsm_outs1; + lsm6dso_fsm_outs2_t fsm_outs2; + lsm6dso_fsm_outs3_t fsm_outs3; + lsm6dso_fsm_outs4_t fsm_outs4; + lsm6dso_fsm_outs5_t fsm_outs5; + lsm6dso_fsm_outs6_t fsm_outs6; + lsm6dso_fsm_outs7_t fsm_outs7; + lsm6dso_fsm_outs8_t fsm_outs8; + lsm6dso_fsm_outs9_t fsm_outs9; + lsm6dso_fsm_outs10_t fsm_outs10; + lsm6dso_fsm_outs11_t fsm_outs11; + lsm6dso_fsm_outs12_t fsm_outs12; + lsm6dso_fsm_outs13_t fsm_outs13; + lsm6dso_fsm_outs14_t fsm_outs14; + lsm6dso_fsm_outs15_t fsm_outs15; + lsm6dso_fsm_outs16_t fsm_outs16; + lsm6dso_emb_func_odr_cfg_b_t emb_func_odr_cfg_b; + lsm6dso_emb_func_src_t emb_func_src; + lsm6dso_emb_func_init_a_t emb_func_init_a; + lsm6dso_emb_func_init_b_t emb_func_init_b; + lsm6dso_mag_cfg_a_t mag_cfg_a; + lsm6dso_mag_cfg_b_t mag_cfg_b; + lsm6dso_pedo_cmd_reg_t pedo_cmd_reg; + lsm6dso_sensor_hub_1_t sensor_hub_1; + lsm6dso_sensor_hub_2_t sensor_hub_2; + lsm6dso_sensor_hub_3_t sensor_hub_3; + lsm6dso_sensor_hub_4_t sensor_hub_4; + lsm6dso_sensor_hub_5_t sensor_hub_5; + lsm6dso_sensor_hub_6_t sensor_hub_6; + lsm6dso_sensor_hub_7_t sensor_hub_7; + lsm6dso_sensor_hub_8_t sensor_hub_8; + lsm6dso_sensor_hub_9_t sensor_hub_9; + lsm6dso_sensor_hub_10_t sensor_hub_10; + lsm6dso_sensor_hub_11_t sensor_hub_11; + lsm6dso_sensor_hub_12_t sensor_hub_12; + lsm6dso_sensor_hub_13_t sensor_hub_13; + lsm6dso_sensor_hub_14_t sensor_hub_14; + lsm6dso_sensor_hub_15_t sensor_hub_15; + lsm6dso_sensor_hub_16_t sensor_hub_16; + lsm6dso_sensor_hub_17_t sensor_hub_17; + lsm6dso_sensor_hub_18_t sensor_hub_18; + lsm6dso_master_config_t master_config; + lsm6dso_slv0_add_t slv0_add; + lsm6dso_slv0_subadd_t slv0_subadd; + lsm6dso_slv0_config_t slv0_config; + lsm6dso_slv1_add_t slv1_add; + lsm6dso_slv1_subadd_t slv1_subadd; + lsm6dso_slv1_config_t slv1_config; + lsm6dso_slv2_add_t slv2_add; + lsm6dso_slv2_subadd_t slv2_subadd; + lsm6dso_slv2_config_t slv2_config; + lsm6dso_slv3_add_t slv3_add; + lsm6dso_slv3_subadd_t slv3_subadd; + lsm6dso_slv3_config_t slv3_config; + lsm6dso_datawrite_src_mode_sub_slv0_t datawrite_src_mode_sub_slv0; + lsm6dso_status_master_t status_master; + bitwise_t bitwise; + uint8_t byte; +} lsm6dso_reg_t; + +/** + * @} + * + */ + +float_t lsm6dso_from_fs2_to_mg(int16_t lsb); +float_t lsm6dso_from_fs4_to_mg(int16_t lsb); +float_t lsm6dso_from_fs8_to_mg(int16_t lsb); +float_t lsm6dso_from_fs16_to_mg(int16_t lsb); + +float_t lsm6dso_from_fs125_to_mdps(int16_t lsb); +float_t lsm6dso_from_fs500_to_mdps(int16_t lsb); +float_t lsm6dso_from_fs250_to_mdps(int16_t lsb); +float_t lsm6dso_from_fs1000_to_mdps(int16_t lsb); +float_t lsm6dso_from_fs2000_to_mdps(int16_t lsb); + +float_t lsm6dso_from_lsb_to_celsius(int16_t lsb); + +float_t lsm6dso_from_lsb_to_nsec(int16_t lsb); + +typedef enum { + LSM6DSO_2g = 0, + LSM6DSO_16g = 1, /* if XL_FS_MODE = '1' -> LSM6DSO_2g */ + LSM6DSO_4g = 2, + LSM6DSO_8g = 3, +} lsm6dso_fs_xl_t; +int32_t lsm6dso_xl_full_scale_set(stmdev_ctx_t *ctx, lsm6dso_fs_xl_t val); +int32_t lsm6dso_xl_full_scale_get(stmdev_ctx_t *ctx, lsm6dso_fs_xl_t *val); + +typedef enum { + LSM6DSO_XL_ODR_OFF = 0, + LSM6DSO_XL_ODR_12Hz5 = 1, + LSM6DSO_XL_ODR_26Hz = 2, + LSM6DSO_XL_ODR_52Hz = 3, + LSM6DSO_XL_ODR_104Hz = 4, + LSM6DSO_XL_ODR_208Hz = 5, + LSM6DSO_XL_ODR_417Hz = 6, + LSM6DSO_XL_ODR_833Hz = 7, + LSM6DSO_XL_ODR_1667Hz = 8, + LSM6DSO_XL_ODR_3333Hz = 9, + LSM6DSO_XL_ODR_6667Hz = 10, + LSM6DSO_XL_ODR_1Hz6 = 11, /* (low power only) */ +} lsm6dso_odr_xl_t; +int32_t lsm6dso_xl_data_rate_set(stmdev_ctx_t *ctx, lsm6dso_odr_xl_t val); +int32_t lsm6dso_xl_data_rate_get(stmdev_ctx_t *ctx, lsm6dso_odr_xl_t *val); + +typedef enum { + LSM6DSO_250dps = 0, + LSM6DSO_125dps = 1, + LSM6DSO_500dps = 2, + LSM6DSO_1000dps = 4, + LSM6DSO_2000dps = 6, +} lsm6dso_fs_g_t; +int32_t lsm6dso_gy_full_scale_set(stmdev_ctx_t *ctx, lsm6dso_fs_g_t val); +int32_t lsm6dso_gy_full_scale_get(stmdev_ctx_t *ctx, lsm6dso_fs_g_t *val); + +typedef enum { + LSM6DSO_GY_ODR_OFF = 0, + LSM6DSO_GY_ODR_12Hz5 = 1, + LSM6DSO_GY_ODR_26Hz = 2, + LSM6DSO_GY_ODR_52Hz = 3, + LSM6DSO_GY_ODR_104Hz = 4, + LSM6DSO_GY_ODR_208Hz = 5, + LSM6DSO_GY_ODR_417Hz = 6, + LSM6DSO_GY_ODR_833Hz = 7, + LSM6DSO_GY_ODR_1667Hz = 8, + LSM6DSO_GY_ODR_3333Hz = 9, + LSM6DSO_GY_ODR_6667Hz = 10, +} lsm6dso_odr_g_t; +int32_t lsm6dso_gy_data_rate_set(stmdev_ctx_t *ctx, lsm6dso_odr_g_t val); +int32_t lsm6dso_gy_data_rate_get(stmdev_ctx_t *ctx, lsm6dso_odr_g_t *val); + +int32_t lsm6dso_block_data_update_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_block_data_update_get(stmdev_ctx_t *ctx, uint8_t *val); + +typedef enum { + LSM6DSO_LSb_1mg = 0, + LSM6DSO_LSb_16mg = 1, +} lsm6dso_usr_off_w_t; +int32_t lsm6dso_xl_offset_weight_set(stmdev_ctx_t *ctx, + lsm6dso_usr_off_w_t val); +int32_t lsm6dso_xl_offset_weight_get(stmdev_ctx_t *ctx, + lsm6dso_usr_off_w_t *val); + +typedef enum { + LSM6DSO_HIGH_PERFORMANCE_MD = 0, + LSM6DSO_LOW_NORMAL_POWER_MD = 1, + LSM6DSO_ULTRA_LOW_POWER_MD = 2, +} lsm6dso_xl_hm_mode_t; +int32_t lsm6dso_xl_power_mode_set(stmdev_ctx_t *ctx, lsm6dso_xl_hm_mode_t val); +int32_t lsm6dso_xl_power_mode_get(stmdev_ctx_t *ctx, lsm6dso_xl_hm_mode_t *val); + +typedef enum { + LSM6DSO_GY_HIGH_PERFORMANCE = 0, + LSM6DSO_GY_NORMAL = 1, +} lsm6dso_g_hm_mode_t; +int32_t lsm6dso_gy_power_mode_set(stmdev_ctx_t *ctx, lsm6dso_g_hm_mode_t val); +int32_t lsm6dso_gy_power_mode_get(stmdev_ctx_t *ctx, lsm6dso_g_hm_mode_t *val); + +int32_t lsm6dso_status_reg_get(stmdev_ctx_t *ctx, lsm6dso_status_reg_t *val); + +int32_t lsm6dso_xl_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_gy_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_temp_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_xl_usr_offset_x_set(stmdev_ctx_t *ctx, uint8_t *buff); +int32_t lsm6dso_xl_usr_offset_x_get(stmdev_ctx_t *ctx, uint8_t *buff); + +int32_t lsm6dso_xl_usr_offset_y_set(stmdev_ctx_t *ctx, uint8_t *buff); +int32_t lsm6dso_xl_usr_offset_y_get(stmdev_ctx_t *ctx, uint8_t *buff); + +int32_t lsm6dso_xl_usr_offset_z_set(stmdev_ctx_t *ctx, uint8_t *buff); +int32_t lsm6dso_xl_usr_offset_z_get(stmdev_ctx_t *ctx, uint8_t *buff); + +int32_t lsm6dso_xl_usr_offset_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_xl_usr_offset_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_timestamp_rst(stmdev_ctx_t *ctx); + +int32_t lsm6dso_timestamp_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_timestamp_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_timestamp_raw_get(stmdev_ctx_t *ctx, uint32_t *val); + +typedef enum { + LSM6DSO_NO_ROUND = 0, + LSM6DSO_ROUND_XL = 1, + LSM6DSO_ROUND_GY = 2, + LSM6DSO_ROUND_GY_XL = 3, +} lsm6dso_rounding_t; +int32_t lsm6dso_rounding_mode_set(stmdev_ctx_t *ctx, lsm6dso_rounding_t val); +int32_t lsm6dso_rounding_mode_get(stmdev_ctx_t *ctx, lsm6dso_rounding_t *val); + +int32_t lsm6dso_temperature_raw_get(stmdev_ctx_t *ctx, int16_t *val); + +int32_t lsm6dso_angular_rate_raw_get(stmdev_ctx_t *ctx, int16_t *val); + +int32_t lsm6dso_acceleration_raw_get(stmdev_ctx_t *ctx, int16_t *val); + +int32_t lsm6dso_fifo_out_raw_get(stmdev_ctx_t *ctx, uint8_t *buff); + +int32_t lsm6dso_number_of_steps_get(stmdev_ctx_t *ctx, uint16_t *val); + +int32_t lsm6dso_steps_reset(stmdev_ctx_t *ctx); + +int32_t lsm6dso_odr_cal_reg_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_odr_cal_reg_get(stmdev_ctx_t *ctx, uint8_t *val); + +typedef enum { + LSM6DSO_USER_BANK = 0, + LSM6DSO_SENSOR_HUB_BANK = 1, + LSM6DSO_EMBEDDED_FUNC_BANK = 2, +} lsm6dso_reg_access_t; +int32_t lsm6dso_mem_bank_set(stmdev_ctx_t *ctx, lsm6dso_reg_access_t val); +int32_t lsm6dso_mem_bank_get(stmdev_ctx_t *ctx, lsm6dso_reg_access_t *val); + +int32_t lsm6dso_ln_pg_write_byte(stmdev_ctx_t *ctx, uint16_t address, + uint8_t *val); +int32_t lsm6dso_ln_pg_read_byte(stmdev_ctx_t *ctx, uint16_t address, + uint8_t *val); +int32_t lsm6dso_ln_pg_write(stmdev_ctx_t *ctx, uint16_t address, uint8_t *buf, + uint8_t len); +int32_t lsm6dso_ln_pg_read(stmdev_ctx_t *ctx, uint16_t address, uint8_t *val); + +typedef enum { + LSM6DSO_DRDY_LATCHED = 0, + LSM6DSO_DRDY_PULSED = 1, +} lsm6dso_dataready_pulsed_t; +int32_t lsm6dso_data_ready_mode_set(stmdev_ctx_t *ctx, + lsm6dso_dataready_pulsed_t val); +int32_t lsm6dso_data_ready_mode_get(stmdev_ctx_t *ctx, + lsm6dso_dataready_pulsed_t *val); + +int32_t lsm6dso_device_id_get(stmdev_ctx_t *ctx, uint8_t *buff); + +int32_t lsm6dso_reset_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_reset_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_auto_increment_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_auto_increment_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_boot_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_boot_get(stmdev_ctx_t *ctx, uint8_t *val); + +typedef enum { + LSM6DSO_XL_ST_DISABLE = 0, + LSM6DSO_XL_ST_POSITIVE = 1, + LSM6DSO_XL_ST_NEGATIVE = 2, +} lsm6dso_st_xl_t; +int32_t lsm6dso_xl_self_test_set(stmdev_ctx_t *ctx, lsm6dso_st_xl_t val); +int32_t lsm6dso_xl_self_test_get(stmdev_ctx_t *ctx, lsm6dso_st_xl_t *val); + +typedef enum { + LSM6DSO_GY_ST_DISABLE = 0, + LSM6DSO_GY_ST_POSITIVE = 1, + LSM6DSO_GY_ST_NEGATIVE = 3, +} lsm6dso_st_g_t; +int32_t lsm6dso_gy_self_test_set(stmdev_ctx_t *ctx, lsm6dso_st_g_t val); +int32_t lsm6dso_gy_self_test_get(stmdev_ctx_t *ctx, lsm6dso_st_g_t *val); + +int32_t lsm6dso_xl_filter_lp2_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_xl_filter_lp2_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_gy_filter_lp1_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_gy_filter_lp1_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_filter_settling_mask_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_filter_settling_mask_get(stmdev_ctx_t *ctx, uint8_t *val); + +typedef enum { + LSM6DSO_ULTRA_LIGHT = 0, + LSM6DSO_VERY_LIGHT = 1, + LSM6DSO_LIGHT = 2, + LSM6DSO_MEDIUM = 3, + LSM6DSO_STRONG = 4, /* not available for data rate > 1k670Hz */ + LSM6DSO_VERY_STRONG = 5, /* not available for data rate > 1k670Hz */ + LSM6DSO_AGGRESSIVE = 6, /* not available for data rate > 1k670Hz */ + LSM6DSO_XTREME = 7, /* not available for data rate > 1k670Hz */ +} lsm6dso_ftype_t; +int32_t lsm6dso_gy_lp1_bandwidth_set(stmdev_ctx_t *ctx, lsm6dso_ftype_t val); +int32_t lsm6dso_gy_lp1_bandwidth_get(stmdev_ctx_t *ctx, lsm6dso_ftype_t *val); + +int32_t lsm6dso_xl_lp2_on_6d_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_xl_lp2_on_6d_get(stmdev_ctx_t *ctx, uint8_t *val); + +typedef enum { + LSM6DSO_HP_PATH_DISABLE_ON_OUT = 0x00, + LSM6DSO_SLOPE_ODR_DIV_4 = 0x10, + LSM6DSO_HP_ODR_DIV_10 = 0x11, + LSM6DSO_HP_ODR_DIV_20 = 0x12, + LSM6DSO_HP_ODR_DIV_45 = 0x13, + LSM6DSO_HP_ODR_DIV_100 = 0x14, + LSM6DSO_HP_ODR_DIV_200 = 0x15, + LSM6DSO_HP_ODR_DIV_400 = 0x16, + LSM6DSO_HP_ODR_DIV_800 = 0x17, + LSM6DSO_HP_REF_MD_ODR_DIV_10 = 0x31, + LSM6DSO_HP_REF_MD_ODR_DIV_20 = 0x32, + LSM6DSO_HP_REF_MD_ODR_DIV_45 = 0x33, + LSM6DSO_HP_REF_MD_ODR_DIV_100 = 0x34, + LSM6DSO_HP_REF_MD_ODR_DIV_200 = 0x35, + LSM6DSO_HP_REF_MD_ODR_DIV_400 = 0x36, + LSM6DSO_HP_REF_MD_ODR_DIV_800 = 0x37, + LSM6DSO_LP_ODR_DIV_10 = 0x01, + LSM6DSO_LP_ODR_DIV_20 = 0x02, + LSM6DSO_LP_ODR_DIV_45 = 0x03, + LSM6DSO_LP_ODR_DIV_100 = 0x04, + LSM6DSO_LP_ODR_DIV_200 = 0x05, + LSM6DSO_LP_ODR_DIV_400 = 0x06, + LSM6DSO_LP_ODR_DIV_800 = 0x07, +} lsm6dso_hp_slope_xl_en_t; +int32_t lsm6dso_xl_hp_path_on_out_set(stmdev_ctx_t *ctx, + lsm6dso_hp_slope_xl_en_t val); +int32_t lsm6dso_xl_hp_path_on_out_get(stmdev_ctx_t *ctx, + lsm6dso_hp_slope_xl_en_t *val); + +int32_t lsm6dso_xl_fast_settling_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_xl_fast_settling_get(stmdev_ctx_t *ctx, uint8_t *val); + +typedef enum { + LSM6DSO_USE_SLOPE = 0, + LSM6DSO_USE_HPF = 1, +} lsm6dso_slope_fds_t; +int32_t lsm6dso_xl_hp_path_internal_set(stmdev_ctx_t *ctx, + lsm6dso_slope_fds_t val); +int32_t lsm6dso_xl_hp_path_internal_get(stmdev_ctx_t *ctx, + lsm6dso_slope_fds_t *val); + +typedef enum { + LSM6DSO_HP_FILTER_NONE = 0x00, + LSM6DSO_HP_FILTER_16mHz = 0x80, + LSM6DSO_HP_FILTER_65mHz = 0x81, + LSM6DSO_HP_FILTER_260mHz = 0x82, + LSM6DSO_HP_FILTER_1Hz04 = 0x83, +} lsm6dso_hpm_g_t; +int32_t lsm6dso_gy_hp_path_internal_set(stmdev_ctx_t *ctx, lsm6dso_hpm_g_t val); +int32_t lsm6dso_gy_hp_path_internal_get(stmdev_ctx_t *ctx, + lsm6dso_hpm_g_t *val); + +typedef enum { + LSM6DSO_AUX_PULL_UP_DISC = 0, + LSM6DSO_AUX_PULL_UP_CONNECT = 1, +} lsm6dso_ois_pu_dis_t; +int32_t lsm6dso_aux_sdo_ocs_mode_set(stmdev_ctx_t *ctx, + lsm6dso_ois_pu_dis_t val); +int32_t lsm6dso_aux_sdo_ocs_mode_get(stmdev_ctx_t *ctx, + lsm6dso_ois_pu_dis_t *val); + +typedef enum { + LSM6DSO_AUX_ON = 1, + LSM6DSO_AUX_ON_BY_AUX_INTERFACE = 0, +} lsm6dso_ois_on_t; +int32_t lsm6dso_aux_pw_on_ctrl_set(stmdev_ctx_t *ctx, lsm6dso_ois_on_t val); +int32_t lsm6dso_aux_pw_on_ctrl_get(stmdev_ctx_t *ctx, lsm6dso_ois_on_t *val); + +typedef enum { + LSM6DSO_USE_SAME_XL_FS = 0, + LSM6DSO_USE_DIFFERENT_XL_FS = 1, +} lsm6dso_xl_fs_mode_t; +int32_t lsm6dso_aux_xl_fs_mode_set(stmdev_ctx_t *ctx, lsm6dso_xl_fs_mode_t val); +int32_t lsm6dso_aux_xl_fs_mode_get(stmdev_ctx_t *ctx, + lsm6dso_xl_fs_mode_t *val); + +int32_t lsm6dso_aux_status_reg_get(stmdev_ctx_t *ctx, + lsm6dso_status_spiaux_t *val); + +int32_t lsm6dso_aux_xl_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_aux_gy_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_aux_gy_flag_settling_get(stmdev_ctx_t *ctx, uint8_t *val); + +typedef enum { + LSM6DSO_AUX_XL_DISABLE = 0, + LSM6DSO_AUX_XL_POS = 1, + LSM6DSO_AUX_XL_NEG = 2, +} lsm6dso_st_xl_ois_t; +int32_t lsm6dso_aux_xl_self_test_set(stmdev_ctx_t *ctx, + lsm6dso_st_xl_ois_t val); +int32_t lsm6dso_aux_xl_self_test_get(stmdev_ctx_t *ctx, + lsm6dso_st_xl_ois_t *val); + +typedef enum { + LSM6DSO_AUX_DEN_ACTIVE_LOW = 0, + LSM6DSO_AUX_DEN_ACTIVE_HIGH = 1, +} lsm6dso_den_lh_ois_t; +int32_t lsm6dso_aux_den_polarity_set(stmdev_ctx_t *ctx, + lsm6dso_den_lh_ois_t val); +int32_t lsm6dso_aux_den_polarity_get(stmdev_ctx_t *ctx, + lsm6dso_den_lh_ois_t *val); + +typedef enum { + LSM6DSO_AUX_DEN_DISABLE = 0, + LSM6DSO_AUX_DEN_LEVEL_LATCH = 3, + LSM6DSO_AUX_DEN_LEVEL_TRIG = 2, +} lsm6dso_lvl2_ois_t; +int32_t lsm6dso_aux_den_mode_set(stmdev_ctx_t *ctx, lsm6dso_lvl2_ois_t val); +int32_t lsm6dso_aux_den_mode_get(stmdev_ctx_t *ctx, lsm6dso_lvl2_ois_t *val); + +int32_t lsm6dso_aux_drdy_on_int2_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_aux_drdy_on_int2_get(stmdev_ctx_t *ctx, uint8_t *val); + +typedef enum { + LSM6DSO_AUX_DISABLE = 0, + LSM6DSO_MODE_3_GY = 1, + LSM6DSO_MODE_4_GY_XL = 3, +} lsm6dso_ois_en_spi2_t; +int32_t lsm6dso_aux_mode_set(stmdev_ctx_t *ctx, lsm6dso_ois_en_spi2_t val); +int32_t lsm6dso_aux_mode_get(stmdev_ctx_t *ctx, lsm6dso_ois_en_spi2_t *val); + +typedef enum { + LSM6DSO_250dps_AUX = 0, + LSM6DSO_125dps_AUX = 1, + LSM6DSO_500dps_AUX = 2, + LSM6DSO_1000dps_AUX = 4, + LSM6DSO_2000dps_AUX = 6, +} lsm6dso_fs_g_ois_t; +int32_t lsm6dso_aux_gy_full_scale_set(stmdev_ctx_t *ctx, + lsm6dso_fs_g_ois_t val); +int32_t lsm6dso_aux_gy_full_scale_get(stmdev_ctx_t *ctx, + lsm6dso_fs_g_ois_t *val); + +typedef enum { + LSM6DSO_AUX_SPI_4_WIRE = 0, + LSM6DSO_AUX_SPI_3_WIRE = 1, +} lsm6dso_sim_ois_t; +int32_t lsm6dso_aux_spi_mode_set(stmdev_ctx_t *ctx, lsm6dso_sim_ois_t val); +int32_t lsm6dso_aux_spi_mode_get(stmdev_ctx_t *ctx, lsm6dso_sim_ois_t *val); + +typedef enum { + LSM6DSO_351Hz39 = 0, + LSM6DSO_236Hz63 = 1, + LSM6DSO_172Hz70 = 2, + LSM6DSO_937Hz91 = 3, +} lsm6dso_ftype_ois_t; +int32_t lsm6dso_aux_gy_lp1_bandwidth_set(stmdev_ctx_t *ctx, + lsm6dso_ftype_ois_t val); +int32_t lsm6dso_aux_gy_lp1_bandwidth_get(stmdev_ctx_t *ctx, + lsm6dso_ftype_ois_t *val); + +typedef enum { + LSM6DSO_AUX_HP_DISABLE = 0x00, + LSM6DSO_AUX_HP_Hz016 = 0x10, + LSM6DSO_AUX_HP_Hz065 = 0x11, + LSM6DSO_AUX_HP_Hz260 = 0x12, + LSM6DSO_AUX_HP_1Hz040 = 0x13, +} lsm6dso_hpm_ois_t; +int32_t lsm6dso_aux_gy_hp_bandwidth_set(stmdev_ctx_t *ctx, + lsm6dso_hpm_ois_t val); +int32_t lsm6dso_aux_gy_hp_bandwidth_get(stmdev_ctx_t *ctx, + lsm6dso_hpm_ois_t *val); + +typedef enum { + LSM6DSO_ENABLE_CLAMP = 0, + LSM6DSO_DISABLE_CLAMP = 1, +} lsm6dso_st_ois_clampdis_t; +int32_t lsm6dso_aux_gy_clamp_set(stmdev_ctx_t *ctx, + lsm6dso_st_ois_clampdis_t val); +int32_t lsm6dso_aux_gy_clamp_get(stmdev_ctx_t *ctx, + lsm6dso_st_ois_clampdis_t *val); + +typedef enum { + LSM6DSO_AUX_GY_DISABLE = 0, + LSM6DSO_AUX_GY_POS = 1, + LSM6DSO_AUX_GY_NEG = 3, +} lsm6dso_st_ois_t; +int32_t lsm6dso_aux_gy_self_test_set(stmdev_ctx_t *ctx, lsm6dso_st_ois_t val); +int32_t lsm6dso_aux_gy_self_test_get(stmdev_ctx_t *ctx, lsm6dso_st_ois_t *val); + +typedef enum { + LSM6DSO_289Hz = 0, + LSM6DSO_258Hz = 1, + LSM6DSO_120Hz = 2, + LSM6DSO_65Hz2 = 3, + LSM6DSO_33Hz2 = 4, + LSM6DSO_16Hz6 = 5, + LSM6DSO_8Hz30 = 6, + LSM6DSO_4Hz15 = 7, +} lsm6dso_filter_xl_conf_ois_t; +int32_t lsm6dso_aux_xl_bandwidth_set(stmdev_ctx_t *ctx, + lsm6dso_filter_xl_conf_ois_t val); +int32_t lsm6dso_aux_xl_bandwidth_get(stmdev_ctx_t *ctx, + lsm6dso_filter_xl_conf_ois_t *val); + +typedef enum { + LSM6DSO_AUX_2g = 0, + LSM6DSO_AUX_16g = 1, + LSM6DSO_AUX_4g = 2, + LSM6DSO_AUX_8g = 3, +} lsm6dso_fs_xl_ois_t; +int32_t lsm6dso_aux_xl_full_scale_set(stmdev_ctx_t *ctx, + lsm6dso_fs_xl_ois_t val); +int32_t lsm6dso_aux_xl_full_scale_get(stmdev_ctx_t *ctx, + lsm6dso_fs_xl_ois_t *val); + +typedef enum { + LSM6DSO_PULL_UP_DISC = 0, + LSM6DSO_PULL_UP_CONNECT = 1, +} lsm6dso_sdo_pu_en_t; +int32_t lsm6dso_sdo_sa0_mode_set(stmdev_ctx_t *ctx, lsm6dso_sdo_pu_en_t val); +int32_t lsm6dso_sdo_sa0_mode_get(stmdev_ctx_t *ctx, lsm6dso_sdo_pu_en_t *val); + +typedef enum { + LSM6DSO_SPI_4_WIRE = 0, + LSM6DSO_SPI_3_WIRE = 1, +} lsm6dso_sim_t; +int32_t lsm6dso_spi_mode_set(stmdev_ctx_t *ctx, lsm6dso_sim_t val); +int32_t lsm6dso_spi_mode_get(stmdev_ctx_t *ctx, lsm6dso_sim_t *val); + +typedef enum { + LSM6DSO_I2C_ENABLE = 0, + LSM6DSO_I2C_DISABLE = 1, +} lsm6dso_i2c_disable_t; +int32_t lsm6dso_i2c_interface_set(stmdev_ctx_t *ctx, lsm6dso_i2c_disable_t val); +int32_t lsm6dso_i2c_interface_get(stmdev_ctx_t *ctx, + lsm6dso_i2c_disable_t *val); + +typedef enum { + LSM6DSO_I3C_DISABLE = 0x80, + LSM6DSO_I3C_ENABLE_T_50us = 0x00, + LSM6DSO_I3C_ENABLE_T_2us = 0x01, + LSM6DSO_I3C_ENABLE_T_1ms = 0x02, + LSM6DSO_I3C_ENABLE_T_25ms = 0x03, +} lsm6dso_i3c_disable_t; +int32_t lsm6dso_i3c_disable_set(stmdev_ctx_t *ctx, lsm6dso_i3c_disable_t val); +int32_t lsm6dso_i3c_disable_get(stmdev_ctx_t *ctx, lsm6dso_i3c_disable_t *val); + +typedef enum { + LSM6DSO_PULL_DOWN_DISC = 0, + LSM6DSO_PULL_DOWN_CONNECT = 1, +} lsm6dso_int1_pd_en_t; +int32_t lsm6dso_int1_mode_set(stmdev_ctx_t *ctx, lsm6dso_int1_pd_en_t val); +int32_t lsm6dso_int1_mode_get(stmdev_ctx_t *ctx, lsm6dso_int1_pd_en_t *val); + +typedef enum { + LSM6DSO_PUSH_PULL = 0, + LSM6DSO_OPEN_DRAIN = 1, +} lsm6dso_pp_od_t; +int32_t lsm6dso_pin_mode_set(stmdev_ctx_t *ctx, lsm6dso_pp_od_t val); +int32_t lsm6dso_pin_mode_get(stmdev_ctx_t *ctx, lsm6dso_pp_od_t *val); + +typedef enum { + LSM6DSO_ACTIVE_HIGH = 0, + LSM6DSO_ACTIVE_LOW = 1, +} lsm6dso_h_lactive_t; +int32_t lsm6dso_pin_polarity_set(stmdev_ctx_t *ctx, lsm6dso_h_lactive_t val); +int32_t lsm6dso_pin_polarity_get(stmdev_ctx_t *ctx, lsm6dso_h_lactive_t *val); + +int32_t lsm6dso_all_on_int1_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_all_on_int1_get(stmdev_ctx_t *ctx, uint8_t *val); + +typedef enum { + LSM6DSO_ALL_INT_PULSED = 0, + LSM6DSO_BASE_LATCHED_EMB_PULSED = 1, + LSM6DSO_BASE_PULSED_EMB_LATCHED = 2, + LSM6DSO_ALL_INT_LATCHED = 3, +} lsm6dso_lir_t; +int32_t lsm6dso_int_notification_set(stmdev_ctx_t *ctx, lsm6dso_lir_t val); +int32_t lsm6dso_int_notification_get(stmdev_ctx_t *ctx, lsm6dso_lir_t *val); + +typedef enum { + LSM6DSO_LSb_FS_DIV_64 = 0, + LSM6DSO_LSb_FS_DIV_256 = 1, +} lsm6dso_wake_ths_w_t; +int32_t lsm6dso_wkup_ths_weight_set(stmdev_ctx_t *ctx, + lsm6dso_wake_ths_w_t val); +int32_t lsm6dso_wkup_ths_weight_get(stmdev_ctx_t *ctx, + lsm6dso_wake_ths_w_t *val); + +int32_t lsm6dso_wkup_threshold_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_wkup_threshold_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_xl_usr_offset_on_wkup_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_xl_usr_offset_on_wkup_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_wkup_dur_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_wkup_dur_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_gy_sleep_mode_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_gy_sleep_mode_get(stmdev_ctx_t *ctx, uint8_t *val); + +typedef enum { + LSM6DSO_DRIVE_SLEEP_CHG_EVENT = 0, + LSM6DSO_DRIVE_SLEEP_STATUS = 1, +} lsm6dso_sleep_status_on_int_t; +int32_t lsm6dso_act_pin_notification_set(stmdev_ctx_t *ctx, + lsm6dso_sleep_status_on_int_t val); +int32_t lsm6dso_act_pin_notification_get(stmdev_ctx_t *ctx, + lsm6dso_sleep_status_on_int_t *val); + +typedef enum { + LSM6DSO_XL_AND_GY_NOT_AFFECTED = 0, + LSM6DSO_XL_12Hz5_GY_NOT_AFFECTED = 1, + LSM6DSO_XL_12Hz5_GY_SLEEP = 2, + LSM6DSO_XL_12Hz5_GY_PD = 3, +} lsm6dso_inact_en_t; +int32_t lsm6dso_act_mode_set(stmdev_ctx_t *ctx, lsm6dso_inact_en_t val); +int32_t lsm6dso_act_mode_get(stmdev_ctx_t *ctx, lsm6dso_inact_en_t *val); + +int32_t lsm6dso_act_sleep_dur_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_act_sleep_dur_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_tap_detection_on_z_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_tap_detection_on_z_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_tap_detection_on_y_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_tap_detection_on_y_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_tap_detection_on_x_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_tap_detection_on_x_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_tap_threshold_x_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_tap_threshold_x_get(stmdev_ctx_t *ctx, uint8_t *val); + +typedef enum { + LSM6DSO_XYZ = 0, + LSM6DSO_YXZ = 1, + LSM6DSO_XZY = 2, + LSM6DSO_ZYX = 3, + LSM6DSO_YZX = 5, + LSM6DSO_ZXY = 6, +} lsm6dso_tap_priority_t; +int32_t lsm6dso_tap_axis_priority_set(stmdev_ctx_t *ctx, + lsm6dso_tap_priority_t val); +int32_t lsm6dso_tap_axis_priority_get(stmdev_ctx_t *ctx, + lsm6dso_tap_priority_t *val); + +int32_t lsm6dso_tap_threshold_y_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_tap_threshold_y_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_tap_threshold_z_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_tap_threshold_z_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_tap_shock_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_tap_shock_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_tap_quiet_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_tap_quiet_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_tap_dur_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_tap_dur_get(stmdev_ctx_t *ctx, uint8_t *val); + +typedef enum { + LSM6DSO_ONLY_SINGLE = 0, + LSM6DSO_BOTH_SINGLE_DOUBLE = 1, +} lsm6dso_single_double_tap_t; +int32_t lsm6dso_tap_mode_set(stmdev_ctx_t *ctx, + lsm6dso_single_double_tap_t val); +int32_t lsm6dso_tap_mode_get(stmdev_ctx_t *ctx, + lsm6dso_single_double_tap_t *val); + +typedef enum { + LSM6DSO_DEG_80 = 0, + LSM6DSO_DEG_70 = 1, + LSM6DSO_DEG_60 = 2, + LSM6DSO_DEG_50 = 3, +} lsm6dso_sixd_ths_t; +int32_t lsm6dso_6d_threshold_set(stmdev_ctx_t *ctx, lsm6dso_sixd_ths_t val); +int32_t lsm6dso_6d_threshold_get(stmdev_ctx_t *ctx, lsm6dso_sixd_ths_t *val); + +int32_t lsm6dso_4d_mode_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_4d_mode_get(stmdev_ctx_t *ctx, uint8_t *val); + +typedef enum { + LSM6DSO_FF_TSH_156mg = 0, + LSM6DSO_FF_TSH_219mg = 1, + LSM6DSO_FF_TSH_250mg = 2, + LSM6DSO_FF_TSH_312mg = 3, + LSM6DSO_FF_TSH_344mg = 4, + LSM6DSO_FF_TSH_406mg = 5, + LSM6DSO_FF_TSH_469mg = 6, + LSM6DSO_FF_TSH_500mg = 7, +} lsm6dso_ff_ths_t; +int32_t lsm6dso_ff_threshold_set(stmdev_ctx_t *ctx, lsm6dso_ff_ths_t val); +int32_t lsm6dso_ff_threshold_get(stmdev_ctx_t *ctx, lsm6dso_ff_ths_t *val); + +int32_t lsm6dso_ff_dur_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_ff_dur_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_fifo_watermark_set(stmdev_ctx_t *ctx, uint16_t val); +int32_t lsm6dso_fifo_watermark_get(stmdev_ctx_t *ctx, uint16_t *val); + +int32_t lsm6dso_compression_algo_init_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_compression_algo_init_get(stmdev_ctx_t *ctx, uint8_t *val); + +typedef enum { + LSM6DSO_CMP_DISABLE = 0x00, + LSM6DSO_CMP_ALWAYS = 0x04, + LSM6DSO_CMP_8_TO_1 = 0x05, + LSM6DSO_CMP_16_TO_1 = 0x06, + LSM6DSO_CMP_32_TO_1 = 0x07, +} lsm6dso_uncoptr_rate_t; +int32_t lsm6dso_compression_algo_set(stmdev_ctx_t *ctx, + lsm6dso_uncoptr_rate_t val); +int32_t lsm6dso_compression_algo_get(stmdev_ctx_t *ctx, + lsm6dso_uncoptr_rate_t *val); + +int32_t lsm6dso_fifo_virtual_sens_odr_chg_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_fifo_virtual_sens_odr_chg_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_compression_algo_real_time_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_compression_algo_real_time_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_fifo_stop_on_wtm_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_fifo_stop_on_wtm_get(stmdev_ctx_t *ctx, uint8_t *val); + +typedef enum { + LSM6DSO_XL_NOT_BATCHED = 0, + LSM6DSO_XL_BATCHED_AT_12Hz5 = 1, + LSM6DSO_XL_BATCHED_AT_26Hz = 2, + LSM6DSO_XL_BATCHED_AT_52Hz = 3, + LSM6DSO_XL_BATCHED_AT_104Hz = 4, + LSM6DSO_XL_BATCHED_AT_208Hz = 5, + LSM6DSO_XL_BATCHED_AT_417Hz = 6, + LSM6DSO_XL_BATCHED_AT_833Hz = 7, + LSM6DSO_XL_BATCHED_AT_1667Hz = 8, + LSM6DSO_XL_BATCHED_AT_3333Hz = 9, + LSM6DSO_XL_BATCHED_AT_6667Hz = 10, + LSM6DSO_XL_BATCHED_AT_6Hz5 = 11, +} lsm6dso_bdr_xl_t; +int32_t lsm6dso_fifo_xl_batch_set(stmdev_ctx_t *ctx, lsm6dso_bdr_xl_t val); +int32_t lsm6dso_fifo_xl_batch_get(stmdev_ctx_t *ctx, lsm6dso_bdr_xl_t *val); + +typedef enum { + LSM6DSO_GY_NOT_BATCHED = 0, + LSM6DSO_GY_BATCHED_AT_12Hz5 = 1, + LSM6DSO_GY_BATCHED_AT_26Hz = 2, + LSM6DSO_GY_BATCHED_AT_52Hz = 3, + LSM6DSO_GY_BATCHED_AT_104Hz = 4, + LSM6DSO_GY_BATCHED_AT_208Hz = 5, + LSM6DSO_GY_BATCHED_AT_417Hz = 6, + LSM6DSO_GY_BATCHED_AT_833Hz = 7, + LSM6DSO_GY_BATCHED_AT_1667Hz = 8, + LSM6DSO_GY_BATCHED_AT_3333Hz = 9, + LSM6DSO_GY_BATCHED_AT_6667Hz = 10, + LSM6DSO_GY_BATCHED_AT_6Hz5 = 11, +} lsm6dso_bdr_gy_t; +int32_t lsm6dso_fifo_gy_batch_set(stmdev_ctx_t *ctx, lsm6dso_bdr_gy_t val); +int32_t lsm6dso_fifo_gy_batch_get(stmdev_ctx_t *ctx, lsm6dso_bdr_gy_t *val); + +typedef enum { + LSM6DSO_BYPASS_MODE = 0, + LSM6DSO_FIFO_MODE = 1, + LSM6DSO_STREAM_TO_FIFO_MODE = 3, + LSM6DSO_BYPASS_TO_STREAM_MODE = 4, + LSM6DSO_STREAM_MODE = 6, + LSM6DSO_BYPASS_TO_FIFO_MODE = 7, +} lsm6dso_fifo_mode_t; +int32_t lsm6dso_fifo_mode_set(stmdev_ctx_t *ctx, lsm6dso_fifo_mode_t val); +int32_t lsm6dso_fifo_mode_get(stmdev_ctx_t *ctx, lsm6dso_fifo_mode_t *val); + +typedef enum { + LSM6DSO_TEMP_NOT_BATCHED = 0, + LSM6DSO_TEMP_BATCHED_AT_1Hz6 = 1, + LSM6DSO_TEMP_BATCHED_AT_12Hz5 = 2, + LSM6DSO_TEMP_BATCHED_AT_52Hz = 3, +} lsm6dso_odr_t_batch_t; +int32_t lsm6dso_fifo_temp_batch_set(stmdev_ctx_t *ctx, + lsm6dso_odr_t_batch_t val); +int32_t lsm6dso_fifo_temp_batch_get(stmdev_ctx_t *ctx, + lsm6dso_odr_t_batch_t *val); + +typedef enum { + LSM6DSO_NO_DECIMATION = 0, + LSM6DSO_DEC_1 = 1, + LSM6DSO_DEC_8 = 2, + LSM6DSO_DEC_32 = 3, +} lsm6dso_odr_ts_batch_t; +int32_t lsm6dso_fifo_timestamp_decimation_set(stmdev_ctx_t *ctx, + lsm6dso_odr_ts_batch_t val); +int32_t lsm6dso_fifo_timestamp_decimation_get(stmdev_ctx_t *ctx, + lsm6dso_odr_ts_batch_t *val); + +typedef enum { + LSM6DSO_XL_BATCH_EVENT = 0, + LSM6DSO_GYRO_BATCH_EVENT = 1, +} lsm6dso_trig_counter_bdr_t; + +typedef enum { + LSM6DSO_GYRO_NC_TAG = 1, + LSM6DSO_XL_NC_TAG, + LSM6DSO_TEMPERATURE_TAG, + LSM6DSO_TIMESTAMP_TAG, + LSM6DSO_CFG_CHANGE_TAG, + LSM6DSO_XL_NC_T_2_TAG, + LSM6DSO_XL_NC_T_1_TAG, + LSM6DSO_XL_2XC_TAG, + LSM6DSO_XL_3XC_TAG, + LSM6DSO_GYRO_NC_T_2_TAG, + LSM6DSO_GYRO_NC_T_1_TAG, + LSM6DSO_GYRO_2XC_TAG, + LSM6DSO_GYRO_3XC_TAG, + LSM6DSO_SENSORHUB_SLAVE0_TAG, + LSM6DSO_SENSORHUB_SLAVE1_TAG, + LSM6DSO_SENSORHUB_SLAVE2_TAG, + LSM6DSO_SENSORHUB_SLAVE3_TAG, + LSM6DSO_STEP_CPUNTER_TAG, + LSM6DSO_GAME_ROTATION_TAG, + LSM6DSO_GEOMAG_ROTATION_TAG, + LSM6DSO_ROTATION_TAG, + LSM6DSO_SENSORHUB_NACK_TAG = 0x19, +} lsm6dso_fifo_tag_t; +int32_t lsm6dso_fifo_cnt_event_batch_set(stmdev_ctx_t *ctx, + lsm6dso_trig_counter_bdr_t val); +int32_t lsm6dso_fifo_cnt_event_batch_get(stmdev_ctx_t *ctx, + lsm6dso_trig_counter_bdr_t *val); + +int32_t lsm6dso_rst_batch_counter_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_rst_batch_counter_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_batch_counter_threshold_set(stmdev_ctx_t *ctx, uint16_t val); +int32_t lsm6dso_batch_counter_threshold_get(stmdev_ctx_t *ctx, uint16_t *val); + +int32_t lsm6dso_fifo_data_level_get(stmdev_ctx_t *ctx, uint16_t *val); + +int32_t lsm6dso_fifo_status_get(stmdev_ctx_t *ctx, lsm6dso_fifo_status2_t *val); + +int32_t lsm6dso_fifo_full_flag_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_fifo_ovr_flag_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_fifo_wtm_flag_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_fifo_sensor_tag_get(stmdev_ctx_t *ctx, lsm6dso_fifo_tag_t *val); + +int32_t lsm6dso_fifo_pedo_batch_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_fifo_pedo_batch_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_sh_batch_slave_0_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_sh_batch_slave_0_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_sh_batch_slave_1_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_sh_batch_slave_1_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_sh_batch_slave_2_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_sh_batch_slave_2_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_sh_batch_slave_3_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_sh_batch_slave_3_get(stmdev_ctx_t *ctx, uint8_t *val); + +typedef enum { + LSM6DSO_DEN_DISABLE = 0, + LSM6DSO_LEVEL_FIFO = 6, + LSM6DSO_LEVEL_LETCHED = 3, + LSM6DSO_LEVEL_TRIGGER = 2, + LSM6DSO_EDGE_TRIGGER = 4, +} lsm6dso_den_mode_t; +int32_t lsm6dso_den_mode_set(stmdev_ctx_t *ctx, lsm6dso_den_mode_t val); +int32_t lsm6dso_den_mode_get(stmdev_ctx_t *ctx, lsm6dso_den_mode_t *val); + +typedef enum { + LSM6DSO_DEN_ACT_LOW = 0, + LSM6DSO_DEN_ACT_HIGH = 1, +} lsm6dso_den_lh_t; +int32_t lsm6dso_den_polarity_set(stmdev_ctx_t *ctx, lsm6dso_den_lh_t val); +int32_t lsm6dso_den_polarity_get(stmdev_ctx_t *ctx, lsm6dso_den_lh_t *val); + +typedef enum { + LSM6DSO_STAMP_IN_GY_DATA = 0, + LSM6DSO_STAMP_IN_XL_DATA = 1, + LSM6DSO_STAMP_IN_GY_XL_DATA = 2, +} lsm6dso_den_xl_g_t; +int32_t lsm6dso_den_enable_set(stmdev_ctx_t *ctx, lsm6dso_den_xl_g_t val); +int32_t lsm6dso_den_enable_get(stmdev_ctx_t *ctx, lsm6dso_den_xl_g_t *val); + +int32_t lsm6dso_den_mark_axis_x_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_den_mark_axis_x_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_den_mark_axis_y_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_den_mark_axis_y_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_den_mark_axis_z_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_den_mark_axis_z_get(stmdev_ctx_t *ctx, uint8_t *val); + +typedef enum { + LSM6DSO_PEDO_BASE_MODE = 0x00, + LSM6DSO_FALSE_STEP_REJ = 0x10, + LSM6DSO_FALSE_STEP_REJ_ADV_MODE = 0x30, +} lsm6dso_pedo_md_t; +int32_t lsm6dso_pedo_sens_set(stmdev_ctx_t *ctx, lsm6dso_pedo_md_t val); +int32_t lsm6dso_pedo_sens_get(stmdev_ctx_t *ctx, lsm6dso_pedo_md_t *val); + +int32_t lsm6dso_pedo_step_detect_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_pedo_debounce_steps_set(stmdev_ctx_t *ctx, uint8_t *buff); +int32_t lsm6dso_pedo_debounce_steps_get(stmdev_ctx_t *ctx, uint8_t *buff); + +int32_t lsm6dso_pedo_steps_period_set(stmdev_ctx_t *ctx, uint16_t val); +int32_t lsm6dso_pedo_steps_period_get(stmdev_ctx_t *ctx, uint16_t *val); + +typedef enum { + LSM6DSO_EVERY_STEP = 0, + LSM6DSO_COUNT_OVERFLOW = 1, +} lsm6dso_carry_count_en_t; +int32_t lsm6dso_pedo_int_mode_set(stmdev_ctx_t *ctx, + lsm6dso_carry_count_en_t val); +int32_t lsm6dso_pedo_int_mode_get(stmdev_ctx_t *ctx, + lsm6dso_carry_count_en_t *val); + +int32_t lsm6dso_motion_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_tilt_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_mag_sensitivity_set(stmdev_ctx_t *ctx, uint16_t val); +int32_t lsm6dso_mag_sensitivity_get(stmdev_ctx_t *ctx, uint16_t *val); + +int32_t lsm6dso_mag_offset_set(stmdev_ctx_t *ctx, int16_t *val); +int32_t lsm6dso_mag_offset_get(stmdev_ctx_t *ctx, int16_t *val); + +int32_t lsm6dso_mag_soft_iron_set(stmdev_ctx_t *ctx, int16_t *val); +int32_t lsm6dso_mag_soft_iron_get(stmdev_ctx_t *ctx, int16_t *val); + +typedef enum { + LSM6DSO_Z_EQ_Y = 0, + LSM6DSO_Z_EQ_MIN_Y = 1, + LSM6DSO_Z_EQ_X = 2, + LSM6DSO_Z_EQ_MIN_X = 3, + LSM6DSO_Z_EQ_MIN_Z = 4, + LSM6DSO_Z_EQ_Z = 5, +} lsm6dso_mag_z_axis_t; +int32_t lsm6dso_mag_z_orient_set(stmdev_ctx_t *ctx, lsm6dso_mag_z_axis_t val); +int32_t lsm6dso_mag_z_orient_get(stmdev_ctx_t *ctx, lsm6dso_mag_z_axis_t *val); + +typedef enum { + LSM6DSO_Y_EQ_Y = 0, + LSM6DSO_Y_EQ_MIN_Y = 1, + LSM6DSO_Y_EQ_X = 2, + LSM6DSO_Y_EQ_MIN_X = 3, + LSM6DSO_Y_EQ_MIN_Z = 4, + LSM6DSO_Y_EQ_Z = 5, +} lsm6dso_mag_y_axis_t; +int32_t lsm6dso_mag_y_orient_set(stmdev_ctx_t *ctx, lsm6dso_mag_y_axis_t val); +int32_t lsm6dso_mag_y_orient_get(stmdev_ctx_t *ctx, lsm6dso_mag_y_axis_t *val); + +typedef enum { + LSM6DSO_X_EQ_Y = 0, + LSM6DSO_X_EQ_MIN_Y = 1, + LSM6DSO_X_EQ_X = 2, + LSM6DSO_X_EQ_MIN_X = 3, + LSM6DSO_X_EQ_MIN_Z = 4, + LSM6DSO_X_EQ_Z = 5, +} lsm6dso_mag_x_axis_t; +int32_t lsm6dso_mag_x_orient_set(stmdev_ctx_t *ctx, lsm6dso_mag_x_axis_t val); +int32_t lsm6dso_mag_x_orient_get(stmdev_ctx_t *ctx, lsm6dso_mag_x_axis_t *val); + +int32_t lsm6dso_long_cnt_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val); + +typedef struct { + lsm6dso_fsm_enable_a_t fsm_enable_a; + lsm6dso_fsm_enable_b_t fsm_enable_b; +} lsm6dso_emb_fsm_enable_t; +int32_t lsm6dso_fsm_enable_set(stmdev_ctx_t *ctx, + lsm6dso_emb_fsm_enable_t *val); +int32_t lsm6dso_fsm_enable_get(stmdev_ctx_t *ctx, + lsm6dso_emb_fsm_enable_t *val); + +int32_t lsm6dso_long_cnt_set(stmdev_ctx_t *ctx, uint16_t val); +int32_t lsm6dso_long_cnt_get(stmdev_ctx_t *ctx, uint16_t *val); + +typedef enum { + LSM6DSO_LC_NORMAL = 0, + LSM6DSO_LC_CLEAR = 1, + LSM6DSO_LC_CLEAR_DONE = 2, +} lsm6dso_fsm_lc_clr_t; +int32_t lsm6dso_long_clr_set(stmdev_ctx_t *ctx, lsm6dso_fsm_lc_clr_t val); +int32_t lsm6dso_long_clr_get(stmdev_ctx_t *ctx, lsm6dso_fsm_lc_clr_t *val); + +typedef struct { + lsm6dso_fsm_outs1_t fsm_outs1; + lsm6dso_fsm_outs2_t fsm_outs2; + lsm6dso_fsm_outs3_t fsm_outs3; + lsm6dso_fsm_outs4_t fsm_outs4; + lsm6dso_fsm_outs5_t fsm_outs5; + lsm6dso_fsm_outs6_t fsm_outs6; + lsm6dso_fsm_outs7_t fsm_outs7; + lsm6dso_fsm_outs8_t fsm_outs8; + lsm6dso_fsm_outs9_t fsm_outs9; + lsm6dso_fsm_outs10_t fsm_outs10; + lsm6dso_fsm_outs11_t fsm_outs11; + lsm6dso_fsm_outs12_t fsm_outs12; + lsm6dso_fsm_outs13_t fsm_outs13; + lsm6dso_fsm_outs14_t fsm_outs14; + lsm6dso_fsm_outs15_t fsm_outs15; + lsm6dso_fsm_outs16_t fsm_outs16; +} lsm6dso_fsm_out_t; +int32_t lsm6dso_fsm_out_get(stmdev_ctx_t *ctx, lsm6dso_fsm_out_t *val); + +typedef enum { + LSM6DSO_ODR_FSM_12Hz5 = 0, + LSM6DSO_ODR_FSM_26Hz = 1, + LSM6DSO_ODR_FSM_52Hz = 2, + LSM6DSO_ODR_FSM_104Hz = 3, +} lsm6dso_fsm_odr_t; +int32_t lsm6dso_fsm_data_rate_set(stmdev_ctx_t *ctx, lsm6dso_fsm_odr_t val); +int32_t lsm6dso_fsm_data_rate_get(stmdev_ctx_t *ctx, lsm6dso_fsm_odr_t *val); + +int32_t lsm6dso_fsm_init_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_fsm_init_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_long_cnt_int_value_set(stmdev_ctx_t *ctx, uint16_t val); +int32_t lsm6dso_long_cnt_int_value_get(stmdev_ctx_t *ctx, uint16_t *val); + +int32_t lsm6dso_fsm_number_of_programs_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_fsm_number_of_programs_get(stmdev_ctx_t *ctx, uint8_t *val); + +int32_t lsm6dso_fsm_start_address_set(stmdev_ctx_t *ctx, uint16_t val); +int32_t lsm6dso_fsm_start_address_get(stmdev_ctx_t *ctx, uint16_t *val); + +int32_t lsm6dso_sh_read_data_raw_get(stmdev_ctx_t *ctx, uint8_t *val, + uint8_t len); + +typedef enum { + LSM6DSO_SLV_0 = 0, + LSM6DSO_SLV_0_1 = 1, + LSM6DSO_SLV_0_1_2 = 2, + LSM6DSO_SLV_0_1_2_3 = 3, +} lsm6dso_aux_sens_on_t; +int32_t lsm6dso_sh_slave_connected_set(stmdev_ctx_t *ctx, + lsm6dso_aux_sens_on_t val); +int32_t lsm6dso_sh_slave_connected_get(stmdev_ctx_t *ctx, + lsm6dso_aux_sens_on_t *val); + +int32_t lsm6dso_sh_master_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_sh_master_get(stmdev_ctx_t *ctx, uint8_t *val); + +typedef enum { + LSM6DSO_EXT_PULL_UP = 0, + LSM6DSO_INTERNAL_PULL_UP = 1, +} lsm6dso_shub_pu_en_t; +int32_t lsm6dso_sh_pin_mode_set(stmdev_ctx_t *ctx, lsm6dso_shub_pu_en_t val); +int32_t lsm6dso_sh_pin_mode_get(stmdev_ctx_t *ctx, lsm6dso_shub_pu_en_t *val); + +int32_t lsm6dso_sh_pass_through_set(stmdev_ctx_t *ctx, uint8_t val); +int32_t lsm6dso_sh_pass_through_get(stmdev_ctx_t *ctx, uint8_t *val); + +typedef enum { + LSM6DSO_EXT_ON_INT2_PIN = 1, + LSM6DSO_XL_GY_DRDY = 0, +} lsm6dso_start_config_t; +int32_t lsm6dso_sh_syncro_mode_set(stmdev_ctx_t *ctx, + lsm6dso_start_config_t val); +int32_t lsm6dso_sh_syncro_mode_get(stmdev_ctx_t *ctx, + lsm6dso_start_config_t *val); + +typedef enum { + LSM6DSO_EACH_SH_CYCLE = 0, + LSM6DSO_ONLY_FIRST_CYCLE = 1, +} lsm6dso_write_once_t; +int32_t lsm6dso_sh_write_mode_set(stmdev_ctx_t *ctx, lsm6dso_write_once_t val); +int32_t lsm6dso_sh_write_mode_get(stmdev_ctx_t *ctx, lsm6dso_write_once_t *val); + +int32_t lsm6dso_sh_reset_set(stmdev_ctx_t *ctx); +int32_t lsm6dso_sh_reset_get(stmdev_ctx_t *ctx, uint8_t *val); + +typedef enum { + LSM6DSO_SH_ODR_104Hz = 0, + LSM6DSO_SH_ODR_52Hz = 1, + LSM6DSO_SH_ODR_26Hz = 2, + LSM6DSO_SH_ODR_13Hz = 3, +} lsm6dso_shub_odr_t; +int32_t lsm6dso_sh_data_rate_set(stmdev_ctx_t *ctx, lsm6dso_shub_odr_t val); +int32_t lsm6dso_sh_data_rate_get(stmdev_ctx_t *ctx, lsm6dso_shub_odr_t *val); + +typedef struct { + uint8_t slv0_add; + uint8_t slv0_subadd; + uint8_t slv0_data; +} lsm6dso_sh_cfg_write_t; +int32_t lsm6dso_sh_cfg_write(stmdev_ctx_t *ctx, lsm6dso_sh_cfg_write_t *val); + +typedef struct { + uint8_t slv_add; + uint8_t slv_subadd; + uint8_t slv_len; +} lsm6dso_sh_cfg_read_t; +int32_t lsm6dso_sh_slv0_cfg_read(stmdev_ctx_t *ctx, lsm6dso_sh_cfg_read_t *val); +int32_t lsm6dso_sh_slv1_cfg_read(stmdev_ctx_t *ctx, lsm6dso_sh_cfg_read_t *val); +int32_t lsm6dso_sh_slv2_cfg_read(stmdev_ctx_t *ctx, lsm6dso_sh_cfg_read_t *val); +int32_t lsm6dso_sh_slv3_cfg_read(stmdev_ctx_t *ctx, lsm6dso_sh_cfg_read_t *val); + +int32_t lsm6dso_sh_status_get(stmdev_ctx_t *ctx, lsm6dso_status_master_t *val); + +typedef struct { + uint8_t ui; + uint8_t aux; +} lsm6dso_id_t; +int32_t lsm6dso_id_get(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx, + lsm6dso_id_t *val); + +typedef enum { + LSM6DSO_SEL_BY_HW = 0x00, /* bus mode select by HW (SPI 3W disable) */ + LSM6DSO_SPI_4W = 0x06, /* Only SPI: SDO / SDI separated pins */ + LSM6DSO_SPI_3W = 0x07, /* Only SPI: SDO / SDI share the same pin */ + LSM6DSO_I2C = 0x04, /* Only I2C */ + LSM6DSO_I3C_T_50us = 0x02, /* I3C: available time equal to 50 us */ + LSM6DSO_I3C_T_2us = 0x12, /* I3C: available time equal to 2 us */ + LSM6DSO_I3C_T_1ms = 0x22, /* I3C: available time equal to 1 ms */ + LSM6DSO_I3C_T_25ms = 0x32, /* I3C: available time equal to 25 ms */ +} lsm6dso_ui_bus_md_t; + +typedef enum { + LSM6DSO_SPI_4W_AUX = 0x00, + LSM6DSO_SPI_3W_AUX = 0x01, +} lsm6dso_aux_bus_md_t; + +typedef struct { + lsm6dso_ui_bus_md_t ui_bus_md; + lsm6dso_aux_bus_md_t aux_bus_md; +} lsm6dso_bus_mode_t; +int32_t lsm6dso_bus_mode_set(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx, + lsm6dso_bus_mode_t val); +int32_t lsm6dso_bus_mode_get(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx, + lsm6dso_bus_mode_t *val); + +typedef enum { + LSM6DSO_DRV_RDY = 0x00, /* Initialize the device for driver usage */ + LSM6DSO_BOOT = 0x01, /* Restore calib. param. ( it takes 10ms ) */ + LSM6DSO_RESET = 0x02, /* Reset configuration registers */ + LSM6DSO_FIFO_COMP = 0x04, /* FIFO compression initialization request. */ + LSM6DSO_FSM = 0x08, /* Finite State Machine initialization request */ + LSM6DSO_PEDO = 0x20, /* Pedometer algo initialization request. */ + LSM6DSO_TILT = 0x40, /* Tilt algo initialization request */ + LSM6DSO_SMOTION = 0x80, /* Significant Motion initialization request */ +} lsm6dso_init_t; +int32_t lsm6dso_init_set(stmdev_ctx_t *ctx, lsm6dso_init_t val); + +typedef struct { + uint8_t sw_reset : 1; /* Restoring configuration registers */ + uint8_t boot : 1; /* Restoring calibration parameters */ + uint8_t drdy_xl : 1; /* Accelerometer data ready */ + uint8_t drdy_g : 1; /* Gyroscope data ready */ + uint8_t drdy_temp : 1; /* Temperature data ready */ + uint8_t ois_drdy_xl : 1; /* Accelerometer data ready on OIS */ + uint8_t ois_drdy_g : 1; /* Gyroscope data ready on OIS */ + uint8_t ois_gyro_settling : 1; /* Gyroscope is in the settling phase */ +} lsm6dso_status_t; +int32_t lsm6dso_status_get(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx, + lsm6dso_status_t *val); + +typedef struct { + uint8_t sdo_sa0_pull_up : 1; /* 1 = pull-up on SDO/SA0 pin */ + uint8_t aux_sdo_ocs_pull_up : 1; /* 1 = pull-up on OCS_Aux/SDO_Aux pins */ + uint8_t int1_int2_push_pull : 1; /* 1 = push-pull / 0 = open-drain*/ + uint8_t int1_pull_down : 1; /* 1 = pull-down always disabled (0=auto) */ +} lsm6dso_pin_conf_t; +int32_t lsm6dso_pin_conf_set(stmdev_ctx_t *ctx, lsm6dso_pin_conf_t val); +int32_t lsm6dso_pin_conf_get(stmdev_ctx_t *ctx, lsm6dso_pin_conf_t *val); + +typedef struct { + uint8_t active_low : 1; /* 1 = active low / 0 = active high */ + uint8_t base_latched : 1; /* base functions are: FF, WU, 6D, Tap, Act/Inac */ + uint8_t emb_latched : 1; /* emb functions are: Pedo, Tilt, SMot, Timestamp */ +} lsm6dso_int_mode_t; +int32_t lsm6dso_interrupt_mode_set(stmdev_ctx_t *ctx, lsm6dso_int_mode_t val); +int32_t lsm6dso_interrupt_mode_get(stmdev_ctx_t *ctx, lsm6dso_int_mode_t *val); + +typedef struct { + uint8_t drdy_xl : 1; /* Accelerometer data ready */ + uint8_t drdy_g : 1; /* Gyroscope data ready */ + uint8_t drdy_temp : 1; /* Temperature data ready (1 = int2 pin disable) */ + uint8_t boot : 1; /* Restoring calibration parameters */ + uint8_t fifo_th : 1; /* FIFO threshold reached */ + uint8_t fifo_ovr : 1; /* FIFO overrun */ + uint8_t fifo_full : 1; /* FIFO full */ + uint8_t fifo_bdr : 1; /* FIFO Batch counter threshold reached */ + uint8_t den_flag : 1; /* external trigger level recognition (DEN) */ + uint8_t sh_endop : 1; /* sensor hub end operation */ + uint8_t timestamp : 1; /* timestamp overflow (1 = int2 pin disable) */ + uint8_t six_d : 1; /* orientation change (6D/4D detection) */ + uint8_t double_tap : 1; /* double-tap event */ + uint8_t free_fall : 1; /* free fall event */ + uint8_t wake_up : 1; /* wake up event */ + uint8_t single_tap : 1; /* single-tap event */ + uint8_t sleep_change : 1; /* Act/Inact (or Vice-versa) status changed */ + uint8_t step_detector : 1; /* Step detected */ + uint8_t tilt : 1; /* Relative tilt event detected */ + uint8_t sig_mot : 1; /* "significant motion" event detected */ + uint8_t fsm_lc : 1; /* fsm long counter timeout interrupt event */ + uint8_t fsm1 : 1; /* fsm 1 interrupt event */ + uint8_t fsm2 : 1; /* fsm 2 interrupt event */ + uint8_t fsm3 : 1; /* fsm 3 interrupt event */ + uint8_t fsm4 : 1; /* fsm 4 interrupt event */ + uint8_t fsm5 : 1; /* fsm 5 interrupt event */ + uint8_t fsm6 : 1; /* fsm 6 interrupt event */ + uint8_t fsm7 : 1; /* fsm 7 interrupt event */ + uint8_t fsm8 : 1; /* fsm 8 interrupt event */ + uint8_t fsm9 : 1; /* fsm 9 interrupt event */ + uint8_t fsm10 : 1; /* fsm 10 interrupt event */ + uint8_t fsm11 : 1; /* fsm 11 interrupt event */ + uint8_t fsm12 : 1; /* fsm 12 interrupt event */ + uint8_t fsm13 : 1; /* fsm 13 interrupt event */ + uint8_t fsm14 : 1; /* fsm 14 interrupt event */ + uint8_t fsm15 : 1; /* fsm 15 interrupt event */ + uint8_t fsm16 : 1; /* fsm 16 interrupt event */ + uint8_t mlc1 : 1; /* mlc 1 interrupt event */ + uint8_t mlc2 : 1; /* mlc 2 interrupt event */ + uint8_t mlc3 : 1; /* mlc 3 interrupt event */ + uint8_t mlc4 : 1; /* mlc 4 interrupt event */ + uint8_t mlc5 : 1; /* mlc 5 interrupt event */ + uint8_t mlc6 : 1; /* mlc 6 interrupt event */ + uint8_t mlc7 : 1; /* mlc 7 interrupt event */ + uint8_t mlc8 : 1; /* mlc 8 interrupt event */ +} lsm6dso_pin_int1_route_t; + +int32_t lsm6dso_pin_int1_route_set(stmdev_ctx_t *ctx, + lsm6dso_pin_int1_route_t val); +int32_t lsm6dso_pin_int1_route_get(stmdev_ctx_t *ctx, + lsm6dso_pin_int1_route_t *val); + +typedef struct { + uint8_t drdy_ois : 1; /* OIS chain data ready */ + uint8_t drdy_xl : 1; /* Accelerometer data ready */ + uint8_t drdy_g : 1; /* Gyroscope data ready */ + uint8_t drdy_temp : 1; /* Temperature data ready */ + uint8_t fifo_th : 1; /* FIFO threshold reached */ + uint8_t fifo_ovr : 1; /* FIFO overrun */ + uint8_t fifo_full : 1; /* FIFO full */ + uint8_t fifo_bdr : 1; /* FIFO Batch counter threshold reached */ + uint8_t timestamp : 1; /* timestamp overflow */ + uint8_t six_d : 1; /* orientation change (6D/4D detection) */ + uint8_t double_tap : 1; /* double-tap event */ + uint8_t free_fall : 1; /* free fall event */ + uint8_t wake_up : 1; /* wake up event */ + uint8_t single_tap : 1; /* single-tap event */ + uint8_t sleep_change : 1; /* Act/Inact (or Vice-versa) status changed */ + uint8_t step_detector : 1; /* Step detected */ + uint8_t tilt : 1; /* Relative tilt event detected */ + uint8_t sig_mot : 1; /* "significant motion" event detected */ + uint8_t fsm_lc : 1; /* fsm long counter timeout interrupt event */ + uint8_t fsm1 : 1; /* fsm 1 interrupt event */ + uint8_t fsm2 : 1; /* fsm 2 interrupt event */ + uint8_t fsm3 : 1; /* fsm 3 interrupt event */ + uint8_t fsm4 : 1; /* fsm 4 interrupt event */ + uint8_t fsm5 : 1; /* fsm 5 interrupt event */ + uint8_t fsm6 : 1; /* fsm 6 interrupt event */ + uint8_t fsm7 : 1; /* fsm 7 interrupt event */ + uint8_t fsm8 : 1; /* fsm 8 interrupt event */ + uint8_t fsm9 : 1; /* fsm 9 interrupt event */ + uint8_t fsm10 : 1; /* fsm 10 interrupt event */ + uint8_t fsm11 : 1; /* fsm 11 interrupt event */ + uint8_t fsm12 : 1; /* fsm 12 interrupt event */ + uint8_t fsm13 : 1; /* fsm 13 interrupt event */ + uint8_t fsm14 : 1; /* fsm 14 interrupt event */ + uint8_t fsm15 : 1; /* fsm 15 interrupt event */ + uint8_t fsm16 : 1; /* fsm 16 interrupt event */ + uint8_t mlc1 : 1; /* mlc 1 interrupt event */ + uint8_t mlc2 : 1; /* mlc 2 interrupt event */ + uint8_t mlc3 : 1; /* mlc 3 interrupt event */ + uint8_t mlc4 : 1; /* mlc 4 interrupt event */ + uint8_t mlc5 : 1; /* mlc 5 interrupt event */ + uint8_t mlc6 : 1; /* mlc 6 interrupt event */ + uint8_t mlc7 : 1; /* mlc 7 interrupt event */ + uint8_t mlc8 : 1; /* mlc 8 interrupt event */ +} lsm6dso_pin_int2_route_t; + +int32_t lsm6dso_pin_int2_route_set(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx, + lsm6dso_pin_int2_route_t val); +int32_t lsm6dso_pin_int2_route_get(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx, + lsm6dso_pin_int2_route_t *val); + +typedef struct { + uint8_t drdy_xl : 1; /* Accelerometer data ready */ + uint8_t drdy_g : 1; /* Gyroscope data ready */ + uint8_t drdy_temp : 1; /* Temperature data ready */ + uint8_t den_flag : 1; /* external trigger level recognition (DEN) */ + uint8_t timestamp : 1; /* timestamp overflow (1 = int2 pin disable) */ + uint8_t free_fall : 1; /* free fall event */ + uint8_t wake_up : 1; /* wake up event */ + uint8_t wake_up_z : 1; /* wake up on Z axis event */ + uint8_t wake_up_y : 1; /* wake up on Y axis event */ + uint8_t wake_up_x : 1; /* wake up on X axis event */ + uint8_t single_tap : 1; /* single-tap event */ + uint8_t double_tap : 1; /* double-tap event */ + uint8_t tap_z : 1; /* single-tap on Z axis event */ + uint8_t tap_y : 1; /* single-tap on Y axis event */ + uint8_t tap_x : 1; /* single-tap on X axis event */ + uint8_t tap_sign : 1; /* sign of tap event (0-pos / 1-neg) */ + uint8_t six_d : 1; /* orientation change (6D/4D detection) */ + uint8_t six_d_xl : 1; /* X-axis low 6D/4D event (under threshold) */ + uint8_t six_d_xh : 1; /* X-axis high 6D/4D event (over threshold) */ + uint8_t six_d_yl : 1; /* Y-axis low 6D/4D event (under threshold) */ + uint8_t six_d_yh : 1; /* Y-axis high 6D/4D event (over threshold) */ + uint8_t six_d_zl : 1; /* Z-axis low 6D/4D event (under threshold) */ + uint8_t six_d_zh : 1; /* Z-axis high 6D/4D event (over threshold) */ + uint8_t sleep_change : 1; /* Act/Inact (or Vice-versa) status changed */ + uint8_t sleep_state : 1; /* Act/Inact status flag (0-Act / 1-Inact) */ + uint8_t step_detector : 1; /* Step detected */ + uint8_t tilt : 1; /* Relative tilt event detected */ + uint8_t sig_mot : 1; /* "significant motion" event detected */ + uint8_t fsm_lc : 1; /* fsm long counter timeout interrupt event */ + uint8_t fsm1 : 1; /* fsm 1 interrupt event */ + uint8_t fsm2 : 1; /* fsm 2 interrupt event */ + uint8_t fsm3 : 1; /* fsm 3 interrupt event */ + uint8_t fsm4 : 1; /* fsm 4 interrupt event */ + uint8_t fsm5 : 1; /* fsm 5 interrupt event */ + uint8_t fsm6 : 1; /* fsm 6 interrupt event */ + uint8_t fsm7 : 1; /* fsm 7 interrupt event */ + uint8_t fsm8 : 1; /* fsm 8 interrupt event */ + uint8_t fsm9 : 1; /* fsm 9 interrupt event */ + uint8_t fsm10 : 1; /* fsm 10 interrupt event */ + uint8_t fsm11 : 1; /* fsm 11 interrupt event */ + uint8_t fsm12 : 1; /* fsm 12 interrupt event */ + uint8_t fsm13 : 1; /* fsm 13 interrupt event */ + uint8_t fsm14 : 1; /* fsm 14 interrupt event */ + uint8_t fsm15 : 1; /* fsm 15 interrupt event */ + uint8_t fsm16 : 1; /* fsm 16 interrupt event */ + uint8_t mlc1 : 1; /* mlc 1 interrupt event */ + uint8_t mlc2 : 1; /* mlc 2 interrupt event */ + uint8_t mlc3 : 1; /* mlc 3 interrupt event */ + uint8_t mlc4 : 1; /* mlc 4 interrupt event */ + uint8_t mlc5 : 1; /* mlc 5 interrupt event */ + uint8_t mlc6 : 1; /* mlc 6 interrupt event */ + uint8_t mlc7 : 1; /* mlc 7 interrupt event */ + uint8_t mlc8 : 1; /* mlc 8 interrupt event */ + uint8_t sh_endop : 1; /* sensor hub end operation */ + uint8_t sh_slave0_nack : 1; /* Not acknowledge on sensor hub slave 0 */ + uint8_t sh_slave1_nack : 1; /* Not acknowledge on sensor hub slave 1 */ + uint8_t sh_slave2_nack : 1; /* Not acknowledge on sensor hub slave 2 */ + uint8_t sh_slave3_nack : 1; /* Not acknowledge on sensor hub slave 3 */ + uint8_t sh_wr_once : 1; /* "WRITE_ONCE" end on sensor hub slave 0 */ + uint16_t fifo_diff : 10; /* Number of unread sensor data in FIFO*/ + uint8_t fifo_ovr_latched : 1; /* Latched FIFO overrun status */ + uint8_t fifo_bdr : 1; /* FIFO Batch counter threshold reached */ + uint8_t fifo_full : 1; /* FIFO full */ + uint8_t fifo_ovr : 1; /* FIFO overrun */ + uint8_t fifo_th : 1; /* FIFO threshold reached */ +} lsm6dso_all_sources_t; +int32_t lsm6dso_all_sources_get(stmdev_ctx_t *ctx, lsm6dso_all_sources_t *val); + +typedef struct { + uint8_t odr_fine_tune; +} dev_cal_t; +int32_t lsm6dso_calibration_get(stmdev_ctx_t *ctx, dev_cal_t *val); + +typedef enum { + LSM6DSO_XL_UI_OFF = 0x00, /* in power down */ + LSM6DSO_XL_UI_1Hz6_LP = 0x1B, /* @1Hz6 (low power) */ + LSM6DSO_XL_UI_1Hz6_ULP = 0x2B, /* @1Hz6 (ultra low/Gy, OIS imu off) */ + LSM6DSO_XL_UI_12Hz5_HP = 0x01, /* @12Hz5 (high performance) */ + LSM6DSO_XL_UI_12Hz5_LP = 0x11, /* @12Hz5 (low power) */ + LSM6DSO_XL_UI_12Hz5_ULP = 0x21, /* @12Hz5 (ultra low/Gy, OIS imu off) */ + LSM6DSO_XL_UI_26Hz_HP = 0x02, /* @26Hz (high performance) */ + LSM6DSO_XL_UI_26Hz_LP = 0x12, /* @26Hz (low power) */ + LSM6DSO_XL_UI_26Hz_ULP = 0x22, /* @26Hz (ultra low/Gy, OIS imu off) */ + LSM6DSO_XL_UI_52Hz_HP = 0x03, /* @52Hz (high performance) */ + LSM6DSO_XL_UI_52Hz_LP = 0x13, /* @52Hz (low power) */ + LSM6DSO_XL_UI_52Hz_ULP = 0x23, /* @52Hz (ultra low/Gy, OIS imu off) */ + LSM6DSO_XL_UI_104Hz_HP = 0x04, /* @104Hz (high performance) */ + LSM6DSO_XL_UI_104Hz_NM = 0x14, /* @104Hz (normal mode) */ + LSM6DSO_XL_UI_104Hz_ULP = 0x24, /* @104Hz (ultra low/Gy, OIS imu off) */ + LSM6DSO_XL_UI_208Hz_HP = 0x05, /* @208Hz (high performance) */ + LSM6DSO_XL_UI_208Hz_NM = 0x15, /* @208Hz (normal mode) */ + LSM6DSO_XL_UI_208Hz_ULP = 0x25, /* @208Hz (ultra low/Gy, OIS imu off) */ + LSM6DSO_XL_UI_416Hz_HP = 0x06, /* @416Hz (high performance) */ + LSM6DSO_XL_UI_833Hz_HP = 0x07, /* @833Hz (high performance) */ + LSM6DSO_XL_UI_1667Hz_HP = 0x08, /* @1kHz66 (high performance) */ + LSM6DSO_XL_UI_3333Hz_HP = 0x09, /* @3kHz33 (high performance) */ + LSM6DSO_XL_UI_6667Hz_HP = 0x0A, /* @6kHz66 (high performance) */ +} lsm6dso_odr_xl_ui_t; + +typedef enum { + LSM6DSO_XL_UI_2g = 0, + LSM6DSO_XL_UI_4g = 2, + LSM6DSO_XL_UI_8g = 3, + LSM6DSO_XL_UI_16g = 1, /* OIS full scale is also forced to be 16g */ +} lsm6dso_fs_xl_ui_t; + +typedef enum { + LSM6DSO_GY_UI_OFF = 0x00, /* gy in power down */ + LSM6DSO_GY_UI_12Hz5_LP = 0x11, /* gy @12Hz5 (low power) */ + LSM6DSO_GY_UI_12Hz5_HP = 0x01, /* gy @12Hz5 (high performance) */ + LSM6DSO_GY_UI_26Hz_LP = 0x12, /* gy @26Hz (low power) */ + LSM6DSO_GY_UI_26Hz_HP = 0x02, /* gy @26Hz (high performance) */ + LSM6DSO_GY_UI_52Hz_LP = 0x13, /* gy @52Hz (low power) */ + LSM6DSO_GY_UI_52Hz_HP = 0x03, /* gy @52Hz (high performance) */ + LSM6DSO_GY_UI_104Hz_NM = 0x14, /* gy @104Hz (low power) */ + LSM6DSO_GY_UI_104Hz_HP = 0x04, /* gy @104Hz (high performance) */ + LSM6DSO_GY_UI_208Hz_NM = 0x15, /* gy @208Hz (low power) */ + LSM6DSO_GY_UI_208Hz_HP = 0x05, /* gy @208Hz (high performance) */ + LSM6DSO_GY_UI_416Hz_HP = 0x06, /* gy @416Hz (high performance) */ + LSM6DSO_GY_UI_833Hz_HP = 0x07, /* gy @833Hz (high performance) */ + LSM6DSO_GY_UI_1667Hz_HP = 0x08, /* gy @1kHz66 (high performance) */ + LSM6DSO_GY_UI_3333Hz_HP = 0x09, /* gy @3kHz33 (high performance) */ + LSM6DSO_GY_UI_6667Hz_HP = 0x0A, /* gy @6kHz66 (high performance) */ +} lsm6dso_odr_g_ui_t; + +typedef enum { + LSM6DSO_GY_UI_250dps = 0, + LSM6DSO_GY_UI_125dps = 1, + LSM6DSO_GY_UI_500dps = 2, + LSM6DSO_GY_UI_1000dps = 4, + LSM6DSO_GY_UI_2000dps = 6, +} lsm6dso_fs_g_ui_t; + +typedef enum { + LSM6DSO_OIS_ONLY_AUX = 0x00, /* Auxiliary SPI full control */ + LSM6DSO_OIS_MIXED = 0x01, /* Enabling by UI / read-config by AUX */ +} lsm6dso_ctrl_md_t; + +typedef enum { + LSM6DSO_XL_OIS_OFF = 0x00, /* in power down */ + LSM6DSO_XL_OIS_6667Hz_HP = 0x01, /* @6kHz OIS imu active/NO ULP on UI */ +} lsm6dso_odr_xl_ois_noaux_t; + +typedef enum { + LSM6DSO_XL_OIS_2g = 0, + LSM6DSO_XL_OIS_4g = 2, + LSM6DSO_XL_OIS_8g = 3, + LSM6DSO_XL_OIS_16g = 1, /* UI full scale is also forced to be 16g */ +} lsm6dso_fs_xl_ois_noaux_t; + +typedef enum { + LSM6DSO_GY_OIS_OFF = 0x00, /* in power down */ + LSM6DSO_GY_OIS_6667Hz_HP = 0x01, /* @6kHz No Ultra Low Power*/ +} lsm6dso_odr_g_ois_noaux_t; + +typedef enum { + LSM6DSO_GY_OIS_250dps = 0, + LSM6DSO_GY_OIS_125dps = 1, + LSM6DSO_GY_OIS_500dps = 2, + LSM6DSO_GY_OIS_1000dps = 4, + LSM6DSO_GY_OIS_2000dps = 6, +} lsm6dso_fs_g_ois_noaux_t; + +typedef enum { + LSM6DSO_FSM_DISABLE = 0x00, + LSM6DSO_FSM_XL = 0x01, + LSM6DSO_FSM_GY = 0x02, + LSM6DSO_FSM_XL_GY = 0x03, +} lsm6dso_sens_fsm_t; + +typedef enum { + LSM6DSO_FSM_12Hz5 = 0x00, + LSM6DSO_FSM_26Hz = 0x01, + LSM6DSO_FSM_52Hz = 0x02, + LSM6DSO_FSM_104Hz = 0x03, +} lsm6dso_odr_fsm_t; + +typedef struct { + struct { + struct { + lsm6dso_odr_xl_ui_t odr; + lsm6dso_fs_xl_ui_t fs; + } xl; + struct { + lsm6dso_odr_g_ui_t odr; + lsm6dso_fs_g_ui_t fs; + } gy; + } ui; + struct { + lsm6dso_ctrl_md_t ctrl_md; + struct { + lsm6dso_odr_xl_ois_noaux_t odr; + lsm6dso_fs_xl_ois_noaux_t fs; + } xl; + struct { + lsm6dso_odr_g_ois_noaux_t odr; + lsm6dso_fs_g_ois_noaux_t fs; + } gy; + } ois; + struct { + lsm6dso_sens_fsm_t sens; + lsm6dso_odr_fsm_t odr; + } fsm; +} lsm6dso_md_t; +int32_t lsm6dso_mode_set(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx, + lsm6dso_md_t *val); +int32_t lsm6dso_mode_get(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx, + lsm6dso_md_t *val); +typedef struct { + struct { + struct { + float_t mg[3]; + int16_t raw[3]; + } xl; + struct { + float_t mdps[3]; + int16_t raw[3]; + } gy; + struct { + float_t deg_c; + int16_t raw; + } heat; + } ui; + struct { + struct { + float_t mg[3]; + int16_t raw[3]; + } xl; + struct { + float_t mdps[3]; + int16_t raw[3]; + } gy; + } ois; +} lsm6dso_data_t; +int32_t lsm6dso_data_get(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx, + lsm6dso_md_t *md, lsm6dso_data_t *data); + +typedef struct { + uint8_t sig_mot : 1; /* significant motion */ + uint8_t tilt : 1; /* tilt detection */ + uint8_t step : 1; /* step counter/detector */ + uint8_t step_adv : 1; /* step counter advanced mode */ + uint8_t fsm : 1; /* finite state machine */ + uint8_t fifo_compr : 1; /* FIFO compression */ +} lsm6dso_emb_sens_t; +int32_t lsm6dso_embedded_sens_set(stmdev_ctx_t *ctx, + lsm6dso_emb_sens_t *emb_sens); +int32_t lsm6dso_embedded_sens_get(stmdev_ctx_t *ctx, + lsm6dso_emb_sens_t *emb_sens); +int32_t lsm6dso_embedded_sens_off(stmdev_ctx_t *ctx); + +/** + * @} + * + */ + +#ifdef __cplusplus +} +#endif + +#endif /*LSM6DSO_DRIVER_H */ diff --git a/general/src/lsm6dso.c b/general/src/lsm6dso.c index 6db0ab6..86cc8c5 100644 --- a/general/src/lsm6dso.c +++ b/general/src/lsm6dso.c @@ -1,192 +1,3770 @@ -/* - LSM6DSOXTR IMU DRIVER Source File - Link to part Datasheet for reference: - https://www.st.com/resource/en/datasheet/lsm6dsox.pdf +/** + ****************************************************************************** + * @file lsm6dso.c + * @author MEMS Software Solutions Team + * @brief LSM6DSO driver file + ****************************************************************************** + * @attention + * + * Copyright (c) 2019 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ - Author: Hamza Iqbal -*/ +/* Includes ------------------------------------------------------------------*/ +#include "lsm6dso.h" + +/** @addtogroup BSP BSP + * @{ + */ + +/** @addtogroup Component Component + * @{ + */ + +/** @defgroup LSM6DSO LSM6DSO + * @{ + */ + +/** @defgroup LSM6DSO_Exported_Variables LSM6DSO Exported Variables + * @{ + */ + +LSM6DSO_CommonDrv_t LSM6DSO_COMMON_Driver = { + LSM6DSO_Init, + LSM6DSO_DeInit, + LSM6DSO_ReadID, + LSM6DSO_GetCapabilities, +}; + +LSM6DSO_ACC_Drv_t LSM6DSO_ACC_Driver = { + LSM6DSO_ACC_Enable, + LSM6DSO_ACC_Disable, + LSM6DSO_ACC_GetSensitivity, + LSM6DSO_ACC_GetOutputDataRate, + LSM6DSO_ACC_SetOutputDataRate, + LSM6DSO_ACC_GetFullScale, + LSM6DSO_ACC_SetFullScale, + LSM6DSO_ACC_GetAxes, + LSM6DSO_ACC_GetAxesRaw, +}; + +LSM6DSO_GYRO_Drv_t LSM6DSO_GYRO_Driver = { + LSM6DSO_GYRO_Enable, + LSM6DSO_GYRO_Disable, + LSM6DSO_GYRO_GetSensitivity, + LSM6DSO_GYRO_GetOutputDataRate, + LSM6DSO_GYRO_SetOutputDataRate, + LSM6DSO_GYRO_GetFullScale, + LSM6DSO_GYRO_SetFullScale, + LSM6DSO_GYRO_GetAxes, + LSM6DSO_GYRO_GetAxesRaw, +}; + +/** + * @} + */ + +/** @defgroup LSM6DSO_Private_Function_Prototypes LSM6DSO Private Function Prototypes + * @{ + */ + +static int32_t +LSM6DSO_ACC_SetOutputDataRate_When_Enabled(LSM6DSO_Object_t *pObj, float_t Odr); +static int32_t +LSM6DSO_ACC_SetOutputDataRate_When_Disabled(LSM6DSO_Object_t *pObj, + float_t Odr); +static int32_t +LSM6DSO_GYRO_SetOutputDataRate_When_Enabled(LSM6DSO_Object_t *pObj, + float_t Odr); +static int32_t +LSM6DSO_GYRO_SetOutputDataRate_When_Disabled(LSM6DSO_Object_t *pObj, + float_t Odr); +static void LSM6DSO_Delay(LSM6DSO_Object_t *pObj, uint32_t msDelay); +static int32_t ReadRegWrap(void *Handle, uint8_t Reg, uint8_t *pData, + uint16_t Length); +static int32_t WriteRegWrap(void *Handle, uint8_t Reg, uint8_t *pData, + uint16_t Length); + +/** + * @} + */ + +/** @defgroup LSM6DSO_Exported_Functions LSM6DSO Exported Functions + * @{ + */ + +/** + * @brief Register Component Bus IO operations + * @param pObj the device pObj + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_RegisterBusIO(LSM6DSO_Object_t *pObj, LSM6DSO_IO_t *pIO) +{ + int32_t ret = LSM6DSO_OK; + + if (pObj == NULL) { + ret = LSM6DSO_ERROR; + } else { + pObj->IO.Init = pIO->Init; + pObj->IO.DeInit = pIO->DeInit; + pObj->IO.BusType = pIO->BusType; + pObj->IO.Address = pIO->Address; + pObj->IO.WriteReg = pIO->WriteReg; + pObj->IO.ReadReg = pIO->ReadReg; + pObj->IO.GetTick = pIO->GetTick; + + pObj->Ctx.read_reg = ReadRegWrap; + pObj->Ctx.write_reg = WriteRegWrap; + pObj->Ctx.mdelay = pIO->Delay; + pObj->Ctx.handle = pObj; + + if (pObj->IO.Init == NULL) { + ret = LSM6DSO_ERROR; + } else if (pObj->IO.Init() != LSM6DSO_OK) { + ret = LSM6DSO_ERROR; + } else { + if (pObj->IO.BusType == + LSM6DSO_SPI_3WIRES_BUS) /* SPI 3-Wires */ + { + /* Enable the SPI 3-Wires support only the first time */ + if (pObj->is_initialized == 0U) { + /* Enable SPI 3-Wires on the component */ + uint8_t data = 0x0C; + + if (LSM6DSO_Write_Reg( + pObj, LSM6DSO_CTRL3_C, + data) != LSM6DSO_OK) { + ret = LSM6DSO_ERROR; + } + } + } + } + } + + return ret; +} + +/** + * @brief Initialize the LSM6DSO sensor + * @param pObj the device pObj + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_Init(LSM6DSO_Object_t *pObj) +{ + /* Disable I3C */ + if (lsm6dso_i3c_disable_set(&(pObj->Ctx), LSM6DSO_I3C_DISABLE) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Enable register address automatically incremented during a multiple byte + access with a serial interface. */ + if (lsm6dso_auto_increment_set(&(pObj->Ctx), PROPERTY_ENABLE) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Enable BDU */ + if (lsm6dso_block_data_update_set(&(pObj->Ctx), PROPERTY_ENABLE) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* FIFO mode selection */ + if (lsm6dso_fifo_mode_set(&(pObj->Ctx), LSM6DSO_BYPASS_MODE) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Select default output data rate. */ + pObj->acc_odr = LSM6DSO_XL_ODR_104Hz; + + /* Output data rate selection - power down. */ + if (lsm6dso_xl_data_rate_set(&(pObj->Ctx), LSM6DSO_XL_ODR_OFF) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Full scale selection. */ + if (lsm6dso_xl_full_scale_set(&(pObj->Ctx), LSM6DSO_2g) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Select default output data rate. */ + pObj->gyro_odr = LSM6DSO_GY_ODR_104Hz; + + /* Output data rate selection - power down. */ + if (lsm6dso_gy_data_rate_set(&(pObj->Ctx), LSM6DSO_GY_ODR_OFF) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Full scale selection. */ + if (lsm6dso_gy_full_scale_set(&(pObj->Ctx), LSM6DSO_2000dps) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + pObj->is_initialized = 1; + + return LSM6DSO_OK; +} + +/** + * @brief Deinitialize the LSM6DSO sensor + * @param pObj the device pObj + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_DeInit(LSM6DSO_Object_t *pObj) +{ + /* Disable the component */ + if (LSM6DSO_ACC_Disable(pObj) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (LSM6DSO_GYRO_Disable(pObj) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Reset output data rate. */ + pObj->acc_odr = LSM6DSO_XL_ODR_OFF; + pObj->gyro_odr = LSM6DSO_GY_ODR_OFF; + + pObj->is_initialized = 0; + + return LSM6DSO_OK; +} + +/** + * @brief Read component ID + * @param pObj the device pObj + * @param Id the WHO_AM_I value + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ReadID(LSM6DSO_Object_t *pObj, uint8_t *Id) +{ + if (lsm6dso_device_id_get(&(pObj->Ctx), Id) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Get LSM6DSO sensor capabilities + * @param pObj Component object pointer + * @param Capabilities pointer to LSM6DSO sensor capabilities + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_GetCapabilities(LSM6DSO_Object_t *pObj, + LSM6DSO_Capabilities_t *Capabilities) +{ + /* Prevent unused argument(s) compilation warning */ + (void)(pObj); + + Capabilities->Acc = 1; + Capabilities->Gyro = 1; + Capabilities->Magneto = 0; + Capabilities->LowPower = 0; + Capabilities->GyroMaxFS = 2000; + Capabilities->AccMaxFS = 16; + Capabilities->MagMaxFS = 0; + Capabilities->GyroMaxOdr = 6660.0f; + Capabilities->AccMaxOdr = 6660.0f; + Capabilities->MagMaxOdr = 0.0f; + return LSM6DSO_OK; +} + +/** + * @brief Enable the LSM6DSO accelerometer sensor + * @param pObj the device pObj + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Enable(LSM6DSO_Object_t *pObj) +{ + /* Check if the component is already enabled */ + if (pObj->acc_is_enabled == 1U) { + return LSM6DSO_OK; + } + + /* Output data rate selection. */ + if (lsm6dso_xl_data_rate_set(&(pObj->Ctx), pObj->acc_odr) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + pObj->acc_is_enabled = 1; + + return LSM6DSO_OK; +} + +/** + * @brief Disable the LSM6DSO accelerometer sensor + * @param pObj the device pObj + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Disable(LSM6DSO_Object_t *pObj) +{ + /* Check if the component is already disabled */ + if (pObj->acc_is_enabled == 0U) { + return LSM6DSO_OK; + } + + /* Get current output data rate. */ + if (lsm6dso_xl_data_rate_get(&(pObj->Ctx), &pObj->acc_odr) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Output data rate selection - power down. */ + if (lsm6dso_xl_data_rate_set(&(pObj->Ctx), LSM6DSO_XL_ODR_OFF) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + pObj->acc_is_enabled = 0; + + return LSM6DSO_OK; +} + +/** + * @brief Get the LSM6DSO accelerometer sensor sensitivity + * @param pObj the device pObj + * @param Sensitivity pointer + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_GetSensitivity(LSM6DSO_Object_t *pObj, float_t *Sensitivity) +{ + int32_t ret = LSM6DSO_OK; + lsm6dso_fs_xl_t full_scale; + + /* Read actual full scale selection from sensor. */ + if (lsm6dso_xl_full_scale_get(&(pObj->Ctx), &full_scale) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Store the Sensitivity based on actual full scale. */ + switch (full_scale) { + case LSM6DSO_2g: + *Sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_2G; + break; + + case LSM6DSO_4g: + *Sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_4G; + break; + + case LSM6DSO_8g: + *Sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_8G; + break; + + case LSM6DSO_16g: + *Sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_16G; + break; + + default: + ret = LSM6DSO_ERROR; + break; + } + + return ret; +} + +/** + * @brief Get the LSM6DSO accelerometer sensor output data rate + * @param pObj the device pObj + * @param Odr pointer where the output data rate is written + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_GetOutputDataRate(LSM6DSO_Object_t *pObj, float_t *Odr) +{ + int32_t ret = LSM6DSO_OK; + lsm6dso_odr_xl_t odr_low_level; + + /* Get current output data rate. */ + if (lsm6dso_xl_data_rate_get(&(pObj->Ctx), &odr_low_level) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + switch (odr_low_level) { + case LSM6DSO_XL_ODR_OFF: + *Odr = 0.0f; + break; + + case LSM6DSO_XL_ODR_1Hz6: + *Odr = 1.6f; + break; + + case LSM6DSO_XL_ODR_12Hz5: + *Odr = 12.5f; + break; + + case LSM6DSO_XL_ODR_26Hz: + *Odr = 26.0f; + break; + + case LSM6DSO_XL_ODR_52Hz: + *Odr = 52.0f; + break; + + case LSM6DSO_XL_ODR_104Hz: + *Odr = 104.0f; + break; + + case LSM6DSO_XL_ODR_208Hz: + *Odr = 208.0f; + break; + + case LSM6DSO_XL_ODR_417Hz: + *Odr = 417.0f; + break; + + case LSM6DSO_XL_ODR_833Hz: + *Odr = 833.0f; + break; + + case LSM6DSO_XL_ODR_1667Hz: + *Odr = 1667.0f; + break; + + case LSM6DSO_XL_ODR_3333Hz: + *Odr = 3333.0f; + break; + + case LSM6DSO_XL_ODR_6667Hz: + *Odr = 6667.0f; + break; + + default: + ret = LSM6DSO_ERROR; + break; + } + + return ret; +} + +/** + * @brief Set the LSM6DSO accelerometer sensor output data rate + * @param pObj the device pObj + * @param Odr the output data rate value to be set + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_SetOutputDataRate(LSM6DSO_Object_t *pObj, float_t Odr) +{ + return LSM6DSO_ACC_SetOutputDataRate_With_Mode( + pObj, Odr, LSM6DSO_ACC_HIGH_PERFORMANCE_MODE); +} + +/** + * @brief Set the LSM6DSO accelerometer sensor output data rate with operating mode + * @param pObj the device pObj + * @param Odr the output data rate value to be set + * @param Mode the accelerometer operating mode + * @note This function switches off the gyroscope if Ultra Low Power Mode is set + * @retval 0 in case of success, an error code otherwise + */ +int32_t +LSM6DSO_ACC_SetOutputDataRate_With_Mode(LSM6DSO_Object_t *pObj, float_t Odr, + LSM6DSO_ACC_Operating_Mode_t Mode) +{ + int32_t ret = LSM6DSO_OK; + float_t newOdr = Odr; + + switch (Mode) { + case LSM6DSO_ACC_HIGH_PERFORMANCE_MODE: { + /* We must uncheck Low Power and Ultra Low Power bits if they are enabled */ + lsm6dso_ctrl5_c_t val1; + lsm6dso_ctrl6_c_t val2; + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_CTRL5_C, + (uint8_t *)&val1, 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (val1.xl_ulp_en != 0U) { + /* Power off the accelerometer */ + if (pObj->acc_is_enabled == 1U) { + if (lsm6dso_xl_data_rate_set( + &(pObj->Ctx), LSM6DSO_XL_ODR_OFF) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + } + + val1.xl_ulp_en = 0; + if (lsm6dso_write_reg(&(pObj->Ctx), LSM6DSO_CTRL5_C, + (uint8_t *)&val1, + 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + } + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_CTRL6_C, + (uint8_t *)&val2, 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (val2.xl_hm_mode != 0U) { + val2.xl_hm_mode = 0U; + if (lsm6dso_write_reg(&(pObj->Ctx), LSM6DSO_CTRL6_C, + (uint8_t *)&val2, + 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + } + + /* ODR should be at least 12.5Hz */ + if (newOdr < 12.5f) { + newOdr = 12.5f; + } + break; + } + case LSM6DSO_ACC_LOW_POWER_NORMAL_MODE: { + /* We must uncheck Ultra Low Power bit if it is enabled */ + /* and check the Low Power bit if it is unchecked */ + lsm6dso_ctrl5_c_t val1; + lsm6dso_ctrl6_c_t val2; + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_CTRL5_C, + (uint8_t *)&val1, 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (val1.xl_ulp_en != 0U) { + /* Power off the accelerometer */ + if (pObj->acc_is_enabled == 1U) { + if (lsm6dso_xl_data_rate_set( + &(pObj->Ctx), LSM6DSO_XL_ODR_OFF) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + } + + val1.xl_ulp_en = 0; + if (lsm6dso_write_reg(&(pObj->Ctx), LSM6DSO_CTRL5_C, + (uint8_t *)&val1, + 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + } + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_CTRL6_C, + (uint8_t *)&val2, 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (val2.xl_hm_mode == 0U) { + val2.xl_hm_mode = 1U; + if (lsm6dso_write_reg(&(pObj->Ctx), LSM6DSO_CTRL6_C, + (uint8_t *)&val2, + 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + } + + /* Now we need to limit the ODR to 208 Hz if it is higher */ + if (newOdr > 208.0f) { + newOdr = 208.0f; + } + break; + } + case LSM6DSO_ACC_ULTRA_LOW_POWER_MODE: { + /* We must uncheck Low Power bit if it is enabled */ + /* and check the Ultra Low Power bit if it is unchecked */ + /* We must switch off gyro otherwise Ultra Low Power does not work */ + lsm6dso_ctrl5_c_t val1; + lsm6dso_ctrl6_c_t val2; + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_CTRL6_C, + (uint8_t *)&val2, 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (val2.xl_hm_mode != 0U) { + val2.xl_hm_mode = 0U; + if (lsm6dso_write_reg(&(pObj->Ctx), LSM6DSO_CTRL6_C, + (uint8_t *)&val2, + 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + } + + /* Disable Gyro */ + if (pObj->gyro_is_enabled == 1U) { + if (LSM6DSO_GYRO_Disable(pObj) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + } + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_CTRL5_C, + (uint8_t *)&val1, 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (val1.xl_ulp_en == 0U) { + /* Power off the accelerometer */ + if (pObj->acc_is_enabled == 1U) { + if (lsm6dso_xl_data_rate_set( + &(pObj->Ctx), LSM6DSO_XL_ODR_OFF) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + } + + val1.xl_ulp_en = 1U; + if (lsm6dso_write_reg(&(pObj->Ctx), LSM6DSO_CTRL5_C, + (uint8_t *)&val1, + 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + } + + /* Now we need to limit the ODR to 208 Hz if it is higher */ + if (newOdr > 208.0f) { + newOdr = 208.0f; + } + break; + } + default: + ret = LSM6DSO_ERROR; + break; + } + + if (ret == LSM6DSO_ERROR) { + return LSM6DSO_ERROR; + } + + if (pObj->acc_is_enabled == 1U) { + ret = LSM6DSO_ACC_SetOutputDataRate_When_Enabled(pObj, newOdr); + } else { + ret = LSM6DSO_ACC_SetOutputDataRate_When_Disabled(pObj, newOdr); + } + + return ret; +} + +/** + * @brief Get the LSM6DSO accelerometer sensor full scale + * @param pObj the device pObj + * @param FullScale pointer where the full scale is written + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_GetFullScale(LSM6DSO_Object_t *pObj, int32_t *FullScale) +{ + int32_t ret = LSM6DSO_OK; + lsm6dso_fs_xl_t fs_low_level; + + /* Read actual full scale selection from sensor. */ + if (lsm6dso_xl_full_scale_get(&(pObj->Ctx), &fs_low_level) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + switch (fs_low_level) { + case LSM6DSO_2g: + *FullScale = 2; + break; + + case LSM6DSO_4g: + *FullScale = 4; + break; + + case LSM6DSO_8g: + *FullScale = 8; + break; + + case LSM6DSO_16g: + *FullScale = 16; + break; + + default: + ret = LSM6DSO_ERROR; + break; + } + + return ret; +} + +/** + * @brief Set the LSM6DSO accelerometer sensor full scale + * @param pObj the device pObj + * @param FullScale the functional full scale to be set + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_SetFullScale(LSM6DSO_Object_t *pObj, int32_t FullScale) +{ + lsm6dso_fs_xl_t new_fs; + + /* Seems like MISRA C-2012 rule 14.3a violation but only from single file statical analysis point of view because + the parameter passed to the function is not known at the moment of analysis */ + new_fs = (FullScale <= 2) ? LSM6DSO_2g : + (FullScale <= 4) ? LSM6DSO_4g : + (FullScale <= 8) ? LSM6DSO_8g : + LSM6DSO_16g; + + if (lsm6dso_xl_full_scale_set(&(pObj->Ctx), new_fs) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Get the LSM6DSO accelerometer sensor raw axes + * @param pObj the device pObj + * @param Value pointer where the raw values of the axes are written + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_GetAxesRaw(LSM6DSO_Object_t *pObj, LSM6DSO_AxesRaw_t *Value) +{ + lsm6dso_axis3bit16_t data_raw; + + /* Read raw data values. */ + if (lsm6dso_acceleration_raw_get(&(pObj->Ctx), data_raw.i16bit) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Format the data. */ + Value->x = data_raw.i16bit[0]; + Value->y = data_raw.i16bit[1]; + Value->z = data_raw.i16bit[2]; + + return LSM6DSO_OK; +} + +/** + * @brief Get the LSM6DSO accelerometer sensor axes + * @param pObj the device pObj + * @param Acceleration pointer where the values of the axes are written + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_GetAxes(LSM6DSO_Object_t *pObj, + LSM6DSO_Axes_t *Acceleration) +{ + lsm6dso_axis3bit16_t data_raw; + float_t sensitivity = 0.0f; + + /* Read raw data values. */ + if (lsm6dso_acceleration_raw_get(&(pObj->Ctx), data_raw.i16bit) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Get LSM6DSO actual sensitivity. */ + if (LSM6DSO_ACC_GetSensitivity(pObj, &sensitivity) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Calculate the data. */ + Acceleration->x = + (int32_t)((float_t)((float_t)data_raw.i16bit[0] * sensitivity)); + Acceleration->y = + (int32_t)((float_t)((float_t)data_raw.i16bit[1] * sensitivity)); + Acceleration->z = + (int32_t)((float_t)((float_t)data_raw.i16bit[2] * sensitivity)); + + return LSM6DSO_OK; +} + +/** + * @brief Enable the LSM6DSO gyroscope sensor + * @param pObj the device pObj + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_GYRO_Enable(LSM6DSO_Object_t *pObj) +{ + /* Check if the component is already enabled */ + if (pObj->gyro_is_enabled == 1U) { + return LSM6DSO_OK; + } + + /* Output data rate selection. */ + if (lsm6dso_gy_data_rate_set(&(pObj->Ctx), pObj->gyro_odr) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + pObj->gyro_is_enabled = 1; + + return LSM6DSO_OK; +} + +/** + * @brief Disable the LSM6DSO gyroscope sensor + * @param pObj the device pObj + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_GYRO_Disable(LSM6DSO_Object_t *pObj) +{ + /* Check if the component is already disabled */ + if (pObj->gyro_is_enabled == 0U) { + return LSM6DSO_OK; + } + + /* Get current output data rate. */ + if (lsm6dso_gy_data_rate_get(&(pObj->Ctx), &pObj->gyro_odr) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Output data rate selection - power down. */ + if (lsm6dso_gy_data_rate_set(&(pObj->Ctx), LSM6DSO_GY_ODR_OFF) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + pObj->gyro_is_enabled = 0; + + return LSM6DSO_OK; +} + +/** + * @brief Get the LSM6DSO gyroscope sensor sensitivity + * @param pObj the device pObj + * @param Sensitivity pointer + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_GYRO_GetSensitivity(LSM6DSO_Object_t *pObj, + float_t *Sensitivity) +{ + int32_t ret = LSM6DSO_OK; + lsm6dso_fs_g_t full_scale; + + /* Read actual full scale selection from sensor. */ + if (lsm6dso_gy_full_scale_get(&(pObj->Ctx), &full_scale) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Store the sensitivity based on actual full scale. */ + switch (full_scale) { + case LSM6DSO_125dps: + *Sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_125DPS; + break; + + case LSM6DSO_250dps: + *Sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_250DPS; + break; + + case LSM6DSO_500dps: + *Sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_500DPS; + break; + + case LSM6DSO_1000dps: + *Sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_1000DPS; + break; + + case LSM6DSO_2000dps: + *Sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_2000DPS; + break; + + default: + ret = LSM6DSO_ERROR; + break; + } + + return ret; +} + +/** + * @brief Get the LSM6DSO gyroscope sensor output data rate + * @param pObj the device pObj + * @param Odr pointer where the output data rate is written + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_GYRO_GetOutputDataRate(LSM6DSO_Object_t *pObj, float_t *Odr) +{ + int32_t ret = LSM6DSO_OK; + lsm6dso_odr_g_t odr_low_level; + + /* Get current output data rate. */ + if (lsm6dso_gy_data_rate_get(&(pObj->Ctx), &odr_low_level) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + switch (odr_low_level) { + case LSM6DSO_GY_ODR_OFF: + *Odr = 0.0f; + break; + + case LSM6DSO_GY_ODR_12Hz5: + *Odr = 12.5f; + break; + + case LSM6DSO_GY_ODR_26Hz: + *Odr = 26.0f; + break; + + case LSM6DSO_GY_ODR_52Hz: + *Odr = 52.0f; + break; + + case LSM6DSO_GY_ODR_104Hz: + *Odr = 104.0f; + break; + + case LSM6DSO_GY_ODR_208Hz: + *Odr = 208.0f; + break; + + case LSM6DSO_GY_ODR_417Hz: + *Odr = 417.0f; + break; + + case LSM6DSO_GY_ODR_833Hz: + *Odr = 833.0f; + break; + + case LSM6DSO_GY_ODR_1667Hz: + *Odr = 1667.0f; + break; + + case LSM6DSO_GY_ODR_3333Hz: + *Odr = 3333.0f; + break; + + case LSM6DSO_GY_ODR_6667Hz: + *Odr = 6667.0f; + break; + + default: + ret = LSM6DSO_ERROR; + break; + } + + return ret; +} + +/** + * @brief Set the LSM6DSO gyroscope sensor output data rate + * @param pObj the device pObj + * @param Odr the output data rate value to be set + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_GYRO_SetOutputDataRate(LSM6DSO_Object_t *pObj, float_t Odr) +{ + return LSM6DSO_GYRO_SetOutputDataRate_With_Mode( + pObj, Odr, LSM6DSO_GYRO_HIGH_PERFORMANCE_MODE); +} + +/** + * @brief Set the LSM6DSO gyroscope sensor output data rate with operating mode + * @param pObj the device pObj + * @param Odr the output data rate value to be set + * @param Mode the gyroscope operating mode + * @retval 0 in case of success, an error code otherwise + */ +int32_t +LSM6DSO_GYRO_SetOutputDataRate_With_Mode(LSM6DSO_Object_t *pObj, float_t Odr, + LSM6DSO_GYRO_Operating_Mode_t Mode) +{ + int32_t ret = LSM6DSO_OK; + float_t newOdr = Odr; + + switch (Mode) { + case LSM6DSO_GYRO_HIGH_PERFORMANCE_MODE: { + /* We must uncheck Low Power bit if it is enabled */ + lsm6dso_ctrl7_g_t val1; + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_CTRL7_G, + (uint8_t *)&val1, 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (val1.g_hm_mode != 0U) { + val1.g_hm_mode = 0U; + if (lsm6dso_write_reg(&(pObj->Ctx), LSM6DSO_CTRL7_G, + (uint8_t *)&val1, + 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + } + break; + } + case LSM6DSO_GYRO_LOW_POWER_NORMAL_MODE: { + /* We must check the Low Power bit if it is unchecked */ + lsm6dso_ctrl7_g_t val1; + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_CTRL7_G, + (uint8_t *)&val1, 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (val1.g_hm_mode == 0U) { + val1.g_hm_mode = 1U; + if (lsm6dso_write_reg(&(pObj->Ctx), LSM6DSO_CTRL7_G, + (uint8_t *)&val1, + 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + } + + /* Now we need to limit the ODR to 208 Hz if it is higher */ + if (newOdr > 208.0f) { + newOdr = 208.0f; + } + break; + } + default: + ret = LSM6DSO_ERROR; + break; + } + + if (ret == LSM6DSO_ERROR) { + return LSM6DSO_ERROR; + } + + if (pObj->gyro_is_enabled == 1U) { + ret = LSM6DSO_GYRO_SetOutputDataRate_When_Enabled(pObj, newOdr); + } else { + ret = LSM6DSO_GYRO_SetOutputDataRate_When_Disabled(pObj, + newOdr); + } + + return ret; +} + +/** + * @brief Get the LSM6DSO gyroscope sensor full scale + * @param pObj the device pObj + * @param FullScale pointer where the full scale is written + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_GYRO_GetFullScale(LSM6DSO_Object_t *pObj, int32_t *FullScale) +{ + int32_t ret = LSM6DSO_OK; + lsm6dso_fs_g_t fs_low_level; + + /* Read actual full scale selection from sensor. */ + if (lsm6dso_gy_full_scale_get(&(pObj->Ctx), &fs_low_level) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + switch (fs_low_level) { + case LSM6DSO_125dps: + *FullScale = 125; + break; + + case LSM6DSO_250dps: + *FullScale = 250; + break; + + case LSM6DSO_500dps: + *FullScale = 500; + break; + + case LSM6DSO_1000dps: + *FullScale = 1000; + break; + + case LSM6DSO_2000dps: + *FullScale = 2000; + break; + + default: + ret = LSM6DSO_ERROR; + break; + } + + return ret; +} + +/** + * @brief Set the LSM6DSO gyroscope sensor full scale + * @param pObj the device pObj + * @param FullScale the functional full scale to be set + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_GYRO_SetFullScale(LSM6DSO_Object_t *pObj, int32_t FullScale) +{ + lsm6dso_fs_g_t new_fs; + + new_fs = (FullScale <= 125) ? LSM6DSO_125dps : + (FullScale <= 250) ? LSM6DSO_250dps : + (FullScale <= 500) ? LSM6DSO_500dps : + (FullScale <= 1000) ? LSM6DSO_1000dps : + LSM6DSO_2000dps; + + if (lsm6dso_gy_full_scale_set(&(pObj->Ctx), new_fs) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Get the LSM6DSO gyroscope sensor raw axes + * @param pObj the device pObj + * @param Value pointer where the raw values of the axes are written + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_GYRO_GetAxesRaw(LSM6DSO_Object_t *pObj, + LSM6DSO_AxesRaw_t *Value) +{ + lsm6dso_axis3bit16_t data_raw; + + /* Read raw data values. */ + if (lsm6dso_angular_rate_raw_get(&(pObj->Ctx), data_raw.i16bit) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Format the data. */ + Value->x = data_raw.i16bit[0]; + Value->y = data_raw.i16bit[1]; + Value->z = data_raw.i16bit[2]; + + return LSM6DSO_OK; +} + +/** + * @brief Get the LSM6DSO gyroscope sensor axes + * @param pObj the device pObj + * @param AngularRate pointer where the values of the axes are written + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_GYRO_GetAxes(LSM6DSO_Object_t *pObj, + LSM6DSO_Axes_t *AngularRate) +{ + lsm6dso_axis3bit16_t data_raw; + float_t sensitivity; + + /* Read raw data values. */ + if (lsm6dso_angular_rate_raw_get(&(pObj->Ctx), data_raw.i16bit) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Get LSM6DSO actual sensitivity. */ + if (LSM6DSO_GYRO_GetSensitivity(pObj, &sensitivity) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Calculate the data. */ + AngularRate->x = + (int32_t)((float_t)((float_t)data_raw.i16bit[0] * sensitivity)); + AngularRate->y = + (int32_t)((float_t)((float_t)data_raw.i16bit[1] * sensitivity)); + AngularRate->z = + (int32_t)((float_t)((float_t)data_raw.i16bit[2] * sensitivity)); + + return LSM6DSO_OK; +} + +/** + * @brief Get the LSM6DSO register value + * @param pObj the device pObj + * @param Reg address to be read + * @param Data pointer where the value is written + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_Read_Reg(LSM6DSO_Object_t *pObj, uint8_t Reg, uint8_t *Data) +{ + if (lsm6dso_read_reg(&(pObj->Ctx), Reg, Data, 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Set the LSM6DSO register value + * @param pObj the device pObj + * @param Reg address to be written + * @param Data value to be written + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_Write_Reg(LSM6DSO_Object_t *pObj, uint8_t Reg, uint8_t Data) +{ + if (lsm6dso_write_reg(&(pObj->Ctx), Reg, &Data, 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Set the interrupt latch + * @param pObj the device pObj + * @param Status value to be written + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_Set_Interrupt_Latch(LSM6DSO_Object_t *pObj, uint8_t Status) +{ + int32_t ret = LSM6DSO_OK; + lsm6dso_lir_t newStatus = LSM6DSO_ALL_INT_PULSED; + + switch (Status) { + case 0: + newStatus = LSM6DSO_ALL_INT_PULSED; + break; + case 1: + newStatus = LSM6DSO_BASE_LATCHED_EMB_PULSED; + break; + case 2: + newStatus = LSM6DSO_BASE_PULSED_EMB_LATCHED; + break; + case 3: + newStatus = LSM6DSO_ALL_INT_LATCHED; + break; + default: + ret = LSM6DSO_ERROR; + break; + } + + if (ret == LSM6DSO_ERROR) { + return LSM6DSO_ERROR; + } + + if (Status > 1U) { + return LSM6DSO_ERROR; + } + + if (lsm6dso_int_notification_set(&(pObj->Ctx), newStatus) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Enable free fall detection + * @param pObj the device pObj + * @param IntPin interrupt pin line to be used + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Enable_Free_Fall_Detection(LSM6DSO_Object_t *pObj, + LSM6DSO_SensorIntPin_t IntPin) +{ + int32_t ret = LSM6DSO_OK; + lsm6dso_pin_int1_route_t val1; + lsm6dso_pin_int2_route_t val2; + + /* Output Data Rate selection */ + if (LSM6DSO_ACC_SetOutputDataRate(pObj, 417.0f) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Full scale selection */ + if (LSM6DSO_ACC_SetFullScale(pObj, 2) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* FF_DUR setting */ + if (lsm6dso_ff_dur_set(&(pObj->Ctx), 0x06) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* WAKE_DUR setting */ + if (lsm6dso_wkup_dur_set(&(pObj->Ctx), 0x00) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* SLEEP_DUR setting */ + if (lsm6dso_act_sleep_dur_set(&(pObj->Ctx), 0x00) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* FF_THS setting */ + if (lsm6dso_ff_threshold_set(&(pObj->Ctx), LSM6DSO_FF_TSH_312mg) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Enable free fall event on either INT1 or INT2 pin */ + switch (IntPin) { + case LSM6DSO_INT1_PIN: + if (lsm6dso_pin_int1_route_get(&(pObj->Ctx), &val1) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val1.free_fall = PROPERTY_ENABLE; + + if (lsm6dso_pin_int1_route_set(&(pObj->Ctx), val1) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + break; + + case LSM6DSO_INT2_PIN: + if (lsm6dso_pin_int2_route_get(&(pObj->Ctx), NULL, &val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val2.free_fall = PROPERTY_ENABLE; + + if (lsm6dso_pin_int2_route_set(&(pObj->Ctx), NULL, val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + break; + + default: + ret = LSM6DSO_ERROR; + break; + } + + return ret; +} + +/** + * @brief Disable free fall detection + * @param pObj the device pObj + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Disable_Free_Fall_Detection(LSM6DSO_Object_t *pObj) +{ + lsm6dso_pin_int1_route_t val1; + lsm6dso_pin_int2_route_t val2; + + /* Disable free fall event on both INT1 and INT2 pins */ + if (lsm6dso_pin_int1_route_get(&(pObj->Ctx), &val1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val1.free_fall = PROPERTY_DISABLE; + + if (lsm6dso_pin_int1_route_set(&(pObj->Ctx), val1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (lsm6dso_pin_int2_route_get(&(pObj->Ctx), NULL, &val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val2.free_fall = PROPERTY_DISABLE; + + if (lsm6dso_pin_int2_route_set(&(pObj->Ctx), NULL, val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* FF_DUR setting */ + if (lsm6dso_ff_dur_set(&(pObj->Ctx), 0x00) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* FF_THS setting */ + if (lsm6dso_ff_threshold_set(&(pObj->Ctx), LSM6DSO_FF_TSH_156mg) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Set free fall threshold + * @param pObj the device pObj + * @param Threshold free fall detection threshold + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Set_Free_Fall_Threshold(LSM6DSO_Object_t *pObj, + uint8_t Threshold) +{ + int32_t ret = LSM6DSO_OK; + lsm6dso_ff_ths_t newThreshold = LSM6DSO_FF_TSH_156mg; + + switch (Threshold) { + case 0: + newThreshold = LSM6DSO_FF_TSH_156mg; + break; + case 1: + newThreshold = LSM6DSO_FF_TSH_219mg; + break; + case 2: + newThreshold = LSM6DSO_FF_TSH_250mg; + break; + case 3: + newThreshold = LSM6DSO_FF_TSH_312mg; + break; + case 4: + newThreshold = LSM6DSO_FF_TSH_344mg; + break; + case 5: + newThreshold = LSM6DSO_FF_TSH_406mg; + break; + case 6: + newThreshold = LSM6DSO_FF_TSH_469mg; + break; + case 7: + newThreshold = LSM6DSO_FF_TSH_500mg; + break; + default: + ret = LSM6DSO_ERROR; + break; + } + + if (ret == LSM6DSO_ERROR) { + return LSM6DSO_ERROR; + } + + if (lsm6dso_ff_threshold_set(&(pObj->Ctx), newThreshold) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return ret; +} + +/** + * @brief Set free fall duration + * @param pObj the device pObj + * @param Duration free fall detection duration + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Set_Free_Fall_Duration(LSM6DSO_Object_t *pObj, + uint8_t Duration) +{ + if (lsm6dso_ff_dur_set(&(pObj->Ctx), Duration) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Enable pedometer + * @param pObj the device pObj + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Enable_Pedometer(LSM6DSO_Object_t *pObj) +{ + lsm6dso_pin_int1_route_t val; + lsm6dso_emb_sens_t emb_sens; + + /* Output Data Rate selection */ + if (LSM6DSO_ACC_SetOutputDataRate(pObj, 26.0f) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Full scale selection */ + if (LSM6DSO_ACC_SetFullScale(pObj, 2) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Save current embedded features */ + if (lsm6dso_embedded_sens_get(&(pObj->Ctx), &emb_sens) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Turn off embedded features */ + if (lsm6dso_embedded_sens_off(&(pObj->Ctx)) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Wait for 10 ms */ + LSM6DSO_Delay(pObj, 10); + + /* Enable pedometer algorithm. */ + emb_sens.step = PROPERTY_ENABLE; + + if (lsm6dso_pedo_sens_set(&(pObj->Ctx), LSM6DSO_PEDO_BASE_MODE) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Turn on embedded features */ + if (lsm6dso_embedded_sens_set(&(pObj->Ctx), &emb_sens) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Enable step detector on INT1 pin */ + if (lsm6dso_pin_int1_route_get(&(pObj->Ctx), &val) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val.step_detector = PROPERTY_ENABLE; + + if (lsm6dso_pin_int1_route_set(&(pObj->Ctx), val) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Disable pedometer + * @param pObj the device pObj + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Disable_Pedometer(LSM6DSO_Object_t *pObj) +{ + lsm6dso_pin_int1_route_t val1; + lsm6dso_emb_sens_t emb_sens; + + /* Disable step detector on INT1 pin */ + if (lsm6dso_pin_int1_route_get(&(pObj->Ctx), &val1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val1.step_detector = PROPERTY_DISABLE; + + if (lsm6dso_pin_int1_route_set(&(pObj->Ctx), val1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Save current embedded features */ + if (lsm6dso_embedded_sens_get(&(pObj->Ctx), &emb_sens) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Disable pedometer algorithm. */ + emb_sens.step = PROPERTY_DISABLE; + + if (lsm6dso_embedded_sens_set(&(pObj->Ctx), &emb_sens) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Get step count + * @param pObj the device pObj + * @param StepCount step counter + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Get_Step_Count(LSM6DSO_Object_t *pObj, uint16_t *StepCount) +{ + if (lsm6dso_number_of_steps_get(&(pObj->Ctx), StepCount) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Enable step counter reset + * @param pObj the device pObj + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Step_Counter_Reset(LSM6DSO_Object_t *pObj) +{ + if (lsm6dso_steps_reset(&(pObj->Ctx)) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Enable tilt detection + * @param pObj the device pObj + * @param IntPin interrupt pin line to be used + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Enable_Tilt_Detection(LSM6DSO_Object_t *pObj, + LSM6DSO_SensorIntPin_t IntPin) +{ + int32_t ret = LSM6DSO_OK; + lsm6dso_pin_int1_route_t val1; + lsm6dso_pin_int2_route_t val2; + lsm6dso_emb_sens_t emb_sens; + + /* Output Data Rate selection */ + if (LSM6DSO_ACC_SetOutputDataRate(pObj, 26.0f) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Full scale selection */ + if (LSM6DSO_ACC_SetFullScale(pObj, 2) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Save current embedded features */ + if (lsm6dso_embedded_sens_get(&(pObj->Ctx), &emb_sens) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Turn off embedded features */ + if (lsm6dso_embedded_sens_off(&(pObj->Ctx)) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Wait for 10 ms */ + LSM6DSO_Delay(pObj, 10); + + /* Enable tilt algorithm. */ + emb_sens.tilt = PROPERTY_ENABLE; + + /* Turn on embedded features */ + if (lsm6dso_embedded_sens_set(&(pObj->Ctx), &emb_sens) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Enable tilt event on either INT1 or INT2 pin */ + switch (IntPin) { + case LSM6DSO_INT1_PIN: + if (lsm6dso_pin_int1_route_get(&(pObj->Ctx), &val1) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val1.tilt = PROPERTY_ENABLE; + + if (lsm6dso_pin_int1_route_set(&(pObj->Ctx), val1) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + break; + + case LSM6DSO_INT2_PIN: + if (lsm6dso_pin_int2_route_get(&(pObj->Ctx), NULL, &val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val2.tilt = PROPERTY_ENABLE; + + if (lsm6dso_pin_int2_route_set(&(pObj->Ctx), NULL, val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + break; + + default: + ret = LSM6DSO_ERROR; + break; + } + + return ret; +} + +/** + * @brief Disable tilt detection + * @param pObj the device pObj + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Disable_Tilt_Detection(LSM6DSO_Object_t *pObj) +{ + lsm6dso_pin_int1_route_t val1; + lsm6dso_pin_int2_route_t val2; + lsm6dso_emb_sens_t emb_sens; + + /* Disable tilt event on both INT1 and INT2 pins */ + if (lsm6dso_pin_int1_route_get(&(pObj->Ctx), &val1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val1.tilt = PROPERTY_DISABLE; + + if (lsm6dso_pin_int1_route_set(&(pObj->Ctx), val1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (lsm6dso_pin_int2_route_get(&(pObj->Ctx), NULL, &val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val2.tilt = PROPERTY_DISABLE; + + if (lsm6dso_pin_int2_route_set(&(pObj->Ctx), NULL, val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Save current embedded features */ + if (lsm6dso_embedded_sens_get(&(pObj->Ctx), &emb_sens) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Disable tilt algorithm. */ + emb_sens.tilt = PROPERTY_DISABLE; + + if (lsm6dso_embedded_sens_set(&(pObj->Ctx), &emb_sens) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Enable wake up detection + * @param pObj the device pObj + * @param IntPin interrupt pin line to be used + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Enable_Wake_Up_Detection(LSM6DSO_Object_t *pObj, + LSM6DSO_SensorIntPin_t IntPin) +{ + int32_t ret = LSM6DSO_OK; + lsm6dso_pin_int1_route_t val1; + lsm6dso_pin_int2_route_t val2; + + /* Output Data Rate selection */ + if (LSM6DSO_ACC_SetOutputDataRate(pObj, 417.0f) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Full scale selection */ + if (LSM6DSO_ACC_SetFullScale(pObj, 2) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* WAKE_DUR setting */ + if (lsm6dso_wkup_dur_set(&(pObj->Ctx), 0x00) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Set wake up threshold. */ + if (lsm6dso_wkup_threshold_set(&(pObj->Ctx), 0x02) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Enable wake up event on either INT1 or INT2 pin */ + switch (IntPin) { + case LSM6DSO_INT1_PIN: + if (lsm6dso_pin_int1_route_get(&(pObj->Ctx), &val1) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val1.wake_up = PROPERTY_ENABLE; + + if (lsm6dso_pin_int1_route_set(&(pObj->Ctx), val1) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + break; + + case LSM6DSO_INT2_PIN: + if (lsm6dso_pin_int2_route_get(&(pObj->Ctx), NULL, &val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val2.wake_up = PROPERTY_ENABLE; + + if (lsm6dso_pin_int2_route_set(&(pObj->Ctx), NULL, val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + break; + + default: + ret = LSM6DSO_ERROR; + break; + } + + return ret; +} + +/** + * @brief Disable wake up detection + * @param pObj the device pObj + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Disable_Wake_Up_Detection(LSM6DSO_Object_t *pObj) +{ + lsm6dso_pin_int1_route_t val1; + lsm6dso_pin_int2_route_t val2; + + /* Disable wake up event on both INT1 and INT2 pins */ + if (lsm6dso_pin_int1_route_get(&(pObj->Ctx), &val1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val1.wake_up = PROPERTY_DISABLE; + + if (lsm6dso_pin_int1_route_set(&(pObj->Ctx), val1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (lsm6dso_pin_int2_route_get(&(pObj->Ctx), NULL, &val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val2.wake_up = PROPERTY_DISABLE; + + if (lsm6dso_pin_int2_route_set(&(pObj->Ctx), NULL, val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Reset wake up threshold. */ + if (lsm6dso_wkup_threshold_set(&(pObj->Ctx), 0x00) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* WAKE_DUR setting */ + if (lsm6dso_wkup_dur_set(&(pObj->Ctx), 0x00) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Set wake up threshold + * @param pObj the device pObj + * @param Threshold wake up detection threshold + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Set_Wake_Up_Threshold(LSM6DSO_Object_t *pObj, + uint8_t Threshold) +{ + /* Set wake up threshold. */ + if (lsm6dso_wkup_threshold_set(&(pObj->Ctx), Threshold) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Set wake up duration + * @param pObj the device pObj + * @param Duration wake up detection duration + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Set_Wake_Up_Duration(LSM6DSO_Object_t *pObj, + uint8_t Duration) +{ + /* Set wake up duration. */ + if (lsm6dso_wkup_dur_set(&(pObj->Ctx), Duration) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Enable single tap detection + * @param pObj the device pObj + * @param IntPin interrupt pin line to be used + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Enable_Single_Tap_Detection(LSM6DSO_Object_t *pObj, + LSM6DSO_SensorIntPin_t IntPin) +{ + int32_t ret = LSM6DSO_OK; + lsm6dso_pin_int1_route_t val1; + lsm6dso_pin_int2_route_t val2; + + /* Output Data Rate selection */ + if (LSM6DSO_ACC_SetOutputDataRate(pObj, 417.0f) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Full scale selection */ + if (LSM6DSO_ACC_SetFullScale(pObj, 2) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Enable X direction in tap recognition. */ + if (lsm6dso_tap_detection_on_x_set(&(pObj->Ctx), PROPERTY_ENABLE) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Enable Y direction in tap recognition. */ + if (lsm6dso_tap_detection_on_y_set(&(pObj->Ctx), PROPERTY_ENABLE) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Enable Z direction in tap recognition. */ + if (lsm6dso_tap_detection_on_z_set(&(pObj->Ctx), PROPERTY_ENABLE) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Set tap threshold. */ + if (lsm6dso_tap_threshold_x_set(&(pObj->Ctx), 0x08) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Set tap shock time window. */ + if (lsm6dso_tap_shock_set(&(pObj->Ctx), 0x02) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Set tap quiet time window. */ + if (lsm6dso_tap_quiet_set(&(pObj->Ctx), 0x01) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* _NOTE_: Tap duration time window - don't care for single tap. */ + + /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */ + + /* Enable single tap event on either INT1 or INT2 pin */ + switch (IntPin) { + case LSM6DSO_INT1_PIN: + if (lsm6dso_pin_int1_route_get(&(pObj->Ctx), &val1) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val1.single_tap = PROPERTY_ENABLE; + + if (lsm6dso_pin_int1_route_set(&(pObj->Ctx), val1) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + break; + + case LSM6DSO_INT2_PIN: + if (lsm6dso_pin_int2_route_get(&(pObj->Ctx), NULL, &val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val2.single_tap = PROPERTY_ENABLE; + + if (lsm6dso_pin_int2_route_set(&(pObj->Ctx), NULL, val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + break; + + default: + ret = LSM6DSO_ERROR; + break; + } + + return ret; +} + +/** + * @brief Disable single tap detection + * @param pObj the device pObj + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Disable_Single_Tap_Detection(LSM6DSO_Object_t *pObj) +{ + lsm6dso_pin_int1_route_t val1; + lsm6dso_pin_int2_route_t val2; + + /* Disable single tap event on both INT1 and INT2 pins */ + if (lsm6dso_pin_int1_route_get(&(pObj->Ctx), &val1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val1.single_tap = PROPERTY_DISABLE; + + if (lsm6dso_pin_int1_route_set(&(pObj->Ctx), val1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (lsm6dso_pin_int2_route_get(&(pObj->Ctx), NULL, &val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val2.single_tap = PROPERTY_DISABLE; + + if (lsm6dso_pin_int2_route_set(&(pObj->Ctx), NULL, val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Reset tap quiet time window. */ + if (lsm6dso_tap_quiet_set(&(pObj->Ctx), 0x00) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Reset tap shock time window. */ + if (lsm6dso_tap_shock_set(&(pObj->Ctx), 0x00) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Reset tap threshold. */ + if (lsm6dso_tap_threshold_x_set(&(pObj->Ctx), 0x00) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Disable Z direction in tap recognition. */ + if (lsm6dso_tap_detection_on_z_set(&(pObj->Ctx), PROPERTY_DISABLE) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Disable Y direction in tap recognition. */ + if (lsm6dso_tap_detection_on_y_set(&(pObj->Ctx), PROPERTY_DISABLE) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Disable X direction in tap recognition. */ + if (lsm6dso_tap_detection_on_x_set(&(pObj->Ctx), PROPERTY_DISABLE) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Enable double tap detection + * @param pObj the device pObj + * @param IntPin interrupt pin line to be used + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Enable_Double_Tap_Detection(LSM6DSO_Object_t *pObj, + LSM6DSO_SensorIntPin_t IntPin) +{ + int32_t ret = LSM6DSO_OK; + lsm6dso_pin_int1_route_t val1; + lsm6dso_pin_int2_route_t val2; + + /* Output Data Rate selection */ + if (LSM6DSO_ACC_SetOutputDataRate(pObj, 417.0f) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Full scale selection */ + if (LSM6DSO_ACC_SetFullScale(pObj, 2) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Enable X direction in tap recognition. */ + if (lsm6dso_tap_detection_on_x_set(&(pObj->Ctx), PROPERTY_ENABLE) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Enable Y direction in tap recognition. */ + if (lsm6dso_tap_detection_on_y_set(&(pObj->Ctx), PROPERTY_ENABLE) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Enable Z direction in tap recognition. */ + if (lsm6dso_tap_detection_on_z_set(&(pObj->Ctx), PROPERTY_ENABLE) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Set tap threshold. */ + if (lsm6dso_tap_threshold_x_set(&(pObj->Ctx), 0x08) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Set tap shock time window. */ + if (lsm6dso_tap_shock_set(&(pObj->Ctx), 0x03) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Set tap quiet time window. */ + if (lsm6dso_tap_quiet_set(&(pObj->Ctx), 0x03) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Set tap duration time window. */ + if (lsm6dso_tap_dur_set(&(pObj->Ctx), 0x08) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Single and double tap enabled. */ + if (lsm6dso_tap_mode_set(&(pObj->Ctx), LSM6DSO_BOTH_SINGLE_DOUBLE) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Enable double tap event on either INT1 or INT2 pin */ + switch (IntPin) { + case LSM6DSO_INT1_PIN: + if (lsm6dso_pin_int1_route_get(&(pObj->Ctx), &val1) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val1.double_tap = PROPERTY_ENABLE; + + if (lsm6dso_pin_int1_route_set(&(pObj->Ctx), val1) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + break; + + case LSM6DSO_INT2_PIN: + if (lsm6dso_pin_int2_route_get(&(pObj->Ctx), NULL, &val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val2.double_tap = PROPERTY_ENABLE; + + if (lsm6dso_pin_int2_route_set(&(pObj->Ctx), NULL, val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + break; + + default: + ret = LSM6DSO_ERROR; + break; + } + + return ret; +} + +/** + * @brief Disable double tap detection + * @param pObj the device pObj + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Disable_Double_Tap_Detection(LSM6DSO_Object_t *pObj) +{ + lsm6dso_pin_int1_route_t val1; + lsm6dso_pin_int2_route_t val2; + + /* Disable double tap event on both INT1 and INT2 pins */ + if (lsm6dso_pin_int1_route_get(&(pObj->Ctx), &val1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val1.double_tap = PROPERTY_DISABLE; + + if (lsm6dso_pin_int1_route_set(&(pObj->Ctx), val1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (lsm6dso_pin_int2_route_get(&(pObj->Ctx), NULL, &val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val2.double_tap = PROPERTY_DISABLE; + + if (lsm6dso_pin_int2_route_set(&(pObj->Ctx), NULL, val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Only single tap enabled. */ + if (lsm6dso_tap_mode_set(&(pObj->Ctx), LSM6DSO_ONLY_SINGLE) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Reset tap duration time window. */ + if (lsm6dso_tap_dur_set(&(pObj->Ctx), 0x00) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Reset tap quiet time window. */ + if (lsm6dso_tap_quiet_set(&(pObj->Ctx), 0x00) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Reset tap shock time window. */ + if (lsm6dso_tap_shock_set(&(pObj->Ctx), 0x00) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Reset tap threshold. */ + if (lsm6dso_tap_threshold_x_set(&(pObj->Ctx), 0x00) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Disable Z direction in tap recognition. */ + if (lsm6dso_tap_detection_on_z_set(&(pObj->Ctx), PROPERTY_DISABLE) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Disable Y direction in tap recognition. */ + if (lsm6dso_tap_detection_on_y_set(&(pObj->Ctx), PROPERTY_DISABLE) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } -#include "lsm6dso.h" + /* Disable X direction in tap recognition. */ + if (lsm6dso_tap_detection_on_x_set(&(pObj->Ctx), PROPERTY_DISABLE) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Set tap threshold + * @param pObj the device pObj + * @param Threshold tap threshold + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Set_Tap_Threshold(LSM6DSO_Object_t *pObj, uint8_t Threshold) +{ + /* Set tap threshold. */ + if (lsm6dso_tap_threshold_x_set(&(pObj->Ctx), Threshold) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Set tap shock time + * @param pObj the device pObj + * @param Time tap shock time + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Set_Tap_Shock_Time(LSM6DSO_Object_t *pObj, uint8_t Time) +{ + /* Set tap shock time window. */ + if (lsm6dso_tap_shock_set(&(pObj->Ctx), Time) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Set tap quiet time + * @param pObj the device pObj + * @param Time tap quiet time + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Set_Tap_Quiet_Time(LSM6DSO_Object_t *pObj, uint8_t Time) +{ + /* Set tap quiet time window. */ + if (lsm6dso_tap_quiet_set(&(pObj->Ctx), Time) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Set tap duration time + * @param pObj the device pObj + * @param Time tap duration time + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Set_Tap_Duration_Time(LSM6DSO_Object_t *pObj, uint8_t Time) +{ + /* Set tap duration time window. */ + if (lsm6dso_tap_dur_set(&(pObj->Ctx), Time) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Enable 6D orientation detection + * @param pObj the device pObj + * @param IntPin interrupt pin line to be used + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Enable_6D_Orientation(LSM6DSO_Object_t *pObj, + LSM6DSO_SensorIntPin_t IntPin) +{ + int32_t ret = LSM6DSO_OK; + lsm6dso_pin_int1_route_t val1; + lsm6dso_pin_int2_route_t val2; + + /* Output Data Rate selection */ + if (LSM6DSO_ACC_SetOutputDataRate(pObj, 417.0f) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Full scale selection */ + if (LSM6DSO_ACC_SetFullScale(pObj, 2) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* 6D orientation enabled. */ + if (lsm6dso_6d_threshold_set(&(pObj->Ctx), LSM6DSO_DEG_60) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Enable 6D orientation event on either INT1 or INT2 pin */ + switch (IntPin) { + case LSM6DSO_INT1_PIN: + if (lsm6dso_pin_int1_route_get(&(pObj->Ctx), &val1) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val1.six_d = PROPERTY_ENABLE; + + if (lsm6dso_pin_int1_route_set(&(pObj->Ctx), val1) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + break; + + case LSM6DSO_INT2_PIN: + if (lsm6dso_pin_int2_route_get(&(pObj->Ctx), NULL, &val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val2.six_d = PROPERTY_ENABLE; + + if (lsm6dso_pin_int2_route_set(&(pObj->Ctx), NULL, val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + break; + + default: + ret = LSM6DSO_ERROR; + break; + } + + return ret; +} + +/** + * @brief Disable 6D orientation detection + * @param pObj the device pObj + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Disable_6D_Orientation(LSM6DSO_Object_t *pObj) +{ + lsm6dso_pin_int1_route_t val1; + lsm6dso_pin_int2_route_t val2; + + /* Disable 6D orientation event on both INT1 and INT2 pins */ + if (lsm6dso_pin_int1_route_get(&(pObj->Ctx), &val1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val1.six_d = PROPERTY_DISABLE; + + if (lsm6dso_pin_int1_route_set(&(pObj->Ctx), val1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (lsm6dso_pin_int2_route_get(&(pObj->Ctx), NULL, &val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val2.six_d = PROPERTY_DISABLE; + + if (lsm6dso_pin_int2_route_set(&(pObj->Ctx), NULL, val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Reset 6D orientation. */ + if (lsm6dso_6d_threshold_set(&(pObj->Ctx), LSM6DSO_DEG_80) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Set 6D orientation threshold + * @param pObj the device pObj + * @param Threshold 6D Orientation detection threshold + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Set_6D_Orientation_Threshold(LSM6DSO_Object_t *pObj, + uint8_t Threshold) +{ + int32_t ret = LSM6DSO_OK; + lsm6dso_sixd_ths_t newThreshold = LSM6DSO_DEG_80; + + switch (Threshold) { + case 0: + newThreshold = LSM6DSO_DEG_80; + break; + case 1: + newThreshold = LSM6DSO_DEG_70; + break; + case 2: + newThreshold = LSM6DSO_DEG_60; + break; + case 3: + newThreshold = LSM6DSO_DEG_50; + break; + default: + ret = LSM6DSO_ERROR; + break; + } + + if (ret == LSM6DSO_ERROR) { + return LSM6DSO_ERROR; + } + + if (lsm6dso_6d_threshold_set(&(pObj->Ctx), newThreshold) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Get the status of XLow orientation + * @param pObj the device pObj + * @param XLow the status of XLow orientation + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Get_6D_Orientation_XL(LSM6DSO_Object_t *pObj, uint8_t *XLow) +{ + lsm6dso_d6d_src_t data; + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_D6D_SRC, (uint8_t *)&data, + 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + *XLow = data.xl; + + return LSM6DSO_OK; +} + +/** + * @brief Get the status of XHigh orientation + * @param pObj the device pObj + * @param XHigh the status of XHigh orientation + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Get_6D_Orientation_XH(LSM6DSO_Object_t *pObj, + uint8_t *XHigh) +{ + lsm6dso_d6d_src_t data; + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_D6D_SRC, (uint8_t *)&data, + 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + *XHigh = data.xh; + + return LSM6DSO_OK; +} + +/** + * @brief Get the status of YLow orientation + * @param pObj the device pObj + * @param YLow the status of YLow orientation + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Get_6D_Orientation_YL(LSM6DSO_Object_t *pObj, uint8_t *YLow) +{ + lsm6dso_d6d_src_t data; + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_D6D_SRC, (uint8_t *)&data, + 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + *YLow = data.yl; + + return LSM6DSO_OK; +} + +/** + * @brief Get the status of YHigh orientation + * @param pObj the device pObj + * @param YHigh the status of YHigh orientation + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Get_6D_Orientation_YH(LSM6DSO_Object_t *pObj, + uint8_t *YHigh) +{ + lsm6dso_d6d_src_t data; + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_D6D_SRC, (uint8_t *)&data, + 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + *YHigh = data.yh; + + return LSM6DSO_OK; +} + +/** + * @brief Get the status of ZLow orientation + * @param pObj the device pObj + * @param ZLow the status of ZLow orientation + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Get_6D_Orientation_ZL(LSM6DSO_Object_t *pObj, uint8_t *ZLow) +{ + lsm6dso_d6d_src_t data; + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_D6D_SRC, (uint8_t *)&data, + 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + *ZLow = data.zl; + + return LSM6DSO_OK; +} + +/** + * @brief Get the status of ZHigh orientation + * @param pObj the device pObj + * @param ZHigh the status of ZHigh orientation + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Get_6D_Orientation_ZH(LSM6DSO_Object_t *pObj, + uint8_t *ZHigh) +{ + lsm6dso_d6d_src_t data; + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_D6D_SRC, (uint8_t *)&data, + 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + *ZHigh = data.zh; + + return LSM6DSO_OK; +} + +/** + * @brief Get the LSM6DSO ACC data ready bit value + * @param pObj the device pObj + * @param Status the status of data ready bit + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Get_DRDY_Status(LSM6DSO_Object_t *pObj, uint8_t *Status) +{ + if (lsm6dso_xl_flag_data_ready_get(&(pObj->Ctx), Status) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Get the status of all hardware events + * @param pObj the device pObj + * @param Status the status of all hardware events + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Get_Event_Status(LSM6DSO_Object_t *pObj, + LSM6DSO_Event_Status_t *Status) +{ + uint8_t tilt_ia; + lsm6dso_wake_up_src_t wake_up_src; + lsm6dso_tap_src_t tap_src; + lsm6dso_d6d_src_t d6d_src; + lsm6dso_emb_func_src_t func_src; + lsm6dso_md1_cfg_t md1_cfg; + lsm6dso_md2_cfg_t md2_cfg; + lsm6dso_emb_func_int1_t int1_ctrl; + lsm6dso_emb_func_int2_t int2_ctrl; + + (void)memset((void *)Status, 0x0, sizeof(LSM6DSO_Event_Status_t)); + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_WAKE_UP_SRC, + (uint8_t *)&wake_up_src, 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_TAP_SRC, (uint8_t *)&tap_src, + 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_D6D_SRC, (uint8_t *)&d6d_src, + 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (lsm6dso_mem_bank_set(&(pObj->Ctx), LSM6DSO_EMBEDDED_FUNC_BANK) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_EMB_FUNC_SRC, + (uint8_t *)&func_src, 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_EMB_FUNC_INT1, + (uint8_t *)&int1_ctrl, 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_EMB_FUNC_INT2, + (uint8_t *)&int2_ctrl, 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (lsm6dso_mem_bank_set(&(pObj->Ctx), LSM6DSO_USER_BANK) != 0) { + return LSM6DSO_ERROR; + } + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_MD1_CFG, (uint8_t *)&md1_cfg, + 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_MD2_CFG, (uint8_t *)&md2_cfg, + 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (lsm6dso_tilt_flag_data_ready_get(&(pObj->Ctx), &tilt_ia) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if ((md1_cfg.int1_ff == 1U) || (md2_cfg.int2_ff == 1U)) { + if (wake_up_src.ff_ia == 1U) { + Status->FreeFallStatus = 1; + } + } + + if ((md1_cfg.int1_wu == 1U) || (md2_cfg.int2_wu == 1U)) { + if (wake_up_src.wu_ia == 1U) { + Status->WakeUpStatus = 1; + } + } + + if ((md1_cfg.int1_single_tap == 1U) || + (md2_cfg.int2_single_tap == 1U)) { + if (tap_src.single_tap == 1U) { + Status->TapStatus = 1; + } + } + + if ((md1_cfg.int1_double_tap == 1U) || + (md2_cfg.int2_double_tap == 1U)) { + if (tap_src.double_tap == 1U) { + Status->DoubleTapStatus = 1; + } + } + + if ((md1_cfg.int1_6d == 1U) || (md2_cfg.int2_6d == 1U)) { + if (d6d_src.d6d_ia == 1U) { + Status->D6DOrientationStatus = 1; + } + } + + if (int1_ctrl.int1_step_detector == 1U) { + if (func_src.step_detected == 1U) { + Status->StepStatus = 1; + } + } + + if ((int1_ctrl.int1_tilt == 1U) || (int2_ctrl.int2_tilt == 1U)) { + if (tilt_ia == 1U) { + Status->TiltStatus = 1; + } + } + + return LSM6DSO_OK; +} + +/** + * @brief Set self test + * @param pObj the device pObj + * @param val the value of st_xl in reg CTRL5_C + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Set_SelfTest(LSM6DSO_Object_t *pObj, uint8_t val) +{ + lsm6dso_st_xl_t reg; + + reg = (val == 0U) ? LSM6DSO_XL_ST_DISABLE : + (val == 1U) ? LSM6DSO_XL_ST_POSITIVE : + (val == 2U) ? LSM6DSO_XL_ST_NEGATIVE : + LSM6DSO_XL_ST_DISABLE; + + if (lsm6dso_xl_self_test_set(&(pObj->Ctx), reg) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Get the LSM6DSO GYRO data ready bit value + * @param pObj the device pObj + * @param Status the status of data ready bit + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_GYRO_Get_DRDY_Status(LSM6DSO_Object_t *pObj, uint8_t *Status) +{ + if (lsm6dso_gy_flag_data_ready_get(&(pObj->Ctx), Status) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Set self test + * @param pObj the device pObj + * @param val the value of st_xl in reg CTRL5_C + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_GYRO_Set_SelfTest(LSM6DSO_Object_t *pObj, uint8_t val) +{ + lsm6dso_st_g_t reg; + + reg = (val == 0U) ? LSM6DSO_GY_ST_DISABLE : + (val == 1U) ? LSM6DSO_GY_ST_POSITIVE : + (val == 2U) ? LSM6DSO_GY_ST_NEGATIVE : + LSM6DSO_GY_ST_DISABLE; + + if (lsm6dso_gy_self_test_set(&(pObj->Ctx), reg) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } -#define REG_RESOLUTION 32768 /* Half the range of a 16 bit signed integer */ -#define ACCEL_RANGE \ - 4 /* The range of values in g's returned from accelerometer */ -#define GYRO_RANGE 1000 /* The range of values from the gyro in dps */ + return LSM6DSO_OK; +} + +/** + * @brief Get the LSM6DSO FIFO number of samples + * @param pObj the device pObj + * @param NumSamples number of samples + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_FIFO_Get_Num_Samples(LSM6DSO_Object_t *pObj, + uint16_t *NumSamples) +{ + if (lsm6dso_fifo_data_level_get(&(pObj->Ctx), NumSamples) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Get the LSM6DSO FIFO full status + * @param pObj the device pObj + * @param Status FIFO full status + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_FIFO_Get_Full_Status(LSM6DSO_Object_t *pObj, uint8_t *Status) +{ + lsm6dso_reg_t reg; + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_FIFO_STATUS2, ®.byte, + 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + *Status = reg.fifo_status2.fifo_full_ia; + + return LSM6DSO_OK; +} + +/** + * @brief Set the LSM6DSO FIFO full interrupt on INT1 pin + * @param pObj the device pObj + * @param Status FIFO full interrupt on INT1 pin status + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_FIFO_Set_INT1_FIFO_Full(LSM6DSO_Object_t *pObj, uint8_t Status) +{ + lsm6dso_reg_t reg; + + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_INT1_CTRL, ®.byte, 1) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + reg.int1_ctrl.int1_fifo_full = Status; + + if (lsm6dso_write_reg(&(pObj->Ctx), LSM6DSO_INT1_CTRL, ®.byte, 1) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Set the LSM6DSO FIFO watermark level + * @param pObj the device pObj + * @param Watermark FIFO watermark level + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_FIFO_Set_Watermark_Level(LSM6DSO_Object_t *pObj, + uint16_t Watermark) +{ + if (lsm6dso_fifo_watermark_set(&(pObj->Ctx), Watermark) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Set the LSM6DSO FIFO stop on watermark + * @param pObj the device pObj + * @param Status FIFO stop on watermark status + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_FIFO_Set_Stop_On_Fth(LSM6DSO_Object_t *pObj, uint8_t Status) +{ + if (lsm6dso_fifo_stop_on_wtm_set(&(pObj->Ctx), Status) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Set the LSM6DSO FIFO mode + * @param pObj the device pObj + * @param Mode FIFO mode + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_FIFO_Set_Mode(LSM6DSO_Object_t *pObj, uint8_t Mode) +{ + int32_t ret = LSM6DSO_OK; + lsm6dso_fifo_mode_t newMode = LSM6DSO_BYPASS_MODE; + + switch (Mode) { + case 0: + newMode = LSM6DSO_BYPASS_MODE; + break; + case 1: + newMode = LSM6DSO_FIFO_MODE; + break; + case 3: + newMode = LSM6DSO_STREAM_TO_FIFO_MODE; + break; + case 4: + newMode = LSM6DSO_BYPASS_TO_STREAM_MODE; + break; + case 6: + newMode = LSM6DSO_STREAM_MODE; + break; + case 7: + newMode = LSM6DSO_BYPASS_TO_FIFO_MODE; + break; + default: + ret = LSM6DSO_ERROR; + break; + } + + if (ret == LSM6DSO_ERROR) { + return LSM6DSO_ERROR; + } + + if (lsm6dso_fifo_mode_set(&(pObj->Ctx), newMode) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return ret; +} + +/** + * @brief Get the LSM6DSO FIFO tag + * @param pObj the device pObj + * @param Tag FIFO tag + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_FIFO_Get_Tag(LSM6DSO_Object_t *pObj, uint8_t *Tag) +{ + lsm6dso_fifo_tag_t tag_local; + + if (lsm6dso_fifo_sensor_tag_get(&(pObj->Ctx), &tag_local) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + *Tag = (uint8_t)tag_local; + + return LSM6DSO_OK; +} + +/** + * @brief Get the LSM6DSO FIFO raw data + * @param pObj the device pObj + * @param Data FIFO raw data array [6] + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_FIFO_Get_Data(LSM6DSO_Object_t *pObj, uint8_t *Data) +{ + if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_FIFO_DATA_OUT_X_L, Data, + 6) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Get the LSM6DSO FIFO accelero single sample (16-bit data per 3 axes) and calculate acceleration [mg] + * @param pObj the device pObj + * @param Acceleration FIFO accelero axes [mg] + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_FIFO_ACC_Get_Axes(LSM6DSO_Object_t *pObj, + LSM6DSO_Axes_t *Acceleration) +{ + lsm6dso_axis3bit16_t data_raw; + float_t sensitivity = 0.0f; + float_t acceleration_float_t[3]; + + if (LSM6DSO_FIFO_Get_Data(pObj, data_raw.u8bit) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (LSM6DSO_ACC_GetSensitivity(pObj, &sensitivity) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + acceleration_float_t[0] = (float_t)data_raw.i16bit[0] * sensitivity; + acceleration_float_t[1] = (float_t)data_raw.i16bit[1] * sensitivity; + acceleration_float_t[2] = (float_t)data_raw.i16bit[2] * sensitivity; + + Acceleration->x = (int32_t)acceleration_float_t[0]; + Acceleration->y = (int32_t)acceleration_float_t[1]; + Acceleration->z = (int32_t)acceleration_float_t[2]; + + return LSM6DSO_OK; +} + +/** + * @brief Set the LSM6DSO FIFO accelero BDR value + * @param pObj the device pObj + * @param Bdr FIFO accelero BDR value + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_FIFO_ACC_Set_BDR(LSM6DSO_Object_t *pObj, float_t Bdr) +{ + lsm6dso_bdr_xl_t new_bdr; + + new_bdr = (Bdr <= 0.0f) ? LSM6DSO_XL_NOT_BATCHED : + (Bdr <= 12.5f) ? LSM6DSO_XL_BATCHED_AT_12Hz5 : + (Bdr <= 26.0f) ? LSM6DSO_XL_BATCHED_AT_26Hz : + (Bdr <= 52.0f) ? LSM6DSO_XL_BATCHED_AT_52Hz : + (Bdr <= 104.0f) ? LSM6DSO_XL_BATCHED_AT_104Hz : + (Bdr <= 208.0f) ? LSM6DSO_XL_BATCHED_AT_208Hz : + (Bdr <= 417.0f) ? LSM6DSO_XL_BATCHED_AT_417Hz : + (Bdr <= 833.0f) ? LSM6DSO_XL_BATCHED_AT_833Hz : + (Bdr <= 1667.0f) ? LSM6DSO_XL_BATCHED_AT_1667Hz : + (Bdr <= 3333.0f) ? LSM6DSO_XL_BATCHED_AT_3333Hz : + LSM6DSO_XL_BATCHED_AT_6667Hz; + + if (lsm6dso_fifo_xl_batch_set(&(pObj->Ctx), new_bdr) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Get the LSM6DSO FIFO gyro single sample (16-bit data per 3 axes) and calculate angular velocity [mDPS] + * @param pObj the device pObj + * @param AngularVelocity FIFO gyro axes [mDPS] + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_FIFO_GYRO_Get_Axes(LSM6DSO_Object_t *pObj, + LSM6DSO_Axes_t *AngularVelocity) +{ + lsm6dso_axis3bit16_t data_raw; + float_t sensitivity = 0.0f; + float_t angular_velocity_float_t[3]; + + if (LSM6DSO_FIFO_Get_Data(pObj, data_raw.u8bit) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (LSM6DSO_GYRO_GetSensitivity(pObj, &sensitivity) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + angular_velocity_float_t[0] = (float_t)data_raw.i16bit[0] * sensitivity; + angular_velocity_float_t[1] = (float_t)data_raw.i16bit[1] * sensitivity; + angular_velocity_float_t[2] = (float_t)data_raw.i16bit[2] * sensitivity; + + AngularVelocity->x = (int32_t)angular_velocity_float_t[0]; + AngularVelocity->y = (int32_t)angular_velocity_float_t[1]; + AngularVelocity->z = (int32_t)angular_velocity_float_t[2]; + + return LSM6DSO_OK; +} + +/** + * @brief Set the LSM6DSO FIFO gyro BDR value + * @param pObj the device pObj + * @param Bdr FIFO gyro BDR value + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_FIFO_GYRO_Set_BDR(LSM6DSO_Object_t *pObj, float_t Bdr) +{ + lsm6dso_bdr_gy_t new_bdr; + + new_bdr = (Bdr <= 0.0f) ? LSM6DSO_GY_NOT_BATCHED : + (Bdr <= 12.5f) ? LSM6DSO_GY_BATCHED_AT_12Hz5 : + (Bdr <= 26.0f) ? LSM6DSO_GY_BATCHED_AT_26Hz : + (Bdr <= 52.0f) ? LSM6DSO_GY_BATCHED_AT_52Hz : + (Bdr <= 104.0f) ? LSM6DSO_GY_BATCHED_AT_104Hz : + (Bdr <= 208.0f) ? LSM6DSO_GY_BATCHED_AT_208Hz : + (Bdr <= 417.0f) ? LSM6DSO_GY_BATCHED_AT_417Hz : + (Bdr <= 833.0f) ? LSM6DSO_GY_BATCHED_AT_833Hz : + (Bdr <= 1667.0f) ? LSM6DSO_GY_BATCHED_AT_1667Hz : + (Bdr <= 3333.0f) ? LSM6DSO_GY_BATCHED_AT_3333Hz : + LSM6DSO_GY_BATCHED_AT_6667Hz; -static inline int lsm6dso_read_reg(lsm6dso_t *imu, uint8_t *data, uint8_t reg) + if (lsm6dso_fifo_gy_batch_set(&(pObj->Ctx), new_bdr) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} + +/** + * @brief Enable LSM6DSO accelerometer DRDY interrupt on INT1 + * @param pObj the device pObj + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Enable_DRDY_On_INT1(LSM6DSO_Object_t *pObj) { - return imu->read_reg(data, reg, 1); + lsm6dso_pin_int1_route_t pin_int1_route; + + /* Enable accelerometer DRDY Interrupt on INT1 */ + if (lsm6dso_pin_int1_route_get(&(pObj->Ctx), &pin_int1_route) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + pin_int1_route.drdy_xl = 1; + pin_int1_route.drdy_g = 0; + if (lsm6dso_pin_int1_route_set(&(pObj->Ctx), pin_int1_route) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; } -static inline int lsm6dso_read_mult_reg(lsm6dso_t *imu, uint8_t *data, - uint8_t reg, uint8_t length) +/** + * @brief Disable LSM6DSO accelerometer DRDY interrupt on INT1 + * @param pObj the device pObj + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Disable_DRDY_On_INT1(LSM6DSO_Object_t *pObj) { - return imu->read_reg(data, reg, length); + lsm6dso_pin_int1_route_t pin_int1_route; + + /* Disable accelerometer DRDY Interrupt on INT1 */ + if (lsm6dso_pin_int1_route_get(&(pObj->Ctx), &pin_int1_route) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + pin_int1_route.drdy_xl = 0; + if (lsm6dso_pin_int1_route_set(&(pObj->Ctx), pin_int1_route) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; } -static inline int lsm6dso_write_reg(lsm6dso_t *imu, uint8_t *data, uint8_t reg) +/** + * @brief Set the LSM6DSO accelerometer power mode + * @param pObj the device pObj + * @param PowerMode Value of the powerMode + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Set_Power_Mode(LSM6DSO_Object_t *pObj, uint8_t PowerMode) { - return imu->write_reg(data, reg, 1); + int32_t ret = LSM6DSO_OK; + lsm6dso_xl_hm_mode_t newPowerMode = LSM6DSO_HIGH_PERFORMANCE_MD; + + switch (PowerMode) { + case 0: + newPowerMode = LSM6DSO_HIGH_PERFORMANCE_MD; + break; + case 1: + newPowerMode = LSM6DSO_LOW_NORMAL_POWER_MD; + break; + case 2: + newPowerMode = LSM6DSO_ULTRA_LOW_POWER_MD; + break; + default: + ret = LSM6DSO_ERROR; + break; + } + + if (ret == LSM6DSO_ERROR) { + return LSM6DSO_ERROR; + } + + if (lsm6dso_xl_power_mode_set(&(pObj->Ctx), newPowerMode) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; } -static inline int lsm6dso_write_mult_reg(lsm6dso_t *imu, uint8_t *data, - uint8_t reg, uint8_t length) +/** + * @brief Set the LSM6DSO accelerometer filter mode + * @param pObj the device pObj + * @param LowHighPassFlag 0/1 for setting low-pass/high-pass filter mode + * @param FilterMode Value of the filter Mode + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Set_Filter_Mode(LSM6DSO_Object_t *pObj, + uint8_t LowHighPassFlag, uint8_t FilterMode) { - return imu->write_reg(data, reg, length); + int32_t ret = LSM6DSO_OK; + lsm6dso_hp_slope_xl_en_t newFilterMode = LSM6DSO_HP_PATH_DISABLE_ON_OUT; + + switch (FilterMode) { + case 0x00: + newFilterMode = LSM6DSO_HP_PATH_DISABLE_ON_OUT; + break; + case 0x01: + newFilterMode = LSM6DSO_LP_ODR_DIV_10; + break; + case 0x02: + newFilterMode = LSM6DSO_LP_ODR_DIV_20; + break; + case 0x03: + newFilterMode = LSM6DSO_LP_ODR_DIV_45; + break; + case 0x04: + newFilterMode = LSM6DSO_LP_ODR_DIV_100; + break; + case 0x05: + newFilterMode = LSM6DSO_LP_ODR_DIV_200; + break; + case 0x06: + newFilterMode = LSM6DSO_LP_ODR_DIV_400; + break; + case 0x07: + newFilterMode = LSM6DSO_LP_ODR_DIV_800; + break; + case 0x10: + newFilterMode = LSM6DSO_SLOPE_ODR_DIV_4; + break; + case 0x11: + newFilterMode = LSM6DSO_HP_ODR_DIV_10; + break; + case 0x12: + newFilterMode = LSM6DSO_HP_ODR_DIV_20; + break; + case 0x13: + newFilterMode = LSM6DSO_HP_ODR_DIV_45; + break; + case 0x14: + newFilterMode = LSM6DSO_HP_ODR_DIV_100; + break; + case 0x15: + newFilterMode = LSM6DSO_HP_ODR_DIV_200; + break; + case 0x16: + newFilterMode = LSM6DSO_HP_ODR_DIV_400; + break; + case 0x17: + newFilterMode = LSM6DSO_HP_ODR_DIV_800; + break; + case 0x31: + newFilterMode = LSM6DSO_HP_REF_MD_ODR_DIV_10; + break; + case 0x32: + newFilterMode = LSM6DSO_HP_REF_MD_ODR_DIV_20; + break; + case 0x33: + newFilterMode = LSM6DSO_HP_REF_MD_ODR_DIV_45; + break; + case 0x34: + newFilterMode = LSM6DSO_HP_REF_MD_ODR_DIV_100; + break; + case 0x35: + newFilterMode = LSM6DSO_HP_REF_MD_ODR_DIV_200; + break; + case 0x36: + newFilterMode = LSM6DSO_HP_REF_MD_ODR_DIV_400; + break; + case 0x37: + newFilterMode = LSM6DSO_HP_REF_MD_ODR_DIV_800; + break; + default: + ret = LSM6DSO_ERROR; + break; + } + + if (ret == LSM6DSO_ERROR) { + return LSM6DSO_ERROR; + } + + if (LowHighPassFlag == 0U) { + /*Set accelerometer low_pass filter-mode*/ + + /*Set to 1 LPF2 bit (CTRL8_XL)*/ + if (lsm6dso_xl_filter_lp2_set(&(pObj->Ctx), 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + if (lsm6dso_xl_hp_path_on_out_set( + &(pObj->Ctx), newFilterMode) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + } else { + /*Set accelerometer high_pass filter-mode*/ + if (lsm6dso_xl_hp_path_on_out_set( + &(pObj->Ctx), newFilterMode) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + } + return LSM6DSO_OK; } -static int16_t accel_data_convert(int16_t raw_accel) +/** + * @brief Enable LSM6DSO accelerometer inactivity detection + * @param pObj the device pObj + * @param InactMode inactivity detection mode + * @param IntPin interrupt pin line to be used + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Enable_Inactivity_Detection(LSM6DSO_Object_t *pObj, + lsm6dso_inact_en_t InactMode, + LSM6DSO_SensorIntPin_t IntPin) { - int8_t msb, lsb; - int16_t val; - msb = (raw_accel & 0x00FF) << 8; - lsb = (raw_accel & 0xFF00) >> 8; - val = msb | lsb; + lsm6dso_pin_int1_route_t val1; + lsm6dso_pin_int2_route_t val2; + int32_t ret = LSM6DSO_OK; + + /* Full scale selection */ + if (LSM6DSO_ACC_SetFullScale(pObj, 2) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + if (LSM6DSO_GYRO_SetFullScale(pObj, 250) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* SLEEP_DUR setting */ + if (lsm6dso_act_sleep_dur_set(&(pObj->Ctx), 0x01) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Enable inactivity detection. */ + switch (InactMode) { + case LSM6DSO_XL_AND_GY_NOT_AFFECTED: { + if (lsm6dso_act_mode_set(&(pObj->Ctx), + LSM6DSO_XL_AND_GY_NOT_AFFECTED) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + break; + } + case LSM6DSO_XL_12Hz5_GY_NOT_AFFECTED: { + if (lsm6dso_act_mode_set(&(pObj->Ctx), + LSM6DSO_XL_12Hz5_GY_NOT_AFFECTED) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + break; + } + case LSM6DSO_XL_12Hz5_GY_SLEEP: { + if (lsm6dso_act_mode_set(&(pObj->Ctx), + LSM6DSO_XL_12Hz5_GY_SLEEP) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + break; + } + case LSM6DSO_XL_12Hz5_GY_PD: { + if (lsm6dso_act_mode_set(&(pObj->Ctx), + LSM6DSO_XL_12Hz5_GY_PD) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + break; + } + default: + ret = LSM6DSO_ERROR; + break; + } + + if (ret == LSM6DSO_ERROR) { + return LSM6DSO_ERROR; + } + + /* Enable Inactivity event on either INT1 or INT2 pin */ + switch (IntPin) { + case LSM6DSO_INT1_PIN: { + if (lsm6dso_pin_int1_route_get(&(pObj->Ctx), &val1) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } - return (int16_t)(((int32_t)val * ACCEL_RANGE * 1000) / REG_RESOLUTION); + val1.sleep_change = PROPERTY_ENABLE; + if (lsm6dso_pin_int1_route_set(&(pObj->Ctx), val1) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + break; + } + case LSM6DSO_INT2_PIN: { + if (lsm6dso_pin_int2_route_get(&(pObj->Ctx), NULL, &val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val2.sleep_change = PROPERTY_ENABLE; + if (lsm6dso_pin_int2_route_set(&(pObj->Ctx), NULL, val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + break; + } + default: + ret = LSM6DSO_ERROR; + break; + } + + return ret; } -static int16_t gyro_data_convert(int16_t gyro_accel) +/** + * @brief Disable LSM6DSO accelerometer inactivity detection + * @param pObj the device pObj + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Disable_Inactivity_Detection(LSM6DSO_Object_t *pObj) { - int8_t msb, lsb; - int16_t val; - msb = (gyro_accel & 0x00FF) << 8; - lsb = (gyro_accel & 0xFF00) >> 8; - val = msb | lsb; - return (int16_t)(((int32_t)val * GYRO_RANGE * 100) / REG_RESOLUTION); + lsm6dso_pin_int1_route_t val1; + lsm6dso_pin_int2_route_t val2; + + /* Disable inactivity event on both INT1 and INT2 pins */ + if (lsm6dso_pin_int1_route_get(&(pObj->Ctx), &val1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val1.sleep_change = PROPERTY_DISABLE; + + if (lsm6dso_pin_int1_route_set(&(pObj->Ctx), val1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + if (lsm6dso_pin_int2_route_get(&(pObj->Ctx), NULL, &val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + val2.sleep_change = PROPERTY_DISABLE; + + if (lsm6dso_pin_int2_route_set(&(pObj->Ctx), NULL, val2) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* Disable inactivity detection. */ + if (lsm6dso_act_mode_set(&(pObj->Ctx), + LSM6DSO_XL_AND_GY_NOT_AFFECTED) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + /* SLEEP_DUR reset */ + if (lsm6dso_act_sleep_dur_set(&(pObj->Ctx), 0x00) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + return LSM6DSO_OK; } -static int lsm6dso_ping_imu(lsm6dso_t *imu) +/** + * @brief Set LSM6DSO accelerometer sleep duration + * @param pObj the device pObj + * @param Duration wake up detection duration + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_ACC_Set_Sleep_Duration(LSM6DSO_Object_t *pObj, uint8_t Duration) { - uint8_t reg_data; - int status; + /* Set wake up duration. */ + if (lsm6dso_act_sleep_dur_set(&(pObj->Ctx), Duration) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + + return LSM6DSO_OK; +} - status = lsm6dso_read_reg(imu, ®_data, LSM6DSO_REG_DEVICE_ID); - if (status != 0) - return status; +/** + * @brief Enable LSM6DSO gyroscope DRDY interrupt on INT2 + * @param pObj the device pObj + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_GYRO_Enable_DRDY_On_INT2(LSM6DSO_Object_t *pObj) +{ + lsm6dso_pin_int2_route_t pin_int2_route; - if (reg_data != 0x6C) - return -1; + /* Enable gyroscope DRDY Interrupts on INT2 */ + if (lsm6dso_pin_int2_route_get(&(pObj->Ctx), NULL, &pin_int2_route) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + pin_int2_route.drdy_xl = 0; + pin_int2_route.drdy_g = 1; + if (lsm6dso_pin_int2_route_set(&(pObj->Ctx), NULL, pin_int2_route) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } - return 0; + return LSM6DSO_OK; } -int lsm6dso_set_accel_cfg(lsm6dso_t *imu, int8_t odr_sel, int8_t fs_sel, - int8_t lp_f2_enable) +/** + * @brief Set the LSM6DSO gyroscope power mode + * @param pObj the device pObj + * @param PowerMode Value of the powerMode + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_GYRO_Set_Power_Mode(LSM6DSO_Object_t *pObj, uint8_t PowerMode) { - uint8_t config = - (((odr_sel << 4) | (fs_sel << 2) | (lp_f2_enable << 1)) << 1); - imu->accel_config = config; + int32_t ret = LSM6DSO_OK; + lsm6dso_g_hm_mode_t newPowerMode = LSM6DSO_GY_HIGH_PERFORMANCE; + + switch (PowerMode) { + case 0: + newPowerMode = LSM6DSO_GY_HIGH_PERFORMANCE; + break; + case 1: + newPowerMode = LSM6DSO_GY_NORMAL; + break; + default: + ret = LSM6DSO_ERROR; + break; + } + + if (ret == LSM6DSO_ERROR) { + return LSM6DSO_ERROR; + } + + if (lsm6dso_gy_power_mode_set(&(pObj->Ctx), newPowerMode) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } - return lsm6dso_write_reg(imu, &imu->accel_config, - LSM6DSO_REG_ACCEL_CTRL); + return LSM6DSO_OK; } -int lsm6dso_set_gyro_cfg(lsm6dso_t *imu, int8_t odr_sel, int8_t fs_sel, - int8_t fs_125) +/** + * @brief Set the LSM6DSO gyroscope filter mode + * @param pObj the device pObj + * @param LowHighPassFlag 0/1 for setting low-pass/high-pass filter mode + * @param FilterMode Value of the filter Mode + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_GYRO_Set_Filter_Mode(LSM6DSO_Object_t *pObj, + uint8_t LowHighPassFlag, + uint8_t FilterMode) { - uint8_t config = - (((odr_sel << 4) | (fs_sel << 2) | (fs_125 << 1)) << 1); - imu->gyro_config = config; + int32_t ret = LSM6DSO_OK; - return lsm6dso_write_reg(imu, &imu->gyro_config, LSM6DSO_REG_GYRO_CTRL); + if (LowHighPassFlag == 0U) { + lsm6dso_ftype_t newFilterMode = LSM6DSO_ULTRA_LIGHT; + + switch (FilterMode) { + case 0: + newFilterMode = LSM6DSO_ULTRA_LIGHT; + break; + case 1: + newFilterMode = LSM6DSO_VERY_LIGHT; + break; + case 2: + newFilterMode = LSM6DSO_LIGHT; + break; + case 3: + newFilterMode = LSM6DSO_MEDIUM; + break; + case 4: + newFilterMode = LSM6DSO_STRONG; + break; + case 5: + newFilterMode = LSM6DSO_VERY_STRONG; + break; + case 6: + newFilterMode = LSM6DSO_AGGRESSIVE; + break; + case 7: + newFilterMode = LSM6DSO_XTREME; + break; + default: + ret = LSM6DSO_ERROR; + break; + } + + if (ret == LSM6DSO_ERROR) { + return LSM6DSO_ERROR; + } + /*Set gyroscope low_pass 1 filter-mode*/ + /* Enable low-pass filter */ + if (lsm6dso_gy_filter_lp1_set(&(pObj->Ctx), 1) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + if (lsm6dso_gy_lp1_bandwidth_set(&(pObj->Ctx), newFilterMode) != + LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + } else { + lsm6dso_hpm_g_t newFilterMode = LSM6DSO_HP_FILTER_NONE; + + switch (FilterMode) { + case 0x00: + newFilterMode = LSM6DSO_HP_FILTER_NONE; + break; + case 0x80: + newFilterMode = LSM6DSO_HP_FILTER_16mHz; + break; + case 0x81: + newFilterMode = LSM6DSO_HP_FILTER_65mHz; + break; + case 0x82: + newFilterMode = LSM6DSO_HP_FILTER_260mHz; + break; + case 0x83: + newFilterMode = LSM6DSO_HP_FILTER_1Hz04; + break; + default: + ret = LSM6DSO_ERROR; + break; + } + + if (ret == LSM6DSO_ERROR) { + return LSM6DSO_ERROR; + } + + /*Set gyroscope high_pass filter-mode*/ + /* Enable high-pass filter */ + if (lsm6dso_gy_hp_path_internal_set( + &(pObj->Ctx), newFilterMode) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } + } + return LSM6DSO_OK; } -int lsm6dso_init(lsm6dso_t *imu, I2C_Read read_func, I2C_Write write_func) +/** + * @brief Set LSM6DSO DRDY mode + * @param pObj the device pObj + * @param Mode DRDY mode + * @retval 0 in case of success, an error code otherwise + */ +int32_t LSM6DSO_DRDY_Set_Mode(LSM6DSO_Object_t *pObj, uint8_t Mode) { - int status; + int32_t ret = LSM6DSO_OK; + lsm6dso_dataready_pulsed_t newMode = LSM6DSO_DRDY_LATCHED; + + switch (Mode) { + case 0: + newMode = LSM6DSO_DRDY_LATCHED; + break; + case 1: + newMode = LSM6DSO_DRDY_PULSED; + break; + default: + ret = LSM6DSO_ERROR; + break; + } + + if (ret == LSM6DSO_ERROR) { + return LSM6DSO_ERROR; + } + + /* Set DRDY mode */ + if (lsm6dso_data_ready_mode_set(&(pObj->Ctx), newMode) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } - imu->accel_data[LSM6DSO_X_AXIS] = 0; - imu->accel_data[LSM6DSO_Y_AXIS] = 0; - imu->accel_data[LSM6DSO_Z_AXIS] = 0; + return LSM6DSO_OK; +} + +/** + * @} + */ - imu->gyro_data[LSM6DSO_X_AXIS] = 0; - imu->gyro_data[LSM6DSO_Y_AXIS] = 0; - imu->gyro_data[LSM6DSO_Z_AXIS] = 0; +/** @defgroup LSM6DSO_Private_Functions LSM6DSO Private Functions + * @{ + */ + +/** + * @brief Set the LSM6DSO accelerometer sensor output data rate when enabled + * @param pObj the device pObj + * @param Odr the functional output data rate to be set + * @retval 0 in case of success, an error code otherwise + */ +static int32_t +LSM6DSO_ACC_SetOutputDataRate_When_Enabled(LSM6DSO_Object_t *pObj, float_t Odr) +{ + lsm6dso_odr_xl_t new_odr; - imu->read_reg = read_func; - imu->write_reg = write_func; + new_odr = (Odr <= 1.6f) ? LSM6DSO_XL_ODR_1Hz6 : + (Odr <= 12.5f) ? LSM6DSO_XL_ODR_12Hz5 : + (Odr <= 26.0f) ? LSM6DSO_XL_ODR_26Hz : + (Odr <= 52.0f) ? LSM6DSO_XL_ODR_52Hz : + (Odr <= 104.0f) ? LSM6DSO_XL_ODR_104Hz : + (Odr <= 208.0f) ? LSM6DSO_XL_ODR_208Hz : + (Odr <= 417.0f) ? LSM6DSO_XL_ODR_417Hz : + (Odr <= 833.0f) ? LSM6DSO_XL_ODR_833Hz : + (Odr <= 1667.0f) ? LSM6DSO_XL_ODR_1667Hz : + (Odr <= 3333.0f) ? LSM6DSO_XL_ODR_3333Hz : + LSM6DSO_XL_ODR_6667Hz; - /* Quick check to make sure I2C is working */ - status = lsm6dso_ping_imu(imu); - if (status != 0) - return status; + /* Output data rate selection. */ + if (lsm6dso_xl_data_rate_set(&(pObj->Ctx), new_odr) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } - /* - Configure IMU to default params - Refer to datasheet pages 56-57 - */ - status = lsm6dso_set_accel_cfg(imu, 0x08, 0x02, 0x01); - if (status != 0) - return status; + return LSM6DSO_OK; +} - status = lsm6dso_set_gyro_cfg(imu, 0x08, 0x02, 0x00); - if (status != 0) - return status; +/** + * @brief Set the LSM6DSO accelerometer sensor output data rate when disabled + * @param pObj the device pObj + * @param Odr the functional output data rate to be set + * @retval 0 in case of success, an error code otherwise + */ +static int32_t +LSM6DSO_ACC_SetOutputDataRate_When_Disabled(LSM6DSO_Object_t *pObj, float_t Odr) +{ + pObj->acc_odr = (Odr <= 1.6f) ? LSM6DSO_XL_ODR_1Hz6 : + (Odr <= 12.5f) ? LSM6DSO_XL_ODR_12Hz5 : + (Odr <= 26.0f) ? LSM6DSO_XL_ODR_26Hz : + (Odr <= 52.0f) ? LSM6DSO_XL_ODR_52Hz : + (Odr <= 104.0f) ? LSM6DSO_XL_ODR_104Hz : + (Odr <= 208.0f) ? LSM6DSO_XL_ODR_208Hz : + (Odr <= 417.0f) ? LSM6DSO_XL_ODR_417Hz : + (Odr <= 833.0f) ? LSM6DSO_XL_ODR_833Hz : + (Odr <= 1667.0f) ? LSM6DSO_XL_ODR_1667Hz : + (Odr <= 3333.0f) ? LSM6DSO_XL_ODR_3333Hz : + LSM6DSO_XL_ODR_6667Hz; - return 0; + return LSM6DSO_OK; } -int lsm6dso_read_accel(lsm6dso_t *imu) +/** + * @brief Set the LSM6DSO gyroscope sensor output data rate when enabled + * @param pObj the device pObj + * @param Odr the functional output data rate to be set + * @retval 0 in case of success, an error code otherwise + */ +static int32_t +LSM6DSO_GYRO_SetOutputDataRate_When_Enabled(LSM6DSO_Object_t *pObj, float_t Odr) { - union { - uint8_t buf[2]; - int16_t data; - } accel_x_raw, accel_y_raw, accel_z_raw; - int status; + lsm6dso_odr_g_t new_odr; - /* Getting raw data from registers */ - status = lsm6dso_read_mult_reg(imu, accel_x_raw.buf, - LSM6DSO_REG_ACCEL_X_AXIS_L, 2); - if (status != 0) - return status; + new_odr = (Odr <= 12.5f) ? LSM6DSO_GY_ODR_12Hz5 : + (Odr <= 26.0f) ? LSM6DSO_GY_ODR_26Hz : + (Odr <= 52.0f) ? LSM6DSO_GY_ODR_52Hz : + (Odr <= 104.0f) ? LSM6DSO_GY_ODR_104Hz : + (Odr <= 208.0f) ? LSM6DSO_GY_ODR_208Hz : + (Odr <= 417.0f) ? LSM6DSO_GY_ODR_417Hz : + (Odr <= 833.0f) ? LSM6DSO_GY_ODR_833Hz : + (Odr <= 1667.0f) ? LSM6DSO_GY_ODR_1667Hz : + (Odr <= 3333.0f) ? LSM6DSO_GY_ODR_3333Hz : + LSM6DSO_GY_ODR_6667Hz; - status = lsm6dso_read_mult_reg(imu, accel_y_raw.buf, - LSM6DSO_REG_ACCEL_Y_AXIS_L, 2); - if (status != 0) - return status; + /* Output data rate selection. */ + if (lsm6dso_gy_data_rate_set(&(pObj->Ctx), new_odr) != LSM6DSO_OK) { + return LSM6DSO_ERROR; + } - status = lsm6dso_read_mult_reg(imu, accel_z_raw.buf, - LSM6DSO_REG_ACCEL_Z_AXIS_L, 2); - if (status != 0) - return status; + return LSM6DSO_OK; +} - /* Setting imu struct values to converted measurements */ - imu->accel_data[LSM6DSO_X_AXIS] = accel_data_convert(accel_x_raw.data); - imu->accel_data[LSM6DSO_Y_AXIS] = accel_data_convert(accel_y_raw.data); - imu->accel_data[LSM6DSO_Z_AXIS] = accel_data_convert(accel_z_raw.data); +/** + * @brief Set the LSM6DSO gyroscope sensor output data rate when disabled + * @param pObj the device pObj + * @param Odr the functional output data rate to be set + * @retval 0 in case of success, an error code otherwise + */ +static int32_t +LSM6DSO_GYRO_SetOutputDataRate_When_Disabled(LSM6DSO_Object_t *pObj, + float_t Odr) +{ + pObj->gyro_odr = (Odr <= 12.5f) ? LSM6DSO_GY_ODR_12Hz5 : + (Odr <= 26.0f) ? LSM6DSO_GY_ODR_26Hz : + (Odr <= 52.0f) ? LSM6DSO_GY_ODR_52Hz : + (Odr <= 104.0f) ? LSM6DSO_GY_ODR_104Hz : + (Odr <= 208.0f) ? LSM6DSO_GY_ODR_208Hz : + (Odr <= 417.0f) ? LSM6DSO_GY_ODR_417Hz : + (Odr <= 833.0f) ? LSM6DSO_GY_ODR_833Hz : + (Odr <= 1667.0f) ? LSM6DSO_GY_ODR_1667Hz : + (Odr <= 3333.0f) ? LSM6DSO_GY_ODR_3333Hz : + LSM6DSO_GY_ODR_6667Hz; - return 0; + return LSM6DSO_OK; } -int lsm6dso_read_gyro(lsm6dso_t *imu) +/** + * @brief This function provides a minimum delay based on Tick counter + * @param pObj the device pObj + * @param msDelay delay expressed in ms + * @retval None + */ +static void LSM6DSO_Delay(LSM6DSO_Object_t *pObj, uint32_t msDelay) { - union { - uint8_t buf[2]; - int16_t data; - } gyro_x_raw, gyro_y_raw, gyro_z_raw; - int status; + uint32_t tickstart = pObj->IO.GetTick(); - /* Aquire raw data from registers */ - status = lsm6dso_read_mult_reg(imu, gyro_x_raw.buf, - LSM6DSO_REG_GYRO_X_AXIS_L, 2); - if (status != 0) - return status; + while ((pObj->IO.GetTick() - tickstart) < msDelay) { + } +} - status = lsm6dso_read_mult_reg(imu, gyro_y_raw.buf, - LSM6DSO_REG_GYRO_Y_AXIS_L, 2); - if (status != 0) - return status; +/** + * @brief Wrap Read register component function to Bus IO function + * @param Handle the device handler + * @param Reg the register address + * @param pData the stored data pointer + * @param Length the length + * @retval 0 in case of success, an error code otherwise + */ +static int32_t ReadRegWrap(void *Handle, uint8_t Reg, uint8_t *pData, + uint16_t Length) +{ + LSM6DSO_Object_t *pObj = (LSM6DSO_Object_t *)Handle; - status = lsm6dso_read_mult_reg(imu, gyro_z_raw.buf, - LSM6DSO_REG_GYRO_Z_AXIS_L, 2); - if (status != 0) - return status; + return pObj->IO.ReadReg(pObj->IO.Address, Reg, pData, Length); +} - /* Setting imu struct values to converted measurements */ - imu->gyro_data[LSM6DSO_X_AXIS] = gyro_data_convert(gyro_x_raw.data); - imu->gyro_data[LSM6DSO_Y_AXIS] = gyro_data_convert(gyro_y_raw.data); - imu->gyro_data[LSM6DSO_Z_AXIS] = gyro_data_convert(gyro_z_raw.data); +/** + * @brief Wrap Write register component function to Bus IO function + * @param Handle the device handler + * @param Reg the register address + * @param pData the stored data pointer + * @param Length the length + * @retval 0 in case of success, an error code otherwise + */ +static int32_t WriteRegWrap(void *Handle, uint8_t Reg, uint8_t *pData, + uint16_t Length) +{ + LSM6DSO_Object_t *pObj = (LSM6DSO_Object_t *)Handle; - return 0; + return pObj->IO.WriteReg(pObj->IO.Address, Reg, pData, Length); } + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ diff --git a/general/src/lsm6dso_reg.c b/general/src/lsm6dso_reg.c new file mode 100644 index 0000000..8474117 --- /dev/null +++ b/general/src/lsm6dso_reg.c @@ -0,0 +1,12579 @@ +/** + ****************************************************************************** + * @file lsm6dso_reg.c + * @author Sensors Software Solution Team + * @brief LSM6DSO driver file + ****************************************************************************** + * @attention + * + * Copyright (c) 2019 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +#include "lsm6dso_reg.h" +#include + +/** + * @defgroup LSM6DSO + * @brief This file provides a set of functions needed to drive the + * lsm6dso enhanced inertial module. + * @{ + * + */ + +/** + * @defgroup LSM6DSO_Interfaces_Functions + * @brief This section provide a set of functions used to read and + * write a generic register of the device. + * MANDATORY: return 0 -> no Error. + * @{ + * + */ + +/** + * @brief Read generic device register + * + * @param ctx read / write interface definitions(ptr) + * @param reg register to read + * @param data pointer to buffer that store the data read(ptr) + * @param len number of consecutive register to read + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t __weak lsm6dso_read_reg(stmdev_ctx_t *ctx, uint8_t reg, uint8_t *data, + uint16_t len) +{ + int32_t ret; + + ret = ctx->read_reg(ctx->handle, reg, data, len); + + return ret; +} + +/** + * @brief Write generic device register + * + * @param ctx read / write interface definitions(ptr) + * @param reg register to write + * @param data pointer to data to write in register reg(ptr) + * @param len number of consecutive register to write + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t __weak lsm6dso_write_reg(stmdev_ctx_t *ctx, uint8_t reg, uint8_t *data, + uint16_t len) +{ + int32_t ret; + + ret = ctx->write_reg(ctx->handle, reg, data, len); + + return ret; +} + +/** + * @} + * + */ + +/** + * @defgroup LSM6DSOX_Private_functions + * @brief Section collect all the utility functions needed by APIs. + * @{ + * + */ + +static void bytecpy(uint8_t *target, uint8_t *source) +{ + if ((target != NULL) && (source != NULL)) { + *target = *source; + } +} + +/** + * @defgroup LSM6DSO_Sensitivity + * @brief These functions convert raw-data into engineering units. + * @{ + * + */ +float_t lsm6dso_from_fs2_to_mg(int16_t lsb) +{ + return ((float_t)lsb) * 0.061f; +} + +float_t lsm6dso_from_fs4_to_mg(int16_t lsb) +{ + return ((float_t)lsb) * 0.122f; +} + +float_t lsm6dso_from_fs8_to_mg(int16_t lsb) +{ + return ((float_t)lsb) * 0.244f; +} + +float_t lsm6dso_from_fs16_to_mg(int16_t lsb) +{ + return ((float_t)lsb) * 0.488f; +} + +float_t lsm6dso_from_fs125_to_mdps(int16_t lsb) +{ + return ((float_t)lsb) * 4.375f; +} + +float_t lsm6dso_from_fs500_to_mdps(int16_t lsb) +{ + return ((float_t)lsb) * 17.50f; +} + +float_t lsm6dso_from_fs250_to_mdps(int16_t lsb) +{ + return ((float_t)lsb) * 8.750f; +} + +float_t lsm6dso_from_fs1000_to_mdps(int16_t lsb) +{ + return ((float_t)lsb) * 35.0f; +} + +float_t lsm6dso_from_fs2000_to_mdps(int16_t lsb) +{ + return ((float_t)lsb) * 70.0f; +} + +float_t lsm6dso_from_lsb_to_celsius(int16_t lsb) +{ + return (((float_t)lsb / 256.0f) + 25.0f); +} + +float_t lsm6dso_from_lsb_to_nsec(int16_t lsb) +{ + return ((float_t)lsb * 25000.0f); +} + +/** + * @} + * + */ + +/** + * @defgroup LSM6DSO_Data_Generation + * @brief This section groups all the functions concerning + * data generation. + * + */ + +/** + * @brief Accelerometer full-scale selection.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of fs_xl in reg CTRL1_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_full_scale_set(stmdev_ctx_t *ctx, lsm6dso_fs_xl_t val) +{ + lsm6dso_ctrl1_xl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL1_XL, (uint8_t *)®, 1); + + if (ret == 0) { + reg.fs_xl = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL1_XL, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Accelerometer full-scale selection.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of fs_xl in reg CTRL1_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_full_scale_get(stmdev_ctx_t *ctx, lsm6dso_fs_xl_t *val) +{ + lsm6dso_ctrl1_xl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL1_XL, (uint8_t *)®, 1); + + switch (reg.fs_xl) { + case LSM6DSO_2g: + *val = LSM6DSO_2g; + break; + + case LSM6DSO_16g: + *val = LSM6DSO_16g; + break; + + case LSM6DSO_4g: + *val = LSM6DSO_4g; + break; + + case LSM6DSO_8g: + *val = LSM6DSO_8g; + break; + + default: + *val = LSM6DSO_2g; + break; + } + + return ret; +} + +/** + * @brief Accelerometer UI data rate selection.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of odr_xl in reg CTRL1_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_data_rate_set(stmdev_ctx_t *ctx, lsm6dso_odr_xl_t val) +{ + lsm6dso_odr_xl_t odr_xl = val; + lsm6dso_emb_fsm_enable_t fsm_enable; + lsm6dso_fsm_odr_t fsm_odr; + lsm6dso_ctrl1_xl_t reg; + int32_t ret; + + /* Check the Finite State Machine data rate constraints */ + ret = lsm6dso_fsm_enable_get(ctx, &fsm_enable); + + if (ret == 0) { + if ((fsm_enable.fsm_enable_a.fsm1_en | + fsm_enable.fsm_enable_a.fsm2_en | + fsm_enable.fsm_enable_a.fsm3_en | + fsm_enable.fsm_enable_a.fsm4_en | + fsm_enable.fsm_enable_a.fsm5_en | + fsm_enable.fsm_enable_a.fsm6_en | + fsm_enable.fsm_enable_a.fsm7_en | + fsm_enable.fsm_enable_a.fsm8_en | + fsm_enable.fsm_enable_b.fsm9_en | + fsm_enable.fsm_enable_b.fsm10_en | + fsm_enable.fsm_enable_b.fsm11_en | + fsm_enable.fsm_enable_b.fsm12_en | + fsm_enable.fsm_enable_b.fsm13_en | + fsm_enable.fsm_enable_b.fsm14_en | + fsm_enable.fsm_enable_b.fsm15_en | + fsm_enable.fsm_enable_b.fsm16_en) == PROPERTY_ENABLE) { + ret = lsm6dso_fsm_data_rate_get(ctx, &fsm_odr); + + if (ret == 0) { + switch (fsm_odr) { + case LSM6DSO_ODR_FSM_12Hz5: + if (val == LSM6DSO_XL_ODR_OFF) { + odr_xl = LSM6DSO_XL_ODR_12Hz5; + } + + else { + odr_xl = val; + } + + break; + + case LSM6DSO_ODR_FSM_26Hz: + if (val == LSM6DSO_XL_ODR_OFF) { + odr_xl = LSM6DSO_XL_ODR_26Hz; + } + + else if (val == LSM6DSO_XL_ODR_12Hz5) { + odr_xl = LSM6DSO_XL_ODR_26Hz; + } + + else { + odr_xl = val; + } + + break; + + case LSM6DSO_ODR_FSM_52Hz: + if (val == LSM6DSO_XL_ODR_OFF) { + odr_xl = LSM6DSO_XL_ODR_52Hz; + } + + else if (val == LSM6DSO_XL_ODR_12Hz5) { + odr_xl = LSM6DSO_XL_ODR_52Hz; + } + + else if (val == LSM6DSO_XL_ODR_26Hz) { + odr_xl = LSM6DSO_XL_ODR_52Hz; + } + + else { + odr_xl = val; + } + + break; + + case LSM6DSO_ODR_FSM_104Hz: + if (val == LSM6DSO_XL_ODR_OFF) { + odr_xl = LSM6DSO_XL_ODR_104Hz; + } + + else if (val == LSM6DSO_XL_ODR_12Hz5) { + odr_xl = LSM6DSO_XL_ODR_104Hz; + } + + else if (val == LSM6DSO_XL_ODR_26Hz) { + odr_xl = LSM6DSO_XL_ODR_104Hz; + } + + else if (val == LSM6DSO_XL_ODR_52Hz) { + odr_xl = LSM6DSO_XL_ODR_104Hz; + } + + else { + odr_xl = val; + } + + break; + + default: + odr_xl = val; + break; + } + } + } + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL1_XL, (uint8_t *)®, + 1); + } + + if (ret == 0) { + reg.odr_xl = (uint8_t)odr_xl; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL1_XL, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Accelerometer UI data rate selection.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of odr_xl in reg CTRL1_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_data_rate_get(stmdev_ctx_t *ctx, lsm6dso_odr_xl_t *val) +{ + lsm6dso_ctrl1_xl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL1_XL, (uint8_t *)®, 1); + + switch (reg.odr_xl) { + case LSM6DSO_XL_ODR_OFF: + *val = LSM6DSO_XL_ODR_OFF; + break; + + case LSM6DSO_XL_ODR_12Hz5: + *val = LSM6DSO_XL_ODR_12Hz5; + break; + + case LSM6DSO_XL_ODR_26Hz: + *val = LSM6DSO_XL_ODR_26Hz; + break; + + case LSM6DSO_XL_ODR_52Hz: + *val = LSM6DSO_XL_ODR_52Hz; + break; + + case LSM6DSO_XL_ODR_104Hz: + *val = LSM6DSO_XL_ODR_104Hz; + break; + + case LSM6DSO_XL_ODR_208Hz: + *val = LSM6DSO_XL_ODR_208Hz; + break; + + case LSM6DSO_XL_ODR_417Hz: + *val = LSM6DSO_XL_ODR_417Hz; + break; + + case LSM6DSO_XL_ODR_833Hz: + *val = LSM6DSO_XL_ODR_833Hz; + break; + + case LSM6DSO_XL_ODR_1667Hz: + *val = LSM6DSO_XL_ODR_1667Hz; + break; + + case LSM6DSO_XL_ODR_3333Hz: + *val = LSM6DSO_XL_ODR_3333Hz; + break; + + case LSM6DSO_XL_ODR_6667Hz: + *val = LSM6DSO_XL_ODR_6667Hz; + break; + + case LSM6DSO_XL_ODR_1Hz6: + *val = LSM6DSO_XL_ODR_1Hz6; + break; + + default: + *val = LSM6DSO_XL_ODR_OFF; + break; + } + + return ret; +} + +/** + * @brief Gyroscope UI chain full-scale selection.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of fs_g in reg CTRL2_G + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_gy_full_scale_set(stmdev_ctx_t *ctx, lsm6dso_fs_g_t val) +{ + lsm6dso_ctrl2_g_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL2_G, (uint8_t *)®, 1); + + if (ret == 0) { + reg.fs_g = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL2_G, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Gyroscope UI chain full-scale selection.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of fs_g in reg CTRL2_G + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_gy_full_scale_get(stmdev_ctx_t *ctx, lsm6dso_fs_g_t *val) +{ + lsm6dso_ctrl2_g_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL2_G, (uint8_t *)®, 1); + + switch (reg.fs_g) { + case LSM6DSO_250dps: + *val = LSM6DSO_250dps; + break; + + case LSM6DSO_125dps: + *val = LSM6DSO_125dps; + break; + + case LSM6DSO_500dps: + *val = LSM6DSO_500dps; + break; + + case LSM6DSO_1000dps: + *val = LSM6DSO_1000dps; + break; + + case LSM6DSO_2000dps: + *val = LSM6DSO_2000dps; + break; + + default: + *val = LSM6DSO_250dps; + break; + } + + return ret; +} + +/** + * @brief Gyroscope UI data rate selection.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of odr_g in reg CTRL2_G + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_gy_data_rate_set(stmdev_ctx_t *ctx, lsm6dso_odr_g_t val) +{ + lsm6dso_odr_g_t odr_gy = val; + lsm6dso_emb_fsm_enable_t fsm_enable; + lsm6dso_fsm_odr_t fsm_odr; + lsm6dso_ctrl2_g_t reg; + int32_t ret; + + /* Check the Finite State Machine data rate constraints */ + ret = lsm6dso_fsm_enable_get(ctx, &fsm_enable); + + if (ret == 0) { + if ((fsm_enable.fsm_enable_a.fsm1_en | + fsm_enable.fsm_enable_a.fsm2_en | + fsm_enable.fsm_enable_a.fsm3_en | + fsm_enable.fsm_enable_a.fsm4_en | + fsm_enable.fsm_enable_a.fsm5_en | + fsm_enable.fsm_enable_a.fsm6_en | + fsm_enable.fsm_enable_a.fsm7_en | + fsm_enable.fsm_enable_a.fsm8_en | + fsm_enable.fsm_enable_b.fsm9_en | + fsm_enable.fsm_enable_b.fsm10_en | + fsm_enable.fsm_enable_b.fsm11_en | + fsm_enable.fsm_enable_b.fsm12_en | + fsm_enable.fsm_enable_b.fsm13_en | + fsm_enable.fsm_enable_b.fsm14_en | + fsm_enable.fsm_enable_b.fsm15_en | + fsm_enable.fsm_enable_b.fsm16_en) == PROPERTY_ENABLE) { + ret = lsm6dso_fsm_data_rate_get(ctx, &fsm_odr); + + if (ret == 0) { + switch (fsm_odr) { + case LSM6DSO_ODR_FSM_12Hz5: + if (val == LSM6DSO_GY_ODR_OFF) { + odr_gy = LSM6DSO_GY_ODR_12Hz5; + } + + else { + odr_gy = val; + } + + break; + + case LSM6DSO_ODR_FSM_26Hz: + if (val == LSM6DSO_GY_ODR_OFF) { + odr_gy = LSM6DSO_GY_ODR_26Hz; + } + + else if (val == LSM6DSO_GY_ODR_12Hz5) { + odr_gy = LSM6DSO_GY_ODR_26Hz; + } + + else { + odr_gy = val; + } + + break; + + case LSM6DSO_ODR_FSM_52Hz: + if (val == LSM6DSO_GY_ODR_OFF) { + odr_gy = LSM6DSO_GY_ODR_52Hz; + } + + else if (val == LSM6DSO_GY_ODR_12Hz5) { + odr_gy = LSM6DSO_GY_ODR_52Hz; + } + + else if (val == LSM6DSO_GY_ODR_26Hz) { + odr_gy = LSM6DSO_GY_ODR_52Hz; + } + + else { + odr_gy = val; + } + + break; + + case LSM6DSO_ODR_FSM_104Hz: + if (val == LSM6DSO_GY_ODR_OFF) { + odr_gy = LSM6DSO_GY_ODR_104Hz; + } + + else if (val == LSM6DSO_GY_ODR_12Hz5) { + odr_gy = LSM6DSO_GY_ODR_104Hz; + } + + else if (val == LSM6DSO_GY_ODR_26Hz) { + odr_gy = LSM6DSO_GY_ODR_104Hz; + } + + else if (val == LSM6DSO_GY_ODR_52Hz) { + odr_gy = LSM6DSO_GY_ODR_104Hz; + } + + else { + odr_gy = val; + } + + break; + + default: + odr_gy = val; + break; + } + } + } + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL2_G, (uint8_t *)®, + 1); + } + + if (ret == 0) { + reg.odr_g = (uint8_t)odr_gy; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL2_G, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Gyroscope UI data rate selection.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of odr_g in reg CTRL2_G + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_gy_data_rate_get(stmdev_ctx_t *ctx, lsm6dso_odr_g_t *val) +{ + lsm6dso_ctrl2_g_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL2_G, (uint8_t *)®, 1); + + switch (reg.odr_g) { + case LSM6DSO_GY_ODR_OFF: + *val = LSM6DSO_GY_ODR_OFF; + break; + + case LSM6DSO_GY_ODR_12Hz5: + *val = LSM6DSO_GY_ODR_12Hz5; + break; + + case LSM6DSO_GY_ODR_26Hz: + *val = LSM6DSO_GY_ODR_26Hz; + break; + + case LSM6DSO_GY_ODR_52Hz: + *val = LSM6DSO_GY_ODR_52Hz; + break; + + case LSM6DSO_GY_ODR_104Hz: + *val = LSM6DSO_GY_ODR_104Hz; + break; + + case LSM6DSO_GY_ODR_208Hz: + *val = LSM6DSO_GY_ODR_208Hz; + break; + + case LSM6DSO_GY_ODR_417Hz: + *val = LSM6DSO_GY_ODR_417Hz; + break; + + case LSM6DSO_GY_ODR_833Hz: + *val = LSM6DSO_GY_ODR_833Hz; + break; + + case LSM6DSO_GY_ODR_1667Hz: + *val = LSM6DSO_GY_ODR_1667Hz; + break; + + case LSM6DSO_GY_ODR_3333Hz: + *val = LSM6DSO_GY_ODR_3333Hz; + break; + + case LSM6DSO_GY_ODR_6667Hz: + *val = LSM6DSO_GY_ODR_6667Hz; + break; + + default: + *val = LSM6DSO_GY_ODR_OFF; + break; + } + + return ret; +} + +/** + * @brief Block data update.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of bdu in reg CTRL3_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_block_data_update_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_ctrl3_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_C, (uint8_t *)®, 1); + + if (ret == 0) { + reg.bdu = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL3_C, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Block data update.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of bdu in reg CTRL3_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_block_data_update_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_ctrl3_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_C, (uint8_t *)®, 1); + *val = reg.bdu; + + return ret; +} + +/** + * @brief Weight of XL user offset bits of registers X_OFS_USR (73h), + * Y_OFS_USR (74h), Z_OFS_USR (75h).[set] + * + * @param ctx read / write interface definitions + * @param val change the values of usr_off_w in reg CTRL6_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_offset_weight_set(stmdev_ctx_t *ctx, lsm6dso_usr_off_w_t val) +{ + lsm6dso_ctrl6_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL6_C, (uint8_t *)®, 1); + + if (ret == 0) { + reg.usr_off_w = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL6_C, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Weight of XL user offset bits of registers X_OFS_USR (73h), + * Y_OFS_USR (74h), Z_OFS_USR (75h).[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of usr_off_w in reg CTRL6_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_offset_weight_get(stmdev_ctx_t *ctx, + lsm6dso_usr_off_w_t *val) +{ + lsm6dso_ctrl6_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL6_C, (uint8_t *)®, 1); + + switch (reg.usr_off_w) { + case LSM6DSO_LSb_1mg: + *val = LSM6DSO_LSb_1mg; + break; + + case LSM6DSO_LSb_16mg: + *val = LSM6DSO_LSb_16mg; + break; + + default: + *val = LSM6DSO_LSb_1mg; + break; + } + + return ret; +} + +/** + * @brief Accelerometer power mode.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of xl_hm_mode in + * reg CTRL6_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_power_mode_set(stmdev_ctx_t *ctx, lsm6dso_xl_hm_mode_t val) +{ + lsm6dso_ctrl5_c_t ctrl5_c; + lsm6dso_ctrl6_c_t ctrl6_c; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL5_C, (uint8_t *)&ctrl5_c, 1); + + if (ret == 0) { + ctrl5_c.xl_ulp_en = ((uint8_t)val & 0x02U) >> 1; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL5_C, + (uint8_t *)&ctrl5_c, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL6_C, + (uint8_t *)&ctrl6_c, 1); + } + + if (ret == 0) { + ctrl6_c.xl_hm_mode = (uint8_t)val & 0x01U; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL6_C, + (uint8_t *)&ctrl6_c, 1); + } + + return ret; +} + +/** + * @brief Accelerometer power mode.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of xl_hm_mode in reg CTRL6_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_power_mode_get(stmdev_ctx_t *ctx, lsm6dso_xl_hm_mode_t *val) +{ + lsm6dso_ctrl5_c_t ctrl5_c; + lsm6dso_ctrl6_c_t ctrl6_c; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL5_C, (uint8_t *)&ctrl5_c, 1); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL6_C, + (uint8_t *)&ctrl6_c, 1); + + switch ((ctrl5_c.xl_ulp_en << 1) | ctrl6_c.xl_hm_mode) { + case LSM6DSO_HIGH_PERFORMANCE_MD: + *val = LSM6DSO_HIGH_PERFORMANCE_MD; + break; + + case LSM6DSO_LOW_NORMAL_POWER_MD: + *val = LSM6DSO_LOW_NORMAL_POWER_MD; + break; + + case LSM6DSO_ULTRA_LOW_POWER_MD: + *val = LSM6DSO_ULTRA_LOW_POWER_MD; + break; + + default: + *val = LSM6DSO_HIGH_PERFORMANCE_MD; + break; + } + } + + return ret; +} + +/** + * @brief Operating mode for gyroscope.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of g_hm_mode in reg CTRL7_G + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_gy_power_mode_set(stmdev_ctx_t *ctx, lsm6dso_g_hm_mode_t val) +{ + lsm6dso_ctrl7_g_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL7_G, (uint8_t *)®, 1); + + if (ret == 0) { + reg.g_hm_mode = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL7_G, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Operating mode for gyroscope.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of g_hm_mode in reg CTRL7_G + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_gy_power_mode_get(stmdev_ctx_t *ctx, lsm6dso_g_hm_mode_t *val) +{ + lsm6dso_ctrl7_g_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL7_G, (uint8_t *)®, 1); + + switch (reg.g_hm_mode) { + case LSM6DSO_GY_HIGH_PERFORMANCE: + *val = LSM6DSO_GY_HIGH_PERFORMANCE; + break; + + case LSM6DSO_GY_NORMAL: + *val = LSM6DSO_GY_NORMAL; + break; + + default: + *val = LSM6DSO_GY_HIGH_PERFORMANCE; + break; + } + + return ret; +} + +/** + * @brief The STATUS_REG register is read by the primary interface.[get] + * + * @param ctx read / write interface definitions + * @param val register STATUS_REG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_status_reg_get(stmdev_ctx_t *ctx, lsm6dso_status_reg_t *val) +{ + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_STATUS_REG, (uint8_t *)val, 1); + + return ret; +} + +/** + * @brief Accelerometer new data available.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of xlda in reg STATUS_REG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_status_reg_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_STATUS_REG, (uint8_t *)®, 1); + *val = reg.xlda; + + return ret; +} + +/** + * @brief Gyroscope new data available.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of gda in reg STATUS_REG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_gy_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_status_reg_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_STATUS_REG, (uint8_t *)®, 1); + *val = reg.gda; + + return ret; +} + +/** + * @brief Temperature new data available.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of tda in reg STATUS_REG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_temp_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_status_reg_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_STATUS_REG, (uint8_t *)®, 1); + *val = reg.tda; + + return ret; +} + +/** + * @brief Accelerometer X-axis user offset correction expressed in + * two's complement, weight depends on USR_OFF_W in CTRL6_C (15h). + * The value must be in the range [-127 127].[set] + * + * @param ctx read / write interface definitions + * @param buff buffer that contains data to write + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_usr_offset_x_set(stmdev_ctx_t *ctx, uint8_t *buff) +{ + int32_t ret; + + ret = lsm6dso_write_reg(ctx, LSM6DSO_X_OFS_USR, buff, 1); + + return ret; +} + +/** + * @brief Accelerometer X-axis user offset correction expressed in two's + * complement, weight depends on USR_OFF_W in CTRL6_C (15h). + * The value must be in the range [-127 127].[get] + * + * @param ctx read / write interface definitions + * @param buff buffer that stores data read + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_usr_offset_x_get(stmdev_ctx_t *ctx, uint8_t *buff) +{ + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_X_OFS_USR, buff, 1); + + return ret; +} + +/** + * @brief Accelerometer Y-axis user offset correction expressed in two's + * complement, weight depends on USR_OFF_W in CTRL6_C (15h). + * The value must be in the range [-127 127].[set] + * + * @param ctx read / write interface definitions + * @param buff buffer that contains data to write + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_usr_offset_y_set(stmdev_ctx_t *ctx, uint8_t *buff) +{ + int32_t ret; + + ret = lsm6dso_write_reg(ctx, LSM6DSO_Y_OFS_USR, buff, 1); + + return ret; +} + +/** + * @brief Accelerometer Y-axis user offset correction expressed in two's + * complement, weight depends on USR_OFF_W in CTRL6_C (15h). + * The value must be in the range [-127 127].[get] + * + * @param ctx read / write interface definitions + * @param buff buffer that stores data read + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_usr_offset_y_get(stmdev_ctx_t *ctx, uint8_t *buff) +{ + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_Y_OFS_USR, buff, 1); + + return ret; +} + +/** + * @brief Accelerometer Z-axis user offset correction expressed in two's + * complement, weight depends on USR_OFF_W in CTRL6_C (15h). + * The value must be in the range [-127 127].[set] + * + * @param ctx read / write interface definitions + * @param buff buffer that contains data to write + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_usr_offset_z_set(stmdev_ctx_t *ctx, uint8_t *buff) +{ + int32_t ret; + + ret = lsm6dso_write_reg(ctx, LSM6DSO_Z_OFS_USR, buff, 1); + + return ret; +} + +/** + * @brief Accelerometer Z-axis user offset correction expressed in two's + * complement, weight depends on USR_OFF_W in CTRL6_C (15h). + * The value must be in the range [-127 127].[get] + * + * @param ctx read / write interface definitions + * @param buff buffer that stores data read + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_usr_offset_z_get(stmdev_ctx_t *ctx, uint8_t *buff) +{ + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_Z_OFS_USR, buff, 1); + + return ret; +} + +/** + * @brief Enables user offset on out.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of usr_off_on_out in reg CTRL7_G + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_usr_offset_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_ctrl7_g_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL7_G, (uint8_t *)®, 1); + + if (ret == 0) { + reg.usr_off_on_out = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL7_G, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief User offset on out flag.[get] + * + * @param ctx read / write interface definitions + * @param val values of usr_off_on_out in reg CTRL7_G + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_usr_offset_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_ctrl7_g_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL7_G, (uint8_t *)®, 1); + *val = reg.usr_off_on_out; + + return ret; +} + +/** + * @} + * + */ + +/** + * @defgroup LSM6DSO_Timestamp + * @brief This section groups all the functions that manage the + * timestamp generation. + * @{ + * + */ + +/** + * @brief Reset timestamp counter.[set] + * + * @param ctx Read / write interface definitions.(ptr) + * @retval Interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_timestamp_rst(stmdev_ctx_t *ctx) +{ + uint8_t rst_val = 0xAA; + return lsm6dso_write_reg(ctx, LSM6DSO_TIMESTAMP2, &rst_val, 1); +} + +/** + * @brief Enables timestamp counter.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of timestamp_en in reg CTRL10_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_timestamp_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_ctrl10_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL10_C, (uint8_t *)®, 1); + + if (ret == 0) { + reg.timestamp_en = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL10_C, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Enables timestamp counter.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of timestamp_en in reg CTRL10_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_timestamp_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_ctrl10_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL10_C, (uint8_t *)®, 1); + *val = reg.timestamp_en; + + return ret; +} + +/** + * @brief Timestamp first data output register (r). + * The value is expressed as a 32-bit word and the bit + * resolution is 25 us.[get] + * + * @param ctx read / write interface definitions + * @param buff buffer that stores data read + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_timestamp_raw_get(stmdev_ctx_t *ctx, uint32_t *val) +{ + uint8_t buff[4]; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TIMESTAMP0, buff, 4); + *val = buff[3]; + *val = (*val * 256U) + buff[2]; + *val = (*val * 256U) + buff[1]; + *val = (*val * 256U) + buff[0]; + + return ret; +} + +/** + * @} + * + */ + +/** + * @defgroup LSM6DSO_Data output + * @brief This section groups all the data output functions. + * @{ + * + */ + +/** + * @brief Circular burst-mode (rounding) read of the output + * registers.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of rounding in reg CTRL5_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_rounding_mode_set(stmdev_ctx_t *ctx, lsm6dso_rounding_t val) +{ + lsm6dso_ctrl5_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL5_C, (uint8_t *)®, 1); + + if (ret == 0) { + reg.rounding = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL5_C, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Gyroscope UI chain full-scale selection.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of rounding in reg CTRL5_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_rounding_mode_get(stmdev_ctx_t *ctx, lsm6dso_rounding_t *val) +{ + lsm6dso_ctrl5_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL5_C, (uint8_t *)®, 1); + + switch (reg.rounding) { + case LSM6DSO_NO_ROUND: + *val = LSM6DSO_NO_ROUND; + break; + + case LSM6DSO_ROUND_XL: + *val = LSM6DSO_ROUND_XL; + break; + + case LSM6DSO_ROUND_GY: + *val = LSM6DSO_ROUND_GY; + break; + + case LSM6DSO_ROUND_GY_XL: + *val = LSM6DSO_ROUND_GY_XL; + break; + + default: + *val = LSM6DSO_NO_ROUND; + break; + } + + return ret; +} + +/** + * @brief Temperature data output register (r). + * L and H registers together express a 16-bit word in two's + * complement.[get] + * + * @param ctx read / write interface definitions + * @param buff buffer that stores data read + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_temperature_raw_get(stmdev_ctx_t *ctx, int16_t *val) +{ + uint8_t buff[2]; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_OUT_TEMP_L, buff, 2); + val[0] = (int16_t)buff[1]; + val[0] = (val[0] * 256) + (int16_t)buff[0]; + + return ret; +} + +/** + * @brief Angular rate sensor. The value is expressed as a 16-bit + * word in two's complement.[get] + * + * @param ctx read / write interface definitions + * @param buff buffer that stores data read + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_angular_rate_raw_get(stmdev_ctx_t *ctx, int16_t *val) +{ + uint8_t buff[6]; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_OUTX_L_G, buff, 6); + val[0] = (int16_t)buff[1]; + val[0] = (val[0] * 256) + (int16_t)buff[0]; + val[1] = (int16_t)buff[3]; + val[1] = (val[1] * 256) + (int16_t)buff[2]; + val[2] = (int16_t)buff[5]; + val[2] = (val[2] * 256) + (int16_t)buff[4]; + + return ret; +} + +/** + * @brief Linear acceleration output register. + * The value is expressed as a 16-bit word in two's complement.[get] + * + * @param ctx read / write interface definitions + * @param buff buffer that stores data read + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_acceleration_raw_get(stmdev_ctx_t *ctx, int16_t *val) +{ + uint8_t buff[6]; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_OUTX_L_A, buff, 6); + val[0] = (int16_t)buff[1]; + val[0] = (val[0] * 256) + (int16_t)buff[0]; + val[1] = (int16_t)buff[3]; + val[1] = (val[1] * 256) + (int16_t)buff[2]; + val[2] = (int16_t)buff[5]; + val[2] = (val[2] * 256) + (int16_t)buff[4]; + + return ret; +} + +/** + * @brief FIFO data output [get] + * + * @param ctx read / write interface definitions + * @param buff buffer that stores data read + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_out_raw_get(stmdev_ctx_t *ctx, uint8_t *buff) +{ + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_DATA_OUT_X_L, buff, 6); + + return ret; +} + +/** + * @brief Step counter output register.[get] + * + * @param ctx read / write interface definitions + * @param buff buffer that stores data read + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_number_of_steps_get(stmdev_ctx_t *ctx, uint16_t *val) +{ + uint8_t buff[2]; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_STEP_COUNTER_L, buff, 2); + } + + if (ret == 0) { + *val = buff[1]; + *val = (*val * 256U) + buff[0]; + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Reset step counter register.[get] + * + * @param ctx read / write interface definitions + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_steps_reset(stmdev_ctx_t *ctx) +{ + lsm6dso_emb_func_src_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_SRC, + (uint8_t *)®, 1); + } + + if (ret == 0) { + reg.pedo_rst_step = PROPERTY_ENABLE; + ret = lsm6dso_write_reg(ctx, LSM6DSO_EMB_FUNC_SRC, + (uint8_t *)®, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @} + * + */ + +/** + * @defgroup LSM6DSO_common + * @brief This section groups common useful functions. + * @{ + * + */ + +/** + * @brief Difference in percentage of the effective ODR(and timestamp rate) + * with respect to the typical. + * Step: 0.15%. 8-bit format, 2's complement.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of freq_fine in reg + * INTERNAL_FREQ_FINE + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_odr_cal_reg_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_internal_freq_fine_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_INTERNAL_FREQ_FINE, (uint8_t *)®, + 1); + + if (ret == 0) { + reg.freq_fine = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_INTERNAL_FREQ_FINE, + (uint8_t *)®, 1); + } + + return ret; +} + +/** + * @brief Difference in percentage of the effective ODR(and timestamp rate) + * with respect to the typical. + * Step: 0.15%. 8-bit format, 2's complement.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of freq_fine in reg INTERNAL_FREQ_FINE + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_odr_cal_reg_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_internal_freq_fine_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_INTERNAL_FREQ_FINE, (uint8_t *)®, + 1); + *val = reg.freq_fine; + + return ret; +} + +/** + * @brief Enable access to the embedded functions/sensor + * hub configuration registers.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of reg_access in + * reg FUNC_CFG_ACCESS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_mem_bank_set(stmdev_ctx_t *ctx, lsm6dso_reg_access_t val) +{ + lsm6dso_func_cfg_access_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FUNC_CFG_ACCESS, (uint8_t *)®, + 1); + + if (ret == 0) { + reg.reg_access = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_FUNC_CFG_ACCESS, + (uint8_t *)®, 1); + } + + return ret; +} + +/** + * @brief Enable access to the embedded functions/sensor + * hub configuration registers.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of reg_access in + * reg FUNC_CFG_ACCESS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_mem_bank_get(stmdev_ctx_t *ctx, lsm6dso_reg_access_t *val) +{ + lsm6dso_func_cfg_access_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FUNC_CFG_ACCESS, (uint8_t *)®, + 1); + + switch (reg.reg_access) { + case LSM6DSO_USER_BANK: + *val = LSM6DSO_USER_BANK; + break; + + case LSM6DSO_SENSOR_HUB_BANK: + *val = LSM6DSO_SENSOR_HUB_BANK; + break; + + case LSM6DSO_EMBEDDED_FUNC_BANK: + *val = LSM6DSO_EMBEDDED_FUNC_BANK; + break; + + default: + *val = LSM6DSO_USER_BANK; + break; + } + + return ret; +} + +/** + * @brief Write a line(byte) in a page.[set] + * + * @param ctx read / write interface definitions + * @param uint8_t address: page line address + * @param val value to write + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_ln_pg_write_byte(stmdev_ctx_t *ctx, uint16_t address, + uint8_t *val) +{ + lsm6dso_page_rw_t page_rw; + lsm6dso_page_sel_t page_sel; + lsm6dso_page_address_t page_address; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_PAGE_RW, + (uint8_t *)&page_rw, 1); + } + + if (ret == 0) { + page_rw.page_rw = 0x02; /* page_write enable */ + ret = lsm6dso_write_reg(ctx, LSM6DSO_PAGE_RW, + (uint8_t *)&page_rw, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_PAGE_SEL, + (uint8_t *)&page_sel, 1); + } + + if (ret == 0) { + page_sel.page_sel = ((uint8_t)(address >> 8) & 0x0FU); + page_sel.not_used_01 = 1; + ret = lsm6dso_write_reg(ctx, LSM6DSO_PAGE_SEL, + (uint8_t *)&page_sel, 1); + } + + if (ret == 0) { + page_address.page_addr = (uint8_t)address & 0xFFU; + ret = lsm6dso_write_reg(ctx, LSM6DSO_PAGE_ADDRESS, + (uint8_t *)&page_address, 1); + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_PAGE_VALUE, val, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_PAGE_RW, + (uint8_t *)&page_rw, 1); + } + + if (ret == 0) { + page_rw.page_rw = 0x00; /* page_write disable */ + ret = lsm6dso_write_reg(ctx, LSM6DSO_PAGE_RW, + (uint8_t *)&page_rw, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Write buffer in a page.[set] + * + * @param ctx read / write interface definitions + * @param uint8_t address: page line address + * @param uint8_t *buf: buffer to write + * @param uint8_t len: buffer len + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_ln_pg_write(stmdev_ctx_t *ctx, uint16_t address, uint8_t *buf, + uint8_t len) +{ + lsm6dso_page_rw_t page_rw; + lsm6dso_page_sel_t page_sel; + lsm6dso_page_address_t page_address; + uint16_t addr_pointed; + int32_t ret; + + uint8_t i; + addr_pointed = address; + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_PAGE_RW, + (uint8_t *)&page_rw, 1); + } + + if (ret == 0) { + page_rw.page_rw = 0x02; /* page_write enable*/ + ret = lsm6dso_write_reg(ctx, LSM6DSO_PAGE_RW, + (uint8_t *)&page_rw, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_PAGE_SEL, + (uint8_t *)&page_sel, 1); + } + + if (ret == 0) { + page_sel.page_sel = ((uint8_t)(addr_pointed >> 8) & 0x0FU); + page_sel.not_used_01 = 1; + ret = lsm6dso_write_reg(ctx, LSM6DSO_PAGE_SEL, + (uint8_t *)&page_sel, 1); + } + + if (ret == 0) { + page_address.page_addr = (uint8_t)(addr_pointed & 0x00FFU); + ret = lsm6dso_write_reg(ctx, LSM6DSO_PAGE_ADDRESS, + (uint8_t *)&page_address, 1); + } + + if (ret == 0) { + for (i = 0; ((i < len) && (ret == 0)); i++) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_PAGE_VALUE, + &buf[i], 1); + addr_pointed++; + + /* Check if page wrap */ + if (((addr_pointed % 0x0100U) == 0x00U) && (ret == 0)) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_PAGE_SEL, + (uint8_t *)&page_sel, 1); + + if (ret == 0) { + page_sel.page_sel = + ((uint8_t)(addr_pointed >> 8) & + 0x0FU); + page_sel.not_used_01 = 1; + ret = lsm6dso_write_reg( + ctx, LSM6DSO_PAGE_SEL, + (uint8_t *)&page_sel, 1); + } + } + } + + page_sel.page_sel = 0; + page_sel.not_used_01 = 1; + ret = lsm6dso_write_reg(ctx, LSM6DSO_PAGE_SEL, + (uint8_t *)&page_sel, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_PAGE_RW, + (uint8_t *)&page_rw, 1); + } + + if (ret == 0) { + page_rw.page_rw = 0x00; /* page_write disable */ + ret = lsm6dso_write_reg(ctx, LSM6DSO_PAGE_RW, + (uint8_t *)&page_rw, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Read a line(byte) in a page.[get] + * + * @param ctx read / write interface definitions + * @param uint8_t address: page line address + * @param val read value + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_ln_pg_read_byte(stmdev_ctx_t *ctx, uint16_t address, + uint8_t *val) +{ + lsm6dso_page_rw_t page_rw; + lsm6dso_page_sel_t page_sel; + lsm6dso_page_address_t page_address; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_PAGE_RW, + (uint8_t *)&page_rw, 1); + } + + if (ret == 0) { + page_rw.page_rw = 0x01; /* page_read enable*/ + ret = lsm6dso_write_reg(ctx, LSM6DSO_PAGE_RW, + (uint8_t *)&page_rw, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_PAGE_SEL, + (uint8_t *)&page_sel, 1); + } + + if (ret == 0) { + page_sel.page_sel = ((uint8_t)(address >> 8) & 0x0FU); + page_sel.not_used_01 = 1; + ret = lsm6dso_write_reg(ctx, LSM6DSO_PAGE_SEL, + (uint8_t *)&page_sel, 1); + } + + if (ret == 0) { + page_address.page_addr = (uint8_t)address & 0x00FFU; + ret = lsm6dso_write_reg(ctx, LSM6DSO_PAGE_ADDRESS, + (uint8_t *)&page_address, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_PAGE_VALUE, val, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_PAGE_RW, + (uint8_t *)&page_rw, 1); + } + + if (ret == 0) { + page_rw.page_rw = 0x00; /* page_read disable */ + ret = lsm6dso_write_reg(ctx, LSM6DSO_PAGE_RW, + (uint8_t *)&page_rw, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Data-ready pulsed / letched mode.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of + * dataready_pulsed in + * reg COUNTER_BDR_REG1 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_data_ready_mode_set(stmdev_ctx_t *ctx, + lsm6dso_dataready_pulsed_t val) +{ + lsm6dso_counter_bdr_reg1_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_COUNTER_BDR_REG1, (uint8_t *)®, + 1); + + if (ret == 0) { + reg.dataready_pulsed = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_COUNTER_BDR_REG1, + (uint8_t *)®, 1); + } + + return ret; +} + +/** + * @brief Data-ready pulsed / letched mode.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of + * dataready_pulsed in + * reg COUNTER_BDR_REG1 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_data_ready_mode_get(stmdev_ctx_t *ctx, + lsm6dso_dataready_pulsed_t *val) +{ + lsm6dso_counter_bdr_reg1_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_COUNTER_BDR_REG1, (uint8_t *)®, + 1); + + switch (reg.dataready_pulsed) { + case LSM6DSO_DRDY_LATCHED: + *val = LSM6DSO_DRDY_LATCHED; + break; + + case LSM6DSO_DRDY_PULSED: + *val = LSM6DSO_DRDY_PULSED; + break; + + default: + *val = LSM6DSO_DRDY_LATCHED; + break; + } + + return ret; +} + +/** + * @brief Device "Who am I".[get] + * + * @param ctx read / write interface definitions + * @param buff buffer that stores data read + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_device_id_get(stmdev_ctx_t *ctx, uint8_t *buff) +{ + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_WHO_AM_I, buff, 1); + + return ret; +} + +/** + * @brief Software reset. Restore the default values + * in user registers[set] + * + * @param ctx read / write interface definitions + * @param val change the values of sw_reset in reg CTRL3_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_reset_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_ctrl3_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_C, (uint8_t *)®, 1); + + if (ret == 0) { + reg.sw_reset = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL3_C, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Software reset. Restore the default values in user registers.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of sw_reset in reg CTRL3_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_reset_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_ctrl3_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_C, (uint8_t *)®, 1); + *val = reg.sw_reset; + + return ret; +} + +/** + * @brief Register address automatically incremented during a multiple byte + * access with a serial interface.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of if_inc in reg CTRL3_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_auto_increment_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_ctrl3_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_C, (uint8_t *)®, 1); + + if (ret == 0) { + reg.if_inc = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL3_C, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Register address automatically incremented during a multiple byte + * access with a serial interface.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of if_inc in reg CTRL3_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_auto_increment_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_ctrl3_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_C, (uint8_t *)®, 1); + *val = reg.if_inc; + + return ret; +} + +/** + * @brief Reboot memory content. Reload the calibration parameters.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of boot in reg CTRL3_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_boot_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_ctrl3_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_C, (uint8_t *)®, 1); + + if (ret == 0) { + reg.boot = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL3_C, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Reboot memory content. Reload the calibration parameters.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of boot in reg CTRL3_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_boot_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_ctrl3_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_C, (uint8_t *)®, 1); + *val = reg.boot; + + return ret; +} + +/** + * @brief Linear acceleration sensor self-test enable.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of st_xl in reg CTRL5_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_self_test_set(stmdev_ctx_t *ctx, lsm6dso_st_xl_t val) +{ + lsm6dso_ctrl5_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL5_C, (uint8_t *)®, 1); + + if (ret == 0) { + reg.st_xl = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL5_C, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Linear acceleration sensor self-test enable.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of st_xl in reg CTRL5_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_self_test_get(stmdev_ctx_t *ctx, lsm6dso_st_xl_t *val) +{ + lsm6dso_ctrl5_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL5_C, (uint8_t *)®, 1); + + switch (reg.st_xl) { + case LSM6DSO_XL_ST_DISABLE: + *val = LSM6DSO_XL_ST_DISABLE; + break; + + case LSM6DSO_XL_ST_POSITIVE: + *val = LSM6DSO_XL_ST_POSITIVE; + break; + + case LSM6DSO_XL_ST_NEGATIVE: + *val = LSM6DSO_XL_ST_NEGATIVE; + break; + + default: + *val = LSM6DSO_XL_ST_DISABLE; + break; + } + + return ret; +} + +/** + * @brief Angular rate sensor self-test enable.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of st_g in reg CTRL5_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_gy_self_test_set(stmdev_ctx_t *ctx, lsm6dso_st_g_t val) +{ + lsm6dso_ctrl5_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL5_C, (uint8_t *)®, 1); + + if (ret == 0) { + reg.st_g = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL5_C, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Angular rate sensor self-test enable.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of st_g in reg CTRL5_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_gy_self_test_get(stmdev_ctx_t *ctx, lsm6dso_st_g_t *val) +{ + lsm6dso_ctrl5_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL5_C, (uint8_t *)®, 1); + + switch (reg.st_g) { + case LSM6DSO_GY_ST_DISABLE: + *val = LSM6DSO_GY_ST_DISABLE; + break; + + case LSM6DSO_GY_ST_POSITIVE: + *val = LSM6DSO_GY_ST_POSITIVE; + break; + + case LSM6DSO_GY_ST_NEGATIVE: + *val = LSM6DSO_GY_ST_NEGATIVE; + break; + + default: + *val = LSM6DSO_GY_ST_DISABLE; + break; + } + + return ret; +} + +/** + * @} + * + */ + +/** + * @defgroup LSM6DSO_filters + * @brief This section group all the functions concerning the + * filters configuration + * @{ + * + */ + +/** + * @brief Accelerometer output from LPF2 filtering stage selection.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of lpf2_xl_en in reg CTRL1_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_filter_lp2_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_ctrl1_xl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL1_XL, (uint8_t *)®, 1); + + if (ret == 0) { + reg.lpf2_xl_en = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL1_XL, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Accelerometer output from LPF2 filtering stage selection.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of lpf2_xl_en in reg CTRL1_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_filter_lp2_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_ctrl1_xl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL1_XL, (uint8_t *)®, 1); + *val = reg.lpf2_xl_en; + + return ret; +} + +/** + * @brief Enables gyroscope digital LPF1 if auxiliary SPI is disabled; + * the bandwidth can be selected through FTYPE [2:0] + * in CTRL6_C (15h).[set] + * + * @param ctx read / write interface definitions + * @param val change the values of lpf1_sel_g in reg CTRL4_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_gy_filter_lp1_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_ctrl4_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL4_C, (uint8_t *)®, 1); + + if (ret == 0) { + reg.lpf1_sel_g = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL4_C, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Enables gyroscope digital LPF1 if auxiliary SPI is disabled; + * the bandwidth can be selected through FTYPE [2:0] + * in CTRL6_C (15h).[get] + * + * @param ctx read / write interface definitions + * @param val change the values of lpf1_sel_g in reg CTRL4_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_gy_filter_lp1_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_ctrl4_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL4_C, (uint8_t *)®, 1); + *val = reg.lpf1_sel_g; + + return ret; +} + +/** + * @brief Mask DRDY on pin (both XL & Gyro) until filter settling ends + * (XL and Gyro independently masked).[set] + * + * @param ctx read / write interface definitions + * @param val change the values of drdy_mask in reg CTRL4_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_filter_settling_mask_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_ctrl4_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL4_C, (uint8_t *)®, 1); + + if (ret == 0) { + reg.drdy_mask = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL4_C, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Mask DRDY on pin (both XL & Gyro) until filter settling ends + * (XL and Gyro independently masked).[get] + * + * @param ctx read / write interface definitions + * @param val change the values of drdy_mask in reg CTRL4_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_filter_settling_mask_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_ctrl4_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL4_C, (uint8_t *)®, 1); + *val = reg.drdy_mask; + + return ret; +} + +/** + * @brief Gyroscope lp1 bandwidth.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of ftype in reg CTRL6_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_gy_lp1_bandwidth_set(stmdev_ctx_t *ctx, lsm6dso_ftype_t val) +{ + lsm6dso_ctrl6_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL6_C, (uint8_t *)®, 1); + + if (ret == 0) { + reg.ftype = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL6_C, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Gyroscope lp1 bandwidth.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of ftype in reg CTRL6_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_gy_lp1_bandwidth_get(stmdev_ctx_t *ctx, lsm6dso_ftype_t *val) +{ + lsm6dso_ctrl6_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL6_C, (uint8_t *)®, 1); + + switch (reg.ftype) { + case LSM6DSO_ULTRA_LIGHT: + *val = LSM6DSO_ULTRA_LIGHT; + break; + + case LSM6DSO_VERY_LIGHT: + *val = LSM6DSO_VERY_LIGHT; + break; + + case LSM6DSO_LIGHT: + *val = LSM6DSO_LIGHT; + break; + + case LSM6DSO_MEDIUM: + *val = LSM6DSO_MEDIUM; + break; + + case LSM6DSO_STRONG: + *val = LSM6DSO_STRONG; + break; + + case LSM6DSO_VERY_STRONG: + *val = LSM6DSO_VERY_STRONG; + break; + + case LSM6DSO_AGGRESSIVE: + *val = LSM6DSO_AGGRESSIVE; + break; + + case LSM6DSO_XTREME: + *val = LSM6DSO_XTREME; + break; + + default: + *val = LSM6DSO_ULTRA_LIGHT; + break; + } + + return ret; +} + +/** + * @brief Low pass filter 2 on 6D function selection.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of low_pass_on_6d in reg CTRL8_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_lp2_on_6d_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_ctrl8_xl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL8_XL, (uint8_t *)®, 1); + + if (ret == 0) { + reg.low_pass_on_6d = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL8_XL, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Low pass filter 2 on 6D function selection.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of low_pass_on_6d in reg CTRL8_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_lp2_on_6d_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_ctrl8_xl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL8_XL, (uint8_t *)®, 1); + *val = reg.low_pass_on_6d; + + return ret; +} + +/** + * @brief Accelerometer slope filter / high-pass filter selection + * on output.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of hp_slope_xl_en + * in reg CTRL8_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_hp_path_on_out_set(stmdev_ctx_t *ctx, + lsm6dso_hp_slope_xl_en_t val) +{ + lsm6dso_ctrl8_xl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL8_XL, (uint8_t *)®, 1); + + if (ret == 0) { + reg.hp_slope_xl_en = ((uint8_t)val & 0x10U) >> 4; + reg.hp_ref_mode_xl = ((uint8_t)val & 0x20U) >> 5; + reg.hpcf_xl = (uint8_t)val & 0x07U; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL8_XL, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Accelerometer slope filter / high-pass filter selection + * on output.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of hp_slope_xl_en + * in reg CTRL8_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_hp_path_on_out_get(stmdev_ctx_t *ctx, + lsm6dso_hp_slope_xl_en_t *val) +{ + lsm6dso_ctrl8_xl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL8_XL, (uint8_t *)®, 1); + + switch ((reg.hp_ref_mode_xl << 5) | (reg.hp_slope_xl_en << 4) | + reg.hpcf_xl) { + case LSM6DSO_HP_PATH_DISABLE_ON_OUT: + *val = LSM6DSO_HP_PATH_DISABLE_ON_OUT; + break; + + case LSM6DSO_SLOPE_ODR_DIV_4: + *val = LSM6DSO_SLOPE_ODR_DIV_4; + break; + + case LSM6DSO_HP_ODR_DIV_10: + *val = LSM6DSO_HP_ODR_DIV_10; + break; + + case LSM6DSO_HP_ODR_DIV_20: + *val = LSM6DSO_HP_ODR_DIV_20; + break; + + case LSM6DSO_HP_ODR_DIV_45: + *val = LSM6DSO_HP_ODR_DIV_45; + break; + + case LSM6DSO_HP_ODR_DIV_100: + *val = LSM6DSO_HP_ODR_DIV_100; + break; + + case LSM6DSO_HP_ODR_DIV_200: + *val = LSM6DSO_HP_ODR_DIV_200; + break; + + case LSM6DSO_HP_ODR_DIV_400: + *val = LSM6DSO_HP_ODR_DIV_400; + break; + + case LSM6DSO_HP_ODR_DIV_800: + *val = LSM6DSO_HP_ODR_DIV_800; + break; + + case LSM6DSO_HP_REF_MD_ODR_DIV_10: + *val = LSM6DSO_HP_REF_MD_ODR_DIV_10; + break; + + case LSM6DSO_HP_REF_MD_ODR_DIV_20: + *val = LSM6DSO_HP_REF_MD_ODR_DIV_20; + break; + + case LSM6DSO_HP_REF_MD_ODR_DIV_45: + *val = LSM6DSO_HP_REF_MD_ODR_DIV_45; + break; + + case LSM6DSO_HP_REF_MD_ODR_DIV_100: + *val = LSM6DSO_HP_REF_MD_ODR_DIV_100; + break; + + case LSM6DSO_HP_REF_MD_ODR_DIV_200: + *val = LSM6DSO_HP_REF_MD_ODR_DIV_200; + break; + + case LSM6DSO_HP_REF_MD_ODR_DIV_400: + *val = LSM6DSO_HP_REF_MD_ODR_DIV_400; + break; + + case LSM6DSO_HP_REF_MD_ODR_DIV_800: + *val = LSM6DSO_HP_REF_MD_ODR_DIV_800; + break; + + case LSM6DSO_LP_ODR_DIV_10: + *val = LSM6DSO_LP_ODR_DIV_10; + break; + + case LSM6DSO_LP_ODR_DIV_20: + *val = LSM6DSO_LP_ODR_DIV_20; + break; + + case LSM6DSO_LP_ODR_DIV_45: + *val = LSM6DSO_LP_ODR_DIV_45; + break; + + case LSM6DSO_LP_ODR_DIV_100: + *val = LSM6DSO_LP_ODR_DIV_100; + break; + + case LSM6DSO_LP_ODR_DIV_200: + *val = LSM6DSO_LP_ODR_DIV_200; + break; + + case LSM6DSO_LP_ODR_DIV_400: + *val = LSM6DSO_LP_ODR_DIV_400; + break; + + case LSM6DSO_LP_ODR_DIV_800: + *val = LSM6DSO_LP_ODR_DIV_800; + break; + + default: + *val = LSM6DSO_HP_PATH_DISABLE_ON_OUT; + break; + } + + return ret; +} + +/** + * @brief Enables accelerometer LPF2 and HPF fast-settling mode. + * The filter sets the second samples after writing this bit. + * Active only during device exit from power-down mode.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of fastsettl_mode_xl in + * reg CTRL8_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_fast_settling_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_ctrl8_xl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL8_XL, (uint8_t *)®, 1); + + if (ret == 0) { + reg.fastsettl_mode_xl = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL8_XL, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Enables accelerometer LPF2 and HPF fast-settling mode. + * The filter sets the second samples after writing this bit. + * Active only during device exit from power-down mode.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of fastsettl_mode_xl in reg CTRL8_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_fast_settling_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_ctrl8_xl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL8_XL, (uint8_t *)®, 1); + *val = reg.fastsettl_mode_xl; + + return ret; +} + +/** + * @brief HPF or SLOPE filter selection on wake-up and Activity/Inactivity + * functions.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of slope_fds in reg TAP_CFG0 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_hp_path_internal_set(stmdev_ctx_t *ctx, + lsm6dso_slope_fds_t val) +{ + lsm6dso_tap_cfg0_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG0, (uint8_t *)®, 1); + + if (ret == 0) { + reg.slope_fds = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_TAP_CFG0, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief HPF or SLOPE filter selection on wake-up and Activity/Inactivity + * functions.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of slope_fds in reg TAP_CFG0 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_hp_path_internal_get(stmdev_ctx_t *ctx, + lsm6dso_slope_fds_t *val) +{ + lsm6dso_tap_cfg0_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG0, (uint8_t *)®, 1); + + switch (reg.slope_fds) { + case LSM6DSO_USE_SLOPE: + *val = LSM6DSO_USE_SLOPE; + break; + + case LSM6DSO_USE_HPF: + *val = LSM6DSO_USE_HPF; + break; + + default: + *val = LSM6DSO_USE_SLOPE; + break; + } + + return ret; +} + +/** + * @brief Enables gyroscope digital high-pass filter. The filter is + * enabled only if the gyro is in HP mode.[set] + * + * @param ctx read / write interface definitions + * @param val Get the values of hp_en_g and hp_en_g + * in reg CTRL7_G + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_gy_hp_path_internal_set(stmdev_ctx_t *ctx, lsm6dso_hpm_g_t val) +{ + lsm6dso_ctrl7_g_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL7_G, (uint8_t *)®, 1); + + if (ret == 0) { + reg.hp_en_g = ((uint8_t)val & 0x80U) >> 7; + reg.hpm_g = (uint8_t)val & 0x03U; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL7_G, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Enables gyroscope digital high-pass filter. The filter is + * enabled only if the gyro is in HP mode.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of hp_en_g and hp_en_g + * in reg CTRL7_G + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_gy_hp_path_internal_get(stmdev_ctx_t *ctx, lsm6dso_hpm_g_t *val) +{ + lsm6dso_ctrl7_g_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL7_G, (uint8_t *)®, 1); + + switch ((reg.hp_en_g << 7) + reg.hpm_g) { + case LSM6DSO_HP_FILTER_NONE: + *val = LSM6DSO_HP_FILTER_NONE; + break; + + case LSM6DSO_HP_FILTER_16mHz: + *val = LSM6DSO_HP_FILTER_16mHz; + break; + + case LSM6DSO_HP_FILTER_65mHz: + *val = LSM6DSO_HP_FILTER_65mHz; + break; + + case LSM6DSO_HP_FILTER_260mHz: + *val = LSM6DSO_HP_FILTER_260mHz; + break; + + case LSM6DSO_HP_FILTER_1Hz04: + *val = LSM6DSO_HP_FILTER_1Hz04; + break; + + default: + *val = LSM6DSO_HP_FILTER_NONE; + break; + } + + return ret; +} + +/** + * @} + * + */ + +/** + * @defgroup LSM6DSO_ Auxiliary_interface + * @brief This section groups all the functions concerning + * auxiliary interface. + * @{ + * + */ + +/** + * @brief aOn auxiliary interface connect/disconnect SDO and OCS + * internal pull-up.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of ois_pu_dis in + * reg PIN_CTRL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_sdo_ocs_mode_set(stmdev_ctx_t *ctx, + lsm6dso_ois_pu_dis_t val) +{ + lsm6dso_pin_ctrl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_PIN_CTRL, (uint8_t *)®, 1); + + if (ret == 0) { + reg.ois_pu_dis = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_PIN_CTRL, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief On auxiliary interface connect/disconnect SDO and OCS + * internal pull-up.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of ois_pu_dis in reg PIN_CTRL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_sdo_ocs_mode_get(stmdev_ctx_t *ctx, + lsm6dso_ois_pu_dis_t *val) +{ + lsm6dso_pin_ctrl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_PIN_CTRL, (uint8_t *)®, 1); + + switch (reg.ois_pu_dis) { + case LSM6DSO_AUX_PULL_UP_DISC: + *val = LSM6DSO_AUX_PULL_UP_DISC; + break; + + case LSM6DSO_AUX_PULL_UP_CONNECT: + *val = LSM6DSO_AUX_PULL_UP_CONNECT; + break; + + default: + *val = LSM6DSO_AUX_PULL_UP_DISC; + break; + } + + return ret; +} + +/** + * @brief OIS chain on aux interface power on mode.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of ois_on in reg CTRL7_G + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_pw_on_ctrl_set(stmdev_ctx_t *ctx, lsm6dso_ois_on_t val) +{ + lsm6dso_ctrl7_g_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL7_G, (uint8_t *)®, 1); + + if (ret == 0) { + reg.ois_on_en = (uint8_t)val & 0x01U; + reg.ois_on = (uint8_t)val & 0x01U; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL7_G, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief aux_pw_on_ctrl: [get] OIS chain on aux interface power on mode + * + * @param ctx read / write interface definitions + * @param val Get the values of ois_on in reg CTRL7_G + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_pw_on_ctrl_get(stmdev_ctx_t *ctx, lsm6dso_ois_on_t *val) +{ + lsm6dso_ctrl7_g_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL7_G, (uint8_t *)®, 1); + + switch (reg.ois_on) { + case LSM6DSO_AUX_ON: + *val = LSM6DSO_AUX_ON; + break; + + case LSM6DSO_AUX_ON_BY_AUX_INTERFACE: + *val = LSM6DSO_AUX_ON_BY_AUX_INTERFACE; + break; + + default: + *val = LSM6DSO_AUX_ON; + break; + } + + return ret; +} + +/** + * @brief Accelerometer full-scale management between UI chain and + * OIS chain. When XL UI is on, the full scale is the same + * between UI/OIS and is chosen by the UI CTRL registers; + * when XL UI is in PD, the OIS can choose the FS. + * Full scales are independent between the UI/OIS chain + * but both bound to 8 g.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of xl_fs_mode in + * reg CTRL8_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_xl_fs_mode_set(stmdev_ctx_t *ctx, lsm6dso_xl_fs_mode_t val) +{ + lsm6dso_ctrl8_xl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL8_XL, (uint8_t *)®, 1); + + if (ret == 0) { + reg.xl_fs_mode = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL8_XL, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Accelerometer full-scale management between UI chain and + * OIS chain. When XL UI is on, the full scale is the same + * between UI/OIS and is chosen by the UI CTRL registers; + * when XL UI is in PD, the OIS can choose the FS. + * Full scales are independent between the UI/OIS chain + * but both bound to 8 g.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of xl_fs_mode in reg CTRL8_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_xl_fs_mode_get(stmdev_ctx_t *ctx, lsm6dso_xl_fs_mode_t *val) +{ + lsm6dso_ctrl8_xl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL8_XL, (uint8_t *)®, 1); + + switch (reg.xl_fs_mode) { + case LSM6DSO_USE_SAME_XL_FS: + *val = LSM6DSO_USE_SAME_XL_FS; + break; + + case LSM6DSO_USE_DIFFERENT_XL_FS: + *val = LSM6DSO_USE_DIFFERENT_XL_FS; + break; + + default: + *val = LSM6DSO_USE_SAME_XL_FS; + break; + } + + return ret; +} + +/** + * @brief The STATUS_SPIAux register is read by the auxiliary SPI.[get] + * + * @param ctx read / write interface definitions + * @param lsm6dso_status_spiaux_t: registers STATUS_SPIAUX + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_status_reg_get(stmdev_ctx_t *ctx, + lsm6dso_status_spiaux_t *val) +{ + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_STATUS_SPIAUX, (uint8_t *)val, 1); + + return ret; +} + +/** + * @brief aux_xl_flag_data_ready: [get] AUX accelerometer data available + * + * @param ctx read / write interface definitions + * @param val change the values of xlda in reg STATUS_SPIAUX + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_xl_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_status_spiaux_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_STATUS_SPIAUX, (uint8_t *)®, 1); + *val = reg.xlda; + + return ret; +} + +/** + * @brief aux_gy_flag_data_ready: [get] AUX gyroscope data available. + * + * @param ctx read / write interface definitions + * @param val change the values of gda in reg STATUS_SPIAUX + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_gy_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_status_spiaux_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_STATUS_SPIAUX, (uint8_t *)®, 1); + *val = reg.gda; + + return ret; +} + +/** + * @brief High when the gyroscope output is in the settling phase.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of gyro_settling in reg STATUS_SPIAUX + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_gy_flag_settling_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_status_spiaux_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_STATUS_SPIAUX, (uint8_t *)®, 1); + *val = reg.gyro_settling; + + return ret; +} + +/** + * @brief Selects accelerometer self-test. Effective only if XL OIS + * chain is enabled.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of st_xl_ois in reg INT_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_xl_self_test_set(stmdev_ctx_t *ctx, lsm6dso_st_xl_ois_t val) +{ + lsm6dso_int_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_INT_OIS, (uint8_t *)®, 1); + + if (ret == 0) { + reg.st_xl_ois = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_INT_OIS, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Selects accelerometer self-test. Effective only if XL OIS + * chain is enabled.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of st_xl_ois in reg INT_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_xl_self_test_get(stmdev_ctx_t *ctx, + lsm6dso_st_xl_ois_t *val) +{ + lsm6dso_int_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_INT_OIS, (uint8_t *)®, 1); + + switch (reg.st_xl_ois) { + case LSM6DSO_AUX_XL_DISABLE: + *val = LSM6DSO_AUX_XL_DISABLE; + break; + + case LSM6DSO_AUX_XL_POS: + *val = LSM6DSO_AUX_XL_POS; + break; + + case LSM6DSO_AUX_XL_NEG: + *val = LSM6DSO_AUX_XL_NEG; + break; + + default: + *val = LSM6DSO_AUX_XL_DISABLE; + break; + } + + return ret; +} + +/** + * @brief Indicates polarity of DEN signal on OIS chain.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of den_lh_ois in + * reg INT_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_den_polarity_set(stmdev_ctx_t *ctx, + lsm6dso_den_lh_ois_t val) +{ + lsm6dso_int_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_INT_OIS, (uint8_t *)®, 1); + + if (ret == 0) { + reg.den_lh_ois = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_INT_OIS, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Indicates polarity of DEN signal on OIS chain.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of den_lh_ois in reg INT_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_den_polarity_get(stmdev_ctx_t *ctx, + lsm6dso_den_lh_ois_t *val) +{ + lsm6dso_int_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_INT_OIS, (uint8_t *)®, 1); + + switch (reg.den_lh_ois) { + case LSM6DSO_AUX_DEN_ACTIVE_LOW: + *val = LSM6DSO_AUX_DEN_ACTIVE_LOW; + break; + + case LSM6DSO_AUX_DEN_ACTIVE_HIGH: + *val = LSM6DSO_AUX_DEN_ACTIVE_HIGH; + break; + + default: + *val = LSM6DSO_AUX_DEN_ACTIVE_LOW; + break; + } + + return ret; +} + +/** + * @brief Configure DEN mode on the OIS chain.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of lvl2_ois in reg INT_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_den_mode_set(stmdev_ctx_t *ctx, lsm6dso_lvl2_ois_t val) +{ + lsm6dso_ctrl1_ois_t ctrl1_ois; + lsm6dso_int_ois_t int_ois; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_INT_OIS, (uint8_t *)&int_ois, 1); + + if (ret == 0) { + int_ois.lvl2_ois = (uint8_t)val & 0x01U; + ret = lsm6dso_write_reg(ctx, LSM6DSO_INT_OIS, + (uint8_t *)&int_ois, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL1_OIS, + (uint8_t *)&ctrl1_ois, 1); + } + + if (ret == 0) { + ctrl1_ois.lvl1_ois = ((uint8_t)val & 0x02U) >> 1; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL1_OIS, + (uint8_t *)&ctrl1_ois, 1); + } + + return ret; +} + +/** + * @brief Configure DEN mode on the OIS chain.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of lvl2_ois in reg INT_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_den_mode_get(stmdev_ctx_t *ctx, lsm6dso_lvl2_ois_t *val) +{ + lsm6dso_ctrl1_ois_t ctrl1_ois; + lsm6dso_int_ois_t int_ois; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_INT_OIS, (uint8_t *)&int_ois, 1); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL1_OIS, + (uint8_t *)&ctrl1_ois, 1); + + switch ((ctrl1_ois.lvl1_ois << 1) + int_ois.lvl2_ois) { + case LSM6DSO_AUX_DEN_DISABLE: + *val = LSM6DSO_AUX_DEN_DISABLE; + break; + + case LSM6DSO_AUX_DEN_LEVEL_LATCH: + *val = LSM6DSO_AUX_DEN_LEVEL_LATCH; + break; + + case LSM6DSO_AUX_DEN_LEVEL_TRIG: + *val = LSM6DSO_AUX_DEN_LEVEL_TRIG; + break; + + default: + *val = LSM6DSO_AUX_DEN_DISABLE; + break; + } + } + + return ret; +} + +/** + * @brief Enables/Disable OIS chain DRDY on INT2 pin. + * This setting has priority over all other INT2 settings.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of int2_drdy_ois in reg INT_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_drdy_on_int2_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_int_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_INT_OIS, (uint8_t *)®, 1); + + if (ret == 0) { + reg.int2_drdy_ois = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_INT_OIS, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Enables/Disable OIS chain DRDY on INT2 pin. + * This setting has priority over all other INT2 settings.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of int2_drdy_ois in reg INT_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_drdy_on_int2_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_int_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_INT_OIS, (uint8_t *)®, 1); + *val = reg.int2_drdy_ois; + + return ret; +} + +/** + * @brief Enables OIS chain data processing for gyro in Mode 3 and Mode 4 + * (mode4_en = 1) and accelerometer data in and Mode 4 (mode4_en = 1). + * When the OIS chain is enabled, the OIS outputs are available + * through the SPI2 in registers OUTX_L_G (22h) through + * OUTZ_H_G (27h) and STATUS_REG (1Eh) / STATUS_SPIAux, and + * LPF1 is dedicated to this chain.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of ois_en_spi2 in + * reg CTRL1_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_mode_set(stmdev_ctx_t *ctx, lsm6dso_ois_en_spi2_t val) +{ + lsm6dso_ctrl1_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL1_OIS, (uint8_t *)®, 1); + + if (ret == 0) { + reg.ois_en_spi2 = (uint8_t)val & 0x01U; + reg.mode4_en = ((uint8_t)val & 0x02U) >> 1; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL1_OIS, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Enables OIS chain data processing for gyro in Mode 3 and Mode 4 + * (mode4_en = 1) and accelerometer data in and Mode 4 (mode4_en = 1). + * When the OIS chain is enabled, the OIS outputs are available + * through the SPI2 in registers OUTX_L_G (22h) through + * OUTZ_H_G (27h) and STATUS_REG (1Eh) / STATUS_SPIAux, and + * LPF1 is dedicated to this chain.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of ois_en_spi2 in + * reg CTRL1_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_mode_get(stmdev_ctx_t *ctx, lsm6dso_ois_en_spi2_t *val) +{ + lsm6dso_ctrl1_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL1_OIS, (uint8_t *)®, 1); + + switch ((reg.mode4_en << 1) | reg.ois_en_spi2) { + case LSM6DSO_AUX_DISABLE: + *val = LSM6DSO_AUX_DISABLE; + break; + + case LSM6DSO_MODE_3_GY: + *val = LSM6DSO_MODE_3_GY; + break; + + case LSM6DSO_MODE_4_GY_XL: + *val = LSM6DSO_MODE_4_GY_XL; + break; + + default: + *val = LSM6DSO_AUX_DISABLE; + break; + } + + return ret; +} + +/** + * @brief Selects gyroscope OIS chain full-scale.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of fs_g_ois in reg CTRL1_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_gy_full_scale_set(stmdev_ctx_t *ctx, lsm6dso_fs_g_ois_t val) +{ + lsm6dso_ctrl1_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL1_OIS, (uint8_t *)®, 1); + + if (ret == 0) { + reg.fs_g_ois = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL1_OIS, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Selects gyroscope OIS chain full-scale.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of fs_g_ois in reg CTRL1_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_gy_full_scale_get(stmdev_ctx_t *ctx, + lsm6dso_fs_g_ois_t *val) +{ + lsm6dso_ctrl1_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL1_OIS, (uint8_t *)®, 1); + + switch (reg.fs_g_ois) { + case LSM6DSO_250dps_AUX: + *val = LSM6DSO_250dps_AUX; + break; + + case LSM6DSO_125dps_AUX: + *val = LSM6DSO_125dps_AUX; + break; + + case LSM6DSO_500dps_AUX: + *val = LSM6DSO_500dps_AUX; + break; + + case LSM6DSO_1000dps_AUX: + *val = LSM6DSO_1000dps_AUX; + break; + + case LSM6DSO_2000dps_AUX: + *val = LSM6DSO_2000dps_AUX; + break; + + default: + *val = LSM6DSO_250dps_AUX; + break; + } + + return ret; +} + +/** + * @brief SPI2 3- or 4-wire interface.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of sim_ois in reg CTRL1_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_spi_mode_set(stmdev_ctx_t *ctx, lsm6dso_sim_ois_t val) +{ + lsm6dso_ctrl1_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL1_OIS, (uint8_t *)®, 1); + + if (ret == 0) { + reg.sim_ois = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL1_OIS, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief SPI2 3- or 4-wire interface.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of sim_ois in reg CTRL1_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_spi_mode_get(stmdev_ctx_t *ctx, lsm6dso_sim_ois_t *val) +{ + lsm6dso_ctrl1_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL1_OIS, (uint8_t *)®, 1); + + switch (reg.sim_ois) { + case LSM6DSO_AUX_SPI_4_WIRE: + *val = LSM6DSO_AUX_SPI_4_WIRE; + break; + + case LSM6DSO_AUX_SPI_3_WIRE: + *val = LSM6DSO_AUX_SPI_3_WIRE; + break; + + default: + *val = LSM6DSO_AUX_SPI_4_WIRE; + break; + } + + return ret; +} + +/** + * @brief Selects gyroscope digital LPF1 filter bandwidth.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of ftype_ois in + * reg CTRL2_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_gy_lp1_bandwidth_set(stmdev_ctx_t *ctx, + lsm6dso_ftype_ois_t val) +{ + lsm6dso_ctrl2_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL2_OIS, (uint8_t *)®, 1); + + if (ret == 0) { + reg.ftype_ois = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL2_OIS, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Selects gyroscope digital LPF1 filter bandwidth.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of ftype_ois in reg CTRL2_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_gy_lp1_bandwidth_get(stmdev_ctx_t *ctx, + lsm6dso_ftype_ois_t *val) +{ + lsm6dso_ctrl2_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL2_OIS, (uint8_t *)®, 1); + + switch (reg.ftype_ois) { + case LSM6DSO_351Hz39: + *val = LSM6DSO_351Hz39; + break; + + case LSM6DSO_236Hz63: + *val = LSM6DSO_236Hz63; + break; + + case LSM6DSO_172Hz70: + *val = LSM6DSO_172Hz70; + break; + + case LSM6DSO_937Hz91: + *val = LSM6DSO_937Hz91; + break; + + default: + *val = LSM6DSO_351Hz39; + break; + } + + return ret; +} + +/** + * @brief Selects gyroscope OIS chain digital high-pass filter cutoff.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of hpm_ois in reg CTRL2_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_gy_hp_bandwidth_set(stmdev_ctx_t *ctx, + lsm6dso_hpm_ois_t val) +{ + lsm6dso_ctrl2_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL2_OIS, (uint8_t *)®, 1); + + if (ret == 0) { + reg.hpm_ois = (uint8_t)val & 0x03U; + reg.hp_en_ois = ((uint8_t)val & 0x10U) >> 4; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL2_OIS, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Selects gyroscope OIS chain digital high-pass filter cutoff.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of hpm_ois in reg CTRL2_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_gy_hp_bandwidth_get(stmdev_ctx_t *ctx, + lsm6dso_hpm_ois_t *val) +{ + lsm6dso_ctrl2_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL2_OIS, (uint8_t *)®, 1); + + switch ((reg.hp_en_ois << 4) | reg.hpm_ois) { + case LSM6DSO_AUX_HP_DISABLE: + *val = LSM6DSO_AUX_HP_DISABLE; + break; + + case LSM6DSO_AUX_HP_Hz016: + *val = LSM6DSO_AUX_HP_Hz016; + break; + + case LSM6DSO_AUX_HP_Hz065: + *val = LSM6DSO_AUX_HP_Hz065; + break; + + case LSM6DSO_AUX_HP_Hz260: + *val = LSM6DSO_AUX_HP_Hz260; + break; + + case LSM6DSO_AUX_HP_1Hz040: + *val = LSM6DSO_AUX_HP_1Hz040; + break; + + default: + *val = LSM6DSO_AUX_HP_DISABLE; + break; + } + + return ret; +} + +/** + * @brief Enable / Disables OIS chain clamp. + * Enable: All OIS chain outputs = 8000h + * during self-test; Disable: OIS chain self-test + * outputs dependent from the aux gyro full + * scale selected.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of st_ois_clampdis in + * reg CTRL3_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_gy_clamp_set(stmdev_ctx_t *ctx, + lsm6dso_st_ois_clampdis_t val) +{ + lsm6dso_ctrl3_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_OIS, (uint8_t *)®, 1); + + if (ret == 0) { + reg.st_ois_clampdis = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL3_OIS, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Enable / Disables OIS chain clamp. + * Enable: All OIS chain outputs = 8000h + * during self-test; Disable: OIS chain self-test + * outputs dependent from the aux gyro full + * scale selected.[set] + * + * @param ctx read / write interface definitions + * @param val Get the values of st_ois_clampdis in + * reg CTRL3_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_gy_clamp_get(stmdev_ctx_t *ctx, + lsm6dso_st_ois_clampdis_t *val) +{ + lsm6dso_ctrl3_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_OIS, (uint8_t *)®, 1); + + switch (reg.st_ois_clampdis) { + case LSM6DSO_ENABLE_CLAMP: + *val = LSM6DSO_ENABLE_CLAMP; + break; + + case LSM6DSO_DISABLE_CLAMP: + *val = LSM6DSO_DISABLE_CLAMP; + break; + + default: + *val = LSM6DSO_ENABLE_CLAMP; + break; + } + + return ret; +} + +/** + * @brief Selects gyroscope OIS chain self-test.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of st_ois in reg CTRL3_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_gy_self_test_set(stmdev_ctx_t *ctx, lsm6dso_st_ois_t val) +{ + lsm6dso_ctrl3_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_OIS, (uint8_t *)®, 1); + + if (ret == 0) { + reg.st_ois = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL3_OIS, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Selects gyroscope OIS chain self-test.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of st_ois in reg CTRL3_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_gy_self_test_get(stmdev_ctx_t *ctx, lsm6dso_st_ois_t *val) +{ + lsm6dso_ctrl3_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_OIS, (uint8_t *)®, 1); + + switch (reg.st_ois) { + case LSM6DSO_AUX_GY_DISABLE: + *val = LSM6DSO_AUX_GY_DISABLE; + break; + + case LSM6DSO_AUX_GY_POS: + *val = LSM6DSO_AUX_GY_POS; + break; + + case LSM6DSO_AUX_GY_NEG: + *val = LSM6DSO_AUX_GY_NEG; + break; + + default: + *val = LSM6DSO_AUX_GY_DISABLE; + break; + } + + return ret; +} + +/** + * @brief Selects accelerometer OIS channel bandwidth.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of + * filter_xl_conf_ois in reg CTRL3_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_xl_bandwidth_set(stmdev_ctx_t *ctx, + lsm6dso_filter_xl_conf_ois_t val) +{ + lsm6dso_ctrl3_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_OIS, (uint8_t *)®, 1); + + if (ret == 0) { + reg.filter_xl_conf_ois = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL3_OIS, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Selects accelerometer OIS channel bandwidth.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of + * filter_xl_conf_ois in reg CTRL3_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_xl_bandwidth_get(stmdev_ctx_t *ctx, + lsm6dso_filter_xl_conf_ois_t *val) +{ + lsm6dso_ctrl3_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_OIS, (uint8_t *)®, 1); + + switch (reg.filter_xl_conf_ois) { + case LSM6DSO_289Hz: + *val = LSM6DSO_289Hz; + break; + + case LSM6DSO_258Hz: + *val = LSM6DSO_258Hz; + break; + + case LSM6DSO_120Hz: + *val = LSM6DSO_120Hz; + break; + + case LSM6DSO_65Hz2: + *val = LSM6DSO_65Hz2; + break; + + case LSM6DSO_33Hz2: + *val = LSM6DSO_33Hz2; + break; + + case LSM6DSO_16Hz6: + *val = LSM6DSO_16Hz6; + break; + + case LSM6DSO_8Hz30: + *val = LSM6DSO_8Hz30; + break; + + case LSM6DSO_4Hz15: + *val = LSM6DSO_4Hz15; + break; + + default: + *val = LSM6DSO_289Hz; + break; + } + + return ret; +} + +/** + * @brief Selects accelerometer OIS channel full-scale.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of fs_xl_ois in + * reg CTRL3_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_xl_full_scale_set(stmdev_ctx_t *ctx, + lsm6dso_fs_xl_ois_t val) +{ + lsm6dso_ctrl3_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_OIS, (uint8_t *)®, 1); + + if (ret == 0) { + reg.fs_xl_ois = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL3_OIS, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Selects accelerometer OIS channel full-scale.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of fs_xl_ois in reg CTRL3_OIS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_aux_xl_full_scale_get(stmdev_ctx_t *ctx, + lsm6dso_fs_xl_ois_t *val) +{ + lsm6dso_ctrl3_ois_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_OIS, (uint8_t *)®, 1); + + switch (reg.fs_xl_ois) { + case LSM6DSO_AUX_2g: + *val = LSM6DSO_AUX_2g; + break; + + case LSM6DSO_AUX_16g: + *val = LSM6DSO_AUX_16g; + break; + + case LSM6DSO_AUX_4g: + *val = LSM6DSO_AUX_4g; + break; + + case LSM6DSO_AUX_8g: + *val = LSM6DSO_AUX_8g; + break; + + default: + *val = LSM6DSO_AUX_2g; + break; + } + + return ret; +} + +/** + * @} + * + */ + +/** + * @defgroup LSM6DSO_ main_serial_interface + * @brief This section groups all the functions concerning main + * serial interface management (not auxiliary) + * @{ + * + */ + +/** + * @brief Connect/Disconnect SDO/SA0 internal pull-up.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of sdo_pu_en in + * reg PIN_CTRL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sdo_sa0_mode_set(stmdev_ctx_t *ctx, lsm6dso_sdo_pu_en_t val) +{ + lsm6dso_pin_ctrl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_PIN_CTRL, (uint8_t *)®, 1); + + if (ret == 0) { + reg.sdo_pu_en = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_PIN_CTRL, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Connect/Disconnect SDO/SA0 internal pull-up.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of sdo_pu_en in reg PIN_CTRL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sdo_sa0_mode_get(stmdev_ctx_t *ctx, lsm6dso_sdo_pu_en_t *val) +{ + lsm6dso_pin_ctrl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_PIN_CTRL, (uint8_t *)®, 1); + + switch (reg.sdo_pu_en) { + case LSM6DSO_PULL_UP_DISC: + *val = LSM6DSO_PULL_UP_DISC; + break; + + case LSM6DSO_PULL_UP_CONNECT: + *val = LSM6DSO_PULL_UP_CONNECT; + break; + + default: + *val = LSM6DSO_PULL_UP_DISC; + break; + } + + return ret; +} + +/** + * @brief SPI Serial Interface Mode selection.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of sim in reg CTRL3_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_spi_mode_set(stmdev_ctx_t *ctx, lsm6dso_sim_t val) +{ + lsm6dso_ctrl3_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_C, (uint8_t *)®, 1); + + if (ret == 0) { + reg.sim = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL3_C, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief SPI Serial Interface Mode selection.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of sim in reg CTRL3_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_spi_mode_get(stmdev_ctx_t *ctx, lsm6dso_sim_t *val) +{ + lsm6dso_ctrl3_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_C, (uint8_t *)®, 1); + + switch (reg.sim) { + case LSM6DSO_SPI_4_WIRE: + *val = LSM6DSO_SPI_4_WIRE; + break; + + case LSM6DSO_SPI_3_WIRE: + *val = LSM6DSO_SPI_3_WIRE; + break; + + default: + *val = LSM6DSO_SPI_4_WIRE; + break; + } + + return ret; +} + +/** + * @brief Disable / Enable I2C interface.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of i2c_disable in + * reg CTRL4_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_i2c_interface_set(stmdev_ctx_t *ctx, lsm6dso_i2c_disable_t val) +{ + lsm6dso_ctrl4_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL4_C, (uint8_t *)®, 1); + + if (ret == 0) { + reg.i2c_disable = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL4_C, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Disable / Enable I2C interface.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of i2c_disable in + * reg CTRL4_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_i2c_interface_get(stmdev_ctx_t *ctx, lsm6dso_i2c_disable_t *val) +{ + lsm6dso_ctrl4_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL4_C, (uint8_t *)®, 1); + + switch (reg.i2c_disable) { + case LSM6DSO_I2C_ENABLE: + *val = LSM6DSO_I2C_ENABLE; + break; + + case LSM6DSO_I2C_DISABLE: + *val = LSM6DSO_I2C_DISABLE; + break; + + default: + *val = LSM6DSO_I2C_ENABLE; + break; + } + + return ret; +} + +/** + * @brief I3C Enable/Disable communication protocol[.set] + * + * @param ctx read / write interface definitions + * @param val change the values of i3c_disable + * in reg CTRL9_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_i3c_disable_set(stmdev_ctx_t *ctx, lsm6dso_i3c_disable_t val) +{ + lsm6dso_i3c_bus_avb_t i3c_bus_avb; + lsm6dso_ctrl9_xl_t ctrl9_xl; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL9_XL, (uint8_t *)&ctrl9_xl, 1); + + if (ret == 0) { + ctrl9_xl.i3c_disable = ((uint8_t)val & 0x80U) >> 7; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL9_XL, + (uint8_t *)&ctrl9_xl, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_I3C_BUS_AVB, + (uint8_t *)&i3c_bus_avb, 1); + } + + if (ret == 0) { + i3c_bus_avb.i3c_bus_avb_sel = (uint8_t)val & 0x03U; + ret = lsm6dso_write_reg(ctx, LSM6DSO_I3C_BUS_AVB, + (uint8_t *)&i3c_bus_avb, 1); + } + + return ret; +} + +/** + * @brief I3C Enable/Disable communication protocol.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of i3c_disable in + * reg CTRL9_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_i3c_disable_get(stmdev_ctx_t *ctx, lsm6dso_i3c_disable_t *val) +{ + lsm6dso_ctrl9_xl_t ctrl9_xl; + lsm6dso_i3c_bus_avb_t i3c_bus_avb; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL9_XL, (uint8_t *)&ctrl9_xl, 1); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_I3C_BUS_AVB, + (uint8_t *)&i3c_bus_avb, 1); + + switch ((ctrl9_xl.i3c_disable << 7) | + i3c_bus_avb.i3c_bus_avb_sel) { + case LSM6DSO_I3C_DISABLE: + *val = LSM6DSO_I3C_DISABLE; + break; + + case LSM6DSO_I3C_ENABLE_T_50us: + *val = LSM6DSO_I3C_ENABLE_T_50us; + break; + + case LSM6DSO_I3C_ENABLE_T_2us: + *val = LSM6DSO_I3C_ENABLE_T_2us; + break; + + case LSM6DSO_I3C_ENABLE_T_1ms: + *val = LSM6DSO_I3C_ENABLE_T_1ms; + break; + + case LSM6DSO_I3C_ENABLE_T_25ms: + *val = LSM6DSO_I3C_ENABLE_T_25ms; + break; + + default: + *val = LSM6DSO_I3C_DISABLE; + break; + } + } + + return ret; +} + +/** + * @} + * + */ + +/** + * @defgroup LSM6DSO_interrupt_pins + * @brief This section groups all the functions that manage interrupt pins + * @{ + * + */ + +/** + * @brief Connect/Disconnect INT1 internal pull-down.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of pd_dis_int1 in reg I3C_BUS_AVB + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_int1_mode_set(stmdev_ctx_t *ctx, lsm6dso_int1_pd_en_t val) +{ + lsm6dso_i3c_bus_avb_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_I3C_BUS_AVB, (uint8_t *)®, 1); + + if (ret == 0) { + reg.pd_dis_int1 = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_I3C_BUS_AVB, + (uint8_t *)®, 1); + } + + return ret; +} + +/** + * @brief Connect/Disconnect INT1 internal pull-down.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of pd_dis_int1 in reg I3C_BUS_AVB + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_int1_mode_get(stmdev_ctx_t *ctx, lsm6dso_int1_pd_en_t *val) +{ + lsm6dso_i3c_bus_avb_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_I3C_BUS_AVB, (uint8_t *)®, 1); + + switch (reg.pd_dis_int1) { + case LSM6DSO_PULL_DOWN_DISC: + *val = LSM6DSO_PULL_DOWN_DISC; + break; + + case LSM6DSO_PULL_DOWN_CONNECT: + *val = LSM6DSO_PULL_DOWN_CONNECT; + break; + + default: + *val = LSM6DSO_PULL_DOWN_DISC; + break; + } + + return ret; +} + +/** + * @brief Push-pull/open drain selection on interrupt pads.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of pp_od in reg CTRL3_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_pin_mode_set(stmdev_ctx_t *ctx, lsm6dso_pp_od_t val) +{ + lsm6dso_ctrl3_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_C, (uint8_t *)®, 1); + + if (ret == 0) { + reg.pp_od = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL3_C, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Push-pull/open drain selection on interrupt pads.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of pp_od in reg CTRL3_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_pin_mode_get(stmdev_ctx_t *ctx, lsm6dso_pp_od_t *val) +{ + lsm6dso_ctrl3_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_C, (uint8_t *)®, 1); + + switch (reg.pp_od) { + case LSM6DSO_PUSH_PULL: + *val = LSM6DSO_PUSH_PULL; + break; + + case LSM6DSO_OPEN_DRAIN: + *val = LSM6DSO_OPEN_DRAIN; + break; + + default: + *val = LSM6DSO_PUSH_PULL; + break; + } + + return ret; +} + +/** + * @brief Interrupt active-high/low.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of h_lactive in reg CTRL3_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_pin_polarity_set(stmdev_ctx_t *ctx, lsm6dso_h_lactive_t val) +{ + lsm6dso_ctrl3_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_C, (uint8_t *)®, 1); + + if (ret == 0) { + reg.h_lactive = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL3_C, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Interrupt active-high/low.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of h_lactive in reg CTRL3_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_pin_polarity_get(stmdev_ctx_t *ctx, lsm6dso_h_lactive_t *val) +{ + lsm6dso_ctrl3_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_C, (uint8_t *)®, 1); + + switch (reg.h_lactive) { + case LSM6DSO_ACTIVE_HIGH: + *val = LSM6DSO_ACTIVE_HIGH; + break; + + case LSM6DSO_ACTIVE_LOW: + *val = LSM6DSO_ACTIVE_LOW; + break; + + default: + *val = LSM6DSO_ACTIVE_HIGH; + break; + } + + return ret; +} + +/** + * @brief All interrupt signals become available on INT1 pin.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of int2_on_int1 in reg CTRL4_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_all_on_int1_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_ctrl4_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL4_C, (uint8_t *)®, 1); + + if (ret == 0) { + reg.int2_on_int1 = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL4_C, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief All interrupt signals become available on INT1 pin.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of int2_on_int1 in reg CTRL4_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_all_on_int1_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_ctrl4_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL4_C, (uint8_t *)®, 1); + *val = reg.int2_on_int1; + + return ret; +} + +/** + * @brief Interrupt notification mode.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of lir in reg TAP_CFG0 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_int_notification_set(stmdev_ctx_t *ctx, lsm6dso_lir_t val) +{ + lsm6dso_tap_cfg0_t tap_cfg0; + lsm6dso_page_rw_t page_rw; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG0, (uint8_t *)&tap_cfg0, 1); + + if (ret == 0) { + tap_cfg0.lir = (uint8_t)val & 0x01U; + tap_cfg0.int_clr_on_read = (uint8_t)val & 0x01U; + ret = lsm6dso_write_reg(ctx, LSM6DSO_TAP_CFG0, + (uint8_t *)&tap_cfg0, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_PAGE_RW, + (uint8_t *)&page_rw, 1); + } + + if (ret == 0) { + page_rw.emb_func_lir = ((uint8_t)val & 0x02U) >> 1; + ret = lsm6dso_write_reg(ctx, LSM6DSO_PAGE_RW, + (uint8_t *)&page_rw, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Interrupt notification mode.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of lir in reg TAP_CFG0 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_int_notification_get(stmdev_ctx_t *ctx, lsm6dso_lir_t *val) +{ + lsm6dso_tap_cfg0_t tap_cfg0; + lsm6dso_page_rw_t page_rw; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG0, (uint8_t *)&tap_cfg0, 1); + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_PAGE_RW, + (uint8_t *)&page_rw, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + if (ret == 0) { + switch ((page_rw.emb_func_lir << 1) | tap_cfg0.lir) { + case LSM6DSO_ALL_INT_PULSED: + *val = LSM6DSO_ALL_INT_PULSED; + break; + + case LSM6DSO_BASE_LATCHED_EMB_PULSED: + *val = LSM6DSO_BASE_LATCHED_EMB_PULSED; + break; + + case LSM6DSO_BASE_PULSED_EMB_LATCHED: + *val = LSM6DSO_BASE_PULSED_EMB_LATCHED; + break; + + case LSM6DSO_ALL_INT_LATCHED: + *val = LSM6DSO_ALL_INT_LATCHED; + break; + + default: + *val = LSM6DSO_ALL_INT_PULSED; + break; + } + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_PAGE_RW, + (uint8_t *)&page_rw, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @} + * + */ + +/** + * @defgroup LSM6DSO_Wake_Up_event + * @brief This section groups all the functions that manage the Wake Up + * event generation. + * @{ + * + */ + +/** + * @brief Weight of 1 LSB of wakeup threshold.[set] + * 0: 1 LSB =FS_XL / 64 + * 1: 1 LSB = FS_XL / 256 + * + * @param ctx read / write interface definitions + * @param val change the values of wake_ths_w in + * reg WAKE_UP_DUR + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_wkup_ths_weight_set(stmdev_ctx_t *ctx, lsm6dso_wake_ths_w_t val) +{ + lsm6dso_wake_up_dur_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_WAKE_UP_DUR, (uint8_t *)®, 1); + + if (ret == 0) { + reg.wake_ths_w = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_WAKE_UP_DUR, + (uint8_t *)®, 1); + } + + return ret; +} + +/** + * @brief Weight of 1 LSB of wakeup threshold.[get] + * 0: 1 LSB =FS_XL / 64 + * 1: 1 LSB = FS_XL / 256 + * + * @param ctx read / write interface definitions + * @param val Get the values of wake_ths_w in + * reg WAKE_UP_DUR + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_wkup_ths_weight_get(stmdev_ctx_t *ctx, + lsm6dso_wake_ths_w_t *val) +{ + lsm6dso_wake_up_dur_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_WAKE_UP_DUR, (uint8_t *)®, 1); + + switch (reg.wake_ths_w) { + case LSM6DSO_LSb_FS_DIV_64: + *val = LSM6DSO_LSb_FS_DIV_64; + break; + + case LSM6DSO_LSb_FS_DIV_256: + *val = LSM6DSO_LSb_FS_DIV_256; + break; + + default: + *val = LSM6DSO_LSb_FS_DIV_64; + break; + } + + return ret; +} + +/** + * @brief Threshold for wakeup: 1 LSB weight depends on WAKE_THS_W in + * WAKE_UP_DUR.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of wk_ths in reg WAKE_UP_THS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_wkup_threshold_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_wake_up_ths_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_WAKE_UP_THS, (uint8_t *)®, 1); + + if (ret == 0) { + reg.wk_ths = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_WAKE_UP_THS, + (uint8_t *)®, 1); + } + + return ret; +} + +/** + * @brief Threshold for wakeup: 1 LSB weight depends on WAKE_THS_W in + * WAKE_UP_DUR.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of wk_ths in reg WAKE_UP_THS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_wkup_threshold_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_wake_up_ths_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_WAKE_UP_THS, (uint8_t *)®, 1); + *val = reg.wk_ths; + + return ret; +} + +/** + * @brief Wake up duration event.[set] + * 1LSb = 1 / ODR + * + * @param ctx read / write interface definitions + * @param val change the values of usr_off_on_wu in reg WAKE_UP_THS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_usr_offset_on_wkup_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_wake_up_ths_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_WAKE_UP_THS, (uint8_t *)®, 1); + + if (ret == 0) { + reg.usr_off_on_wu = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_WAKE_UP_THS, + (uint8_t *)®, 1); + } + + return ret; +} + +/** + * @brief Wake up duration event.[get] + * 1LSb = 1 / ODR + * + * @param ctx read / write interface definitions + * @param val change the values of usr_off_on_wu in reg WAKE_UP_THS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_xl_usr_offset_on_wkup_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_wake_up_ths_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_WAKE_UP_THS, (uint8_t *)®, 1); + *val = reg.usr_off_on_wu; + + return ret; +} + +/** + * @brief Wake up duration event.[set] + * 1LSb = 1 / ODR + * + * @param ctx read / write interface definitions + * @param val change the values of wake_dur in reg WAKE_UP_DUR + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_wkup_dur_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_wake_up_dur_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_WAKE_UP_DUR, (uint8_t *)®, 1); + + if (ret == 0) { + reg.wake_dur = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_WAKE_UP_DUR, + (uint8_t *)®, 1); + } + + return ret; +} + +/** + * @brief Wake up duration event.[get] + * 1LSb = 1 / ODR + * + * @param ctx read / write interface definitions + * @param val change the values of wake_dur in reg WAKE_UP_DUR + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_wkup_dur_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_wake_up_dur_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_WAKE_UP_DUR, (uint8_t *)®, 1); + *val = reg.wake_dur; + + return ret; +} + +/** + * @} + * + */ + +/** + * @defgroup LSM6DSO_ Activity/Inactivity_detection + * @brief This section groups all the functions concerning + * activity/inactivity detection. + * @{ + * + */ + +/** + * @brief Enables gyroscope Sleep mode.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of sleep_g in reg CTRL4_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_gy_sleep_mode_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_ctrl4_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL4_C, (uint8_t *)®, 1); + + if (ret == 0) { + reg.sleep_g = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL4_C, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Enables gyroscope Sleep mode.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of sleep_g in reg CTRL4_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_gy_sleep_mode_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_ctrl4_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL4_C, (uint8_t *)®, 1); + *val = reg.sleep_g; + + return ret; +} + +/** + * @brief Drives the sleep status instead of + * sleep change on INT pins + * (only if INT1_SLEEP_CHANGE or + * INT2_SLEEP_CHANGE bits are enabled).[set] + * + * @param ctx read / write interface definitions + * @param val change the values of sleep_status_on_int in reg TAP_CFG0 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_act_pin_notification_set(stmdev_ctx_t *ctx, + lsm6dso_sleep_status_on_int_t val) +{ + lsm6dso_tap_cfg0_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG0, (uint8_t *)®, 1); + + if (ret == 0) { + reg.sleep_status_on_int = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_TAP_CFG0, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Drives the sleep status instead of + * sleep change on INT pins (only if + * INT1_SLEEP_CHANGE or + * INT2_SLEEP_CHANGE bits are enabled).[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of sleep_status_on_int in reg TAP_CFG0 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_act_pin_notification_get(stmdev_ctx_t *ctx, + lsm6dso_sleep_status_on_int_t *val) +{ + lsm6dso_tap_cfg0_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG0, (uint8_t *)®, 1); + + switch (reg.sleep_status_on_int) { + case LSM6DSO_DRIVE_SLEEP_CHG_EVENT: + *val = LSM6DSO_DRIVE_SLEEP_CHG_EVENT; + break; + + case LSM6DSO_DRIVE_SLEEP_STATUS: + *val = LSM6DSO_DRIVE_SLEEP_STATUS; + break; + + default: + *val = LSM6DSO_DRIVE_SLEEP_CHG_EVENT; + break; + } + + return ret; +} + +/** + * @brief Enable inactivity function.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of inact_en in reg TAP_CFG2 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_act_mode_set(stmdev_ctx_t *ctx, lsm6dso_inact_en_t val) +{ + lsm6dso_tap_cfg2_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG2, (uint8_t *)®, 1); + + if (ret == 0) { + reg.inact_en = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_TAP_CFG2, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Enable inactivity function.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of inact_en in reg TAP_CFG2 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_act_mode_get(stmdev_ctx_t *ctx, lsm6dso_inact_en_t *val) +{ + lsm6dso_tap_cfg2_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG2, (uint8_t *)®, 1); + + switch (reg.inact_en) { + case LSM6DSO_XL_AND_GY_NOT_AFFECTED: + *val = LSM6DSO_XL_AND_GY_NOT_AFFECTED; + break; + + case LSM6DSO_XL_12Hz5_GY_NOT_AFFECTED: + *val = LSM6DSO_XL_12Hz5_GY_NOT_AFFECTED; + break; + + case LSM6DSO_XL_12Hz5_GY_SLEEP: + *val = LSM6DSO_XL_12Hz5_GY_SLEEP; + break; + + case LSM6DSO_XL_12Hz5_GY_PD: + *val = LSM6DSO_XL_12Hz5_GY_PD; + break; + + default: + *val = LSM6DSO_XL_AND_GY_NOT_AFFECTED; + break; + } + + return ret; +} + +/** + * @brief Duration to go in sleep mode.[set] + * 1 LSb = 512 / ODR + * + * @param ctx read / write interface definitions + * @param val change the values of sleep_dur in reg WAKE_UP_DUR + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_act_sleep_dur_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_wake_up_dur_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_WAKE_UP_DUR, (uint8_t *)®, 1); + + if (ret == 0) { + reg.sleep_dur = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_WAKE_UP_DUR, + (uint8_t *)®, 1); + } + + return ret; +} + +/** + * @brief Duration to go in sleep mode.[get] + * 1 LSb = 512 / ODR + * + * @param ctx read / write interface definitions + * @param val change the values of sleep_dur in reg WAKE_UP_DUR + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_act_sleep_dur_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_wake_up_dur_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_WAKE_UP_DUR, (uint8_t *)®, 1); + *val = reg.sleep_dur; + + return ret; +} + +/** + * @} + * + */ + +/** + * @defgroup LSM6DSO_tap_generator + * @brief This section groups all the functions that manage the + * tap and double tap event generation. + * @{ + * + */ + +/** + * @brief Enable Z direction in tap recognition.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of tap_z_en in reg TAP_CFG0 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_tap_detection_on_z_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_tap_cfg0_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG0, (uint8_t *)®, 1); + + if (ret == 0) { + reg.tap_z_en = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_TAP_CFG0, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Enable Z direction in tap recognition.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of tap_z_en in reg TAP_CFG0 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_tap_detection_on_z_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_tap_cfg0_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG0, (uint8_t *)®, 1); + *val = reg.tap_z_en; + + return ret; +} + +/** + * @brief Enable Y direction in tap recognition.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of tap_y_en in reg TAP_CFG0 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_tap_detection_on_y_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_tap_cfg0_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG0, (uint8_t *)®, 1); + + if (ret == 0) { + reg.tap_y_en = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_TAP_CFG0, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Enable Y direction in tap recognition.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of tap_y_en in reg TAP_CFG0 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_tap_detection_on_y_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_tap_cfg0_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG0, (uint8_t *)®, 1); + *val = reg.tap_y_en; + + return ret; +} + +/** + * @brief Enable X direction in tap recognition.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of tap_x_en in reg TAP_CFG0 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_tap_detection_on_x_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_tap_cfg0_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG0, (uint8_t *)®, 1); + + if (ret == 0) { + reg.tap_x_en = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_TAP_CFG0, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Enable X direction in tap recognition.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of tap_x_en in reg TAP_CFG0 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_tap_detection_on_x_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_tap_cfg0_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG0, (uint8_t *)®, 1); + *val = reg.tap_x_en; + + return ret; +} + +/** + * @brief X-axis tap recognition threshold.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of tap_ths_x in reg TAP_CFG1 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_tap_threshold_x_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_tap_cfg1_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG1, (uint8_t *)®, 1); + + if (ret == 0) { + reg.tap_ths_x = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_TAP_CFG1, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief X-axis tap recognition threshold.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of tap_ths_x in reg TAP_CFG1 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_tap_threshold_x_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_tap_cfg1_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG1, (uint8_t *)®, 1); + *val = reg.tap_ths_x; + + return ret; +} + +/** + * @brief Selection of axis priority for TAP detection.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of tap_priority in + * reg TAP_CFG1 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_tap_axis_priority_set(stmdev_ctx_t *ctx, + lsm6dso_tap_priority_t val) +{ + lsm6dso_tap_cfg1_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG1, (uint8_t *)®, 1); + + if (ret == 0) { + reg.tap_priority = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_TAP_CFG1, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Selection of axis priority for TAP detection.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of tap_priority in + * reg TAP_CFG1 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_tap_axis_priority_get(stmdev_ctx_t *ctx, + lsm6dso_tap_priority_t *val) +{ + lsm6dso_tap_cfg1_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG1, (uint8_t *)®, 1); + + switch (reg.tap_priority) { + case LSM6DSO_XYZ: + *val = LSM6DSO_XYZ; + break; + + case LSM6DSO_YXZ: + *val = LSM6DSO_YXZ; + break; + + case LSM6DSO_XZY: + *val = LSM6DSO_XZY; + break; + + case LSM6DSO_ZYX: + *val = LSM6DSO_ZYX; + break; + + case LSM6DSO_YZX: + *val = LSM6DSO_YZX; + break; + + case LSM6DSO_ZXY: + *val = LSM6DSO_ZXY; + break; + + default: + *val = LSM6DSO_XYZ; + break; + } + + return ret; +} + +/** + * @brief Y-axis tap recognition threshold.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of tap_ths_y in reg TAP_CFG2 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_tap_threshold_y_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_tap_cfg2_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG2, (uint8_t *)®, 1); + + if (ret == 0) { + reg.tap_ths_y = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_TAP_CFG2, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Y-axis tap recognition threshold.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of tap_ths_y in reg TAP_CFG2 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_tap_threshold_y_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_tap_cfg2_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG2, (uint8_t *)®, 1); + *val = reg.tap_ths_y; + + return ret; +} + +/** + * @brief Z-axis recognition threshold.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of tap_ths_z in reg TAP_THS_6D + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_tap_threshold_z_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_tap_ths_6d_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_THS_6D, (uint8_t *)®, 1); + + if (ret == 0) { + reg.tap_ths_z = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_TAP_THS_6D, + (uint8_t *)®, 1); + } + + return ret; +} + +/** + * @brief Z-axis recognition threshold.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of tap_ths_z in reg TAP_THS_6D + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_tap_threshold_z_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_tap_ths_6d_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_THS_6D, (uint8_t *)®, 1); + *val = reg.tap_ths_z; + + return ret; +} + +/** + * @brief Maximum duration is the maximum time of an + * over threshold signal detection to be recognized + * as a tap event. The default value of these bits + * is 00b which corresponds to 4*ODR_XL time. + * If the SHOCK[1:0] bits are set to a different + * value, 1LSB corresponds to 8*ODR_XL time.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of shock in reg INT_DUR2 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_tap_shock_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_int_dur2_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_INT_DUR2, (uint8_t *)®, 1); + + if (ret == 0) { + reg.shock = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_INT_DUR2, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Maximum duration is the maximum time of an + * over threshold signal detection to be recognized + * as a tap event. The default value of these bits + * is 00b which corresponds to 4*ODR_XL time. + * If the SHOCK[1:0] bits are set to a different + * value, 1LSB corresponds to 8*ODR_XL time.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of shock in reg INT_DUR2 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_tap_shock_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_int_dur2_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_INT_DUR2, (uint8_t *)®, 1); + *val = reg.shock; + + return ret; +} + +/** + * @brief Quiet time is the time after the first detected + * tap in which there must not be any over threshold + * event. + * The default value of these bits is 00b which + * corresponds to 2*ODR_XL time. If the QUIET[1:0] + * bits are set to a different value, + * 1LSB corresponds to 4*ODR_XL time.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of quiet in reg INT_DUR2 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_tap_quiet_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_int_dur2_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_INT_DUR2, (uint8_t *)®, 1); + + if (ret == 0) { + reg.quiet = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_INT_DUR2, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Quiet time is the time after the first detected + * tap in which there must not be any over threshold + * event. + * The default value of these bits is 00b which + * corresponds to 2*ODR_XL time. + * If the QUIET[1:0] bits are set to a different + * value, 1LSB corresponds to 4*ODR_XL time.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of quiet in reg INT_DUR2 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_tap_quiet_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_int_dur2_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_INT_DUR2, (uint8_t *)®, 1); + *val = reg.quiet; + + return ret; +} + +/** + * @brief When double tap recognition is enabled, + * this register expresses the maximum time + * between two consecutive detected taps to + * determine a double tap event. + * The default value of these bits is 0000b which + * corresponds to 16*ODR_XL time. + * If the DUR[3:0] bits are set to a different value, + * 1LSB corresponds to 32*ODR_XL time.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of dur in reg INT_DUR2 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_tap_dur_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_int_dur2_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_INT_DUR2, (uint8_t *)®, 1); + + if (ret == 0) { + reg.dur = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_INT_DUR2, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief When double tap recognition is enabled, + * this register expresses the maximum time + * between two consecutive detected taps to + * determine a double tap event. + * The default value of these bits is 0000b which + * corresponds to 16*ODR_XL time. If the DUR[3:0] + * bits are set to a different value, + * 1LSB corresponds to 32*ODR_XL time.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of dur in reg INT_DUR2 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_tap_dur_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_int_dur2_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_INT_DUR2, (uint8_t *)®, 1); + *val = reg.dur; + + return ret; +} + +/** + * @brief Single/double-tap event enable.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of single_double_tap in reg WAKE_UP_THS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_tap_mode_set(stmdev_ctx_t *ctx, lsm6dso_single_double_tap_t val) +{ + lsm6dso_wake_up_ths_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_WAKE_UP_THS, (uint8_t *)®, 1); + + if (ret == 0) { + reg.single_double_tap = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_WAKE_UP_THS, + (uint8_t *)®, 1); + } + + return ret; +} + +/** + * @brief Single/double-tap event enable.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of single_double_tap in reg WAKE_UP_THS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_tap_mode_get(stmdev_ctx_t *ctx, + lsm6dso_single_double_tap_t *val) +{ + lsm6dso_wake_up_ths_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_WAKE_UP_THS, (uint8_t *)®, 1); + + switch (reg.single_double_tap) { + case LSM6DSO_ONLY_SINGLE: + *val = LSM6DSO_ONLY_SINGLE; + break; + + case LSM6DSO_BOTH_SINGLE_DOUBLE: + *val = LSM6DSO_BOTH_SINGLE_DOUBLE; + break; + + default: + *val = LSM6DSO_ONLY_SINGLE; + break; + } + + return ret; +} + +/** + * @} + * + */ + +/** + * @defgroup LSM6DSO_ Six_position_detection(6D/4D) + * @brief This section groups all the functions concerning six position + * detection (6D). + * @{ + * + */ + +/** + * @brief Threshold for 4D/6D function.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of sixd_ths in reg TAP_THS_6D + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_6d_threshold_set(stmdev_ctx_t *ctx, lsm6dso_sixd_ths_t val) +{ + lsm6dso_tap_ths_6d_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_THS_6D, (uint8_t *)®, 1); + + if (ret == 0) { + reg.sixd_ths = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_TAP_THS_6D, + (uint8_t *)®, 1); + } + + return ret; +} + +/** + * @brief Threshold for 4D/6D function.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of sixd_ths in reg TAP_THS_6D + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_6d_threshold_get(stmdev_ctx_t *ctx, lsm6dso_sixd_ths_t *val) +{ + lsm6dso_tap_ths_6d_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_THS_6D, (uint8_t *)®, 1); + + switch (reg.sixd_ths) { + case LSM6DSO_DEG_80: + *val = LSM6DSO_DEG_80; + break; + + case LSM6DSO_DEG_70: + *val = LSM6DSO_DEG_70; + break; + + case LSM6DSO_DEG_60: + *val = LSM6DSO_DEG_60; + break; + + case LSM6DSO_DEG_50: + *val = LSM6DSO_DEG_50; + break; + + default: + *val = LSM6DSO_DEG_80; + break; + } + + return ret; +} + +/** + * @brief 4D orientation detection enable.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of d4d_en in reg TAP_THS_6D + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_4d_mode_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_tap_ths_6d_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_THS_6D, (uint8_t *)®, 1); + + if (ret == 0) { + reg.d4d_en = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_TAP_THS_6D, + (uint8_t *)®, 1); + } + + return ret; +} + +/** + * @brief 4D orientation detection enable.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of d4d_en in reg TAP_THS_6D + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_4d_mode_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_tap_ths_6d_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_THS_6D, (uint8_t *)®, 1); + *val = reg.d4d_en; + + return ret; +} + +/** + * @} + * + */ + +/** + * @defgroup LSM6DSO_free_fall + * @brief This section group all the functions concerning the free + * fall detection. + * @{ + * + */ +/** + * @brief Free fall threshold setting.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of ff_ths in reg FREE_FALL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_ff_threshold_set(stmdev_ctx_t *ctx, lsm6dso_ff_ths_t val) +{ + lsm6dso_free_fall_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FREE_FALL, (uint8_t *)®, 1); + + if (ret == 0) { + reg.ff_ths = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_FREE_FALL, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief Free fall threshold setting.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of ff_ths in reg FREE_FALL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_ff_threshold_get(stmdev_ctx_t *ctx, lsm6dso_ff_ths_t *val) +{ + lsm6dso_free_fall_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FREE_FALL, (uint8_t *)®, 1); + + switch (reg.ff_ths) { + case LSM6DSO_FF_TSH_156mg: + *val = LSM6DSO_FF_TSH_156mg; + break; + + case LSM6DSO_FF_TSH_219mg: + *val = LSM6DSO_FF_TSH_219mg; + break; + + case LSM6DSO_FF_TSH_250mg: + *val = LSM6DSO_FF_TSH_250mg; + break; + + case LSM6DSO_FF_TSH_312mg: + *val = LSM6DSO_FF_TSH_312mg; + break; + + case LSM6DSO_FF_TSH_344mg: + *val = LSM6DSO_FF_TSH_344mg; + break; + + case LSM6DSO_FF_TSH_406mg: + *val = LSM6DSO_FF_TSH_406mg; + break; + + case LSM6DSO_FF_TSH_469mg: + *val = LSM6DSO_FF_TSH_469mg; + break; + + case LSM6DSO_FF_TSH_500mg: + *val = LSM6DSO_FF_TSH_500mg; + break; + + default: + *val = LSM6DSO_FF_TSH_156mg; + break; + } + + return ret; +} + +/** + * @brief Free-fall duration event.[set] + * 1LSb = 1 / ODR + * + * @param ctx read / write interface definitions + * @param val change the values of ff_dur in reg FREE_FALL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_ff_dur_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_wake_up_dur_t wake_up_dur; + lsm6dso_free_fall_t free_fall; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_WAKE_UP_DUR, + (uint8_t *)&wake_up_dur, 1); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_FREE_FALL, + (uint8_t *)&free_fall, 1); + } + + if (ret == 0) { + wake_up_dur.ff_dur = ((uint8_t)val & 0x20U) >> 5; + free_fall.ff_dur = (uint8_t)val & 0x1FU; + ret = lsm6dso_write_reg(ctx, LSM6DSO_WAKE_UP_DUR, + (uint8_t *)&wake_up_dur, 1); + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_FREE_FALL, + (uint8_t *)&free_fall, 1); + } + + return ret; +} + +/** + * @brief Free-fall duration event.[get] + * 1LSb = 1 / ODR + * + * @param ctx read / write interface definitions + * @param val change the values of ff_dur in reg FREE_FALL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_ff_dur_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_wake_up_dur_t wake_up_dur; + lsm6dso_free_fall_t free_fall; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_WAKE_UP_DUR, + (uint8_t *)&wake_up_dur, 1); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_FREE_FALL, + (uint8_t *)&free_fall, 1); + *val = (wake_up_dur.ff_dur << 5) + free_fall.ff_dur; + } + + return ret; +} + +/** + * @} + * + */ + +/** + * @defgroup LSM6DSO_fifo + * @brief This section group all the functions concerning the fifo usage + * @{ + * + */ + +/** + * @brief FIFO watermark level selection.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of wtm in reg FIFO_CTRL1 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_watermark_set(stmdev_ctx_t *ctx, uint16_t val) +{ + lsm6dso_fifo_ctrl1_t fifo_ctrl1; + lsm6dso_fifo_ctrl2_t fifo_ctrl2; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_CTRL2, (uint8_t *)&fifo_ctrl2, + 1); + + if (ret == 0) { + fifo_ctrl1.wtm = 0x00FFU & (uint8_t)val; + fifo_ctrl2.wtm = (uint8_t)((0x0100U & val) >> 8); + ret = lsm6dso_write_reg(ctx, LSM6DSO_FIFO_CTRL1, + (uint8_t *)&fifo_ctrl1, 1); + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_FIFO_CTRL2, + (uint8_t *)&fifo_ctrl2, 1); + } + + return ret; +} + +/** + * @brief FIFO watermark level selection.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of wtm in reg FIFO_CTRL1 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_watermark_get(stmdev_ctx_t *ctx, uint16_t *val) +{ + lsm6dso_fifo_ctrl1_t fifo_ctrl1; + lsm6dso_fifo_ctrl2_t fifo_ctrl2; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_CTRL1, (uint8_t *)&fifo_ctrl1, + 1); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_CTRL2, + (uint8_t *)&fifo_ctrl2, 1); + *val = ((uint16_t)fifo_ctrl2.wtm << 8) + + (uint16_t)fifo_ctrl1.wtm; + } + + return ret; +} + +/** + * @brief FIFO compression feature initialization request [set]. + * + * @param ctx read / write interface definitions + * @param val change the values of FIFO_COMPR_INIT in + * reg EMB_FUNC_INIT_B + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_compression_algo_init_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_emb_func_init_b_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_INIT_B, + (uint8_t *)®, 1); + } + + if (ret == 0) { + reg.fifo_compr_init = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_EMB_FUNC_INIT_B, + (uint8_t *)®, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief FIFO compression feature initialization request [get]. + * + * @param ctx read / write interface definitions + * @param val change the values of FIFO_COMPR_INIT in + * reg EMB_FUNC_INIT_B + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_compression_algo_init_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_emb_func_init_b_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_INIT_B, + (uint8_t *)®, 1); + } + + if (ret == 0) { + *val = reg.fifo_compr_init; + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Enable and configure compression algo.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of uncoptr_rate in + * reg FIFO_CTRL2 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_compression_algo_set(stmdev_ctx_t *ctx, + lsm6dso_uncoptr_rate_t val) +{ + lsm6dso_fifo_ctrl2_t fifo_ctrl2; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_CTRL2, (uint8_t *)&fifo_ctrl2, + 1); + + if (ret == 0) { + fifo_ctrl2.fifo_compr_rt_en = ((uint8_t)val & 0x04U) >> 2; + fifo_ctrl2.uncoptr_rate = (uint8_t)val & 0x03U; + ret = lsm6dso_write_reg(ctx, LSM6DSO_FIFO_CTRL2, + (uint8_t *)&fifo_ctrl2, 1); + } + + return ret; +} + +/** + * @brief Enable and configure compression algo.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of uncoptr_rate in + * reg FIFO_CTRL2 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_compression_algo_get(stmdev_ctx_t *ctx, + lsm6dso_uncoptr_rate_t *val) +{ + lsm6dso_fifo_ctrl2_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_CTRL2, (uint8_t *)®, 1); + + switch ((reg.fifo_compr_rt_en << 2) | reg.uncoptr_rate) { + case LSM6DSO_CMP_DISABLE: + *val = LSM6DSO_CMP_DISABLE; + break; + + case LSM6DSO_CMP_ALWAYS: + *val = LSM6DSO_CMP_ALWAYS; + break; + + case LSM6DSO_CMP_8_TO_1: + *val = LSM6DSO_CMP_8_TO_1; + break; + + case LSM6DSO_CMP_16_TO_1: + *val = LSM6DSO_CMP_16_TO_1; + break; + + case LSM6DSO_CMP_32_TO_1: + *val = LSM6DSO_CMP_32_TO_1; + break; + + default: + *val = LSM6DSO_CMP_DISABLE; + break; + } + + return ret; +} + +/** + * @brief Enables ODR CHANGE virtual sensor to be batched in FIFO.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of odrchg_en in reg FIFO_CTRL2 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_virtual_sens_odr_chg_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_fifo_ctrl2_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_CTRL2, (uint8_t *)®, 1); + + if (ret == 0) { + reg.odrchg_en = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_FIFO_CTRL2, + (uint8_t *)®, 1); + } + + return ret; +} + +/** + * @brief Enables ODR CHANGE virtual sensor to be batched in FIFO.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of odrchg_en in reg FIFO_CTRL2 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_virtual_sens_odr_chg_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_fifo_ctrl2_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_CTRL2, (uint8_t *)®, 1); + *val = reg.odrchg_en; + + return ret; +} + +/** + * @brief Enables/Disables compression algorithm runtime.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of fifo_compr_rt_en in + * reg FIFO_CTRL2 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_compression_algo_real_time_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_fifo_ctrl2_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_CTRL2, (uint8_t *)®, 1); + + if (ret == 0) { + reg.fifo_compr_rt_en = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_FIFO_CTRL2, + (uint8_t *)®, 1); + } + + return ret; +} + +/** + * @brief Enables/Disables compression algorithm runtime. [get] + * + * @param ctx read / write interface definitions + * @param val change the values of fifo_compr_rt_en in reg FIFO_CTRL2 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_compression_algo_real_time_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_fifo_ctrl2_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_CTRL2, (uint8_t *)®, 1); + *val = reg.fifo_compr_rt_en; + + return ret; +} + +/** + * @brief Sensing chain FIFO stop values memorization at + * threshold level.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of stop_on_wtm in reg FIFO_CTRL2 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_stop_on_wtm_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_fifo_ctrl2_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_CTRL2, (uint8_t *)®, 1); + + if (ret == 0) { + reg.stop_on_wtm = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_FIFO_CTRL2, + (uint8_t *)®, 1); + } + + return ret; +} + +/** + * @brief Sensing chain FIFO stop values memorization at + * threshold level.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of stop_on_wtm in reg FIFO_CTRL2 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_stop_on_wtm_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_fifo_ctrl2_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_CTRL2, (uint8_t *)®, 1); + *val = reg.stop_on_wtm; + + return ret; +} + +/** + * @brief Selects Batching Data Rate (writing frequency in FIFO) + * for accelerometer data.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of bdr_xl in reg FIFO_CTRL3 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_xl_batch_set(stmdev_ctx_t *ctx, lsm6dso_bdr_xl_t val) +{ + lsm6dso_fifo_ctrl3_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_CTRL3, (uint8_t *)®, 1); + + if (ret == 0) { + reg.bdr_xl = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_FIFO_CTRL3, + (uint8_t *)®, 1); + } + + return ret; +} + +/** + * @brief Selects Batching Data Rate (writing frequency in FIFO) + * for accelerometer data.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of bdr_xl in reg FIFO_CTRL3 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_xl_batch_get(stmdev_ctx_t *ctx, lsm6dso_bdr_xl_t *val) +{ + lsm6dso_fifo_ctrl3_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_CTRL3, (uint8_t *)®, 1); + + switch (reg.bdr_xl) { + case LSM6DSO_XL_NOT_BATCHED: + *val = LSM6DSO_XL_NOT_BATCHED; + break; + + case LSM6DSO_XL_BATCHED_AT_12Hz5: + *val = LSM6DSO_XL_BATCHED_AT_12Hz5; + break; + + case LSM6DSO_XL_BATCHED_AT_26Hz: + *val = LSM6DSO_XL_BATCHED_AT_26Hz; + break; + + case LSM6DSO_XL_BATCHED_AT_52Hz: + *val = LSM6DSO_XL_BATCHED_AT_52Hz; + break; + + case LSM6DSO_XL_BATCHED_AT_104Hz: + *val = LSM6DSO_XL_BATCHED_AT_104Hz; + break; + + case LSM6DSO_XL_BATCHED_AT_208Hz: + *val = LSM6DSO_XL_BATCHED_AT_208Hz; + break; + + case LSM6DSO_XL_BATCHED_AT_417Hz: + *val = LSM6DSO_XL_BATCHED_AT_417Hz; + break; + + case LSM6DSO_XL_BATCHED_AT_833Hz: + *val = LSM6DSO_XL_BATCHED_AT_833Hz; + break; + + case LSM6DSO_XL_BATCHED_AT_1667Hz: + *val = LSM6DSO_XL_BATCHED_AT_1667Hz; + break; + + case LSM6DSO_XL_BATCHED_AT_3333Hz: + *val = LSM6DSO_XL_BATCHED_AT_3333Hz; + break; + + case LSM6DSO_XL_BATCHED_AT_6667Hz: + *val = LSM6DSO_XL_BATCHED_AT_6667Hz; + break; + + case LSM6DSO_XL_BATCHED_AT_6Hz5: + *val = LSM6DSO_XL_BATCHED_AT_6Hz5; + break; + + default: + *val = LSM6DSO_XL_NOT_BATCHED; + break; + } + + return ret; +} + +/** + * @brief Selects Batching Data Rate (writing frequency in FIFO) + * for gyroscope data.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of bdr_gy in reg FIFO_CTRL3 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_gy_batch_set(stmdev_ctx_t *ctx, lsm6dso_bdr_gy_t val) +{ + lsm6dso_fifo_ctrl3_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_CTRL3, (uint8_t *)®, 1); + + if (ret == 0) { + reg.bdr_gy = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_FIFO_CTRL3, + (uint8_t *)®, 1); + } + + return ret; +} + +/** + * @brief Selects Batching Data Rate (writing frequency in FIFO) + * for gyroscope data.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of bdr_gy in reg FIFO_CTRL3 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_gy_batch_get(stmdev_ctx_t *ctx, lsm6dso_bdr_gy_t *val) +{ + lsm6dso_fifo_ctrl3_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_CTRL3, (uint8_t *)®, 1); + + switch (reg.bdr_gy) { + case LSM6DSO_GY_NOT_BATCHED: + *val = LSM6DSO_GY_NOT_BATCHED; + break; + + case LSM6DSO_GY_BATCHED_AT_12Hz5: + *val = LSM6DSO_GY_BATCHED_AT_12Hz5; + break; + + case LSM6DSO_GY_BATCHED_AT_26Hz: + *val = LSM6DSO_GY_BATCHED_AT_26Hz; + break; + + case LSM6DSO_GY_BATCHED_AT_52Hz: + *val = LSM6DSO_GY_BATCHED_AT_52Hz; + break; + + case LSM6DSO_GY_BATCHED_AT_104Hz: + *val = LSM6DSO_GY_BATCHED_AT_104Hz; + break; + + case LSM6DSO_GY_BATCHED_AT_208Hz: + *val = LSM6DSO_GY_BATCHED_AT_208Hz; + break; + + case LSM6DSO_GY_BATCHED_AT_417Hz: + *val = LSM6DSO_GY_BATCHED_AT_417Hz; + break; + + case LSM6DSO_GY_BATCHED_AT_833Hz: + *val = LSM6DSO_GY_BATCHED_AT_833Hz; + break; + + case LSM6DSO_GY_BATCHED_AT_1667Hz: + *val = LSM6DSO_GY_BATCHED_AT_1667Hz; + break; + + case LSM6DSO_GY_BATCHED_AT_3333Hz: + *val = LSM6DSO_GY_BATCHED_AT_3333Hz; + break; + + case LSM6DSO_GY_BATCHED_AT_6667Hz: + *val = LSM6DSO_GY_BATCHED_AT_6667Hz; + break; + + case LSM6DSO_GY_BATCHED_AT_6Hz5: + *val = LSM6DSO_GY_BATCHED_AT_6Hz5; + break; + + default: + *val = LSM6DSO_GY_NOT_BATCHED; + break; + } + + return ret; +} + +/** + * @brief FIFO mode selection.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of fifo_mode in reg FIFO_CTRL4 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_mode_set(stmdev_ctx_t *ctx, lsm6dso_fifo_mode_t val) +{ + lsm6dso_fifo_ctrl4_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_CTRL4, (uint8_t *)®, 1); + + if (ret == 0) { + reg.fifo_mode = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_FIFO_CTRL4, + (uint8_t *)®, 1); + } + + return ret; +} + +/** + * @brief FIFO mode selection.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of fifo_mode in reg FIFO_CTRL4 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_mode_get(stmdev_ctx_t *ctx, lsm6dso_fifo_mode_t *val) +{ + lsm6dso_fifo_ctrl4_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_CTRL4, (uint8_t *)®, 1); + + switch (reg.fifo_mode) { + case LSM6DSO_BYPASS_MODE: + *val = LSM6DSO_BYPASS_MODE; + break; + + case LSM6DSO_FIFO_MODE: + *val = LSM6DSO_FIFO_MODE; + break; + + case LSM6DSO_STREAM_TO_FIFO_MODE: + *val = LSM6DSO_STREAM_TO_FIFO_MODE; + break; + + case LSM6DSO_BYPASS_TO_STREAM_MODE: + *val = LSM6DSO_BYPASS_TO_STREAM_MODE; + break; + + case LSM6DSO_STREAM_MODE: + *val = LSM6DSO_STREAM_MODE; + break; + + case LSM6DSO_BYPASS_TO_FIFO_MODE: + *val = LSM6DSO_BYPASS_TO_FIFO_MODE; + break; + + default: + *val = LSM6DSO_BYPASS_MODE; + break; + } + + return ret; +} + +/** + * @brief Selects Batching Data Rate (writing frequency in FIFO) + * for temperature data.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of odr_t_batch in reg FIFO_CTRL4 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_temp_batch_set(stmdev_ctx_t *ctx, + lsm6dso_odr_t_batch_t val) +{ + lsm6dso_fifo_ctrl4_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_CTRL4, (uint8_t *)®, 1); + + if (ret == 0) { + reg.odr_t_batch = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_FIFO_CTRL4, + (uint8_t *)®, 1); + } + + return ret; +} + +/** + * @brief Selects Batching Data Rate (writing frequency in FIFO) + * for temperature data.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of odr_t_batch in reg FIFO_CTRL4 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_temp_batch_get(stmdev_ctx_t *ctx, + lsm6dso_odr_t_batch_t *val) +{ + lsm6dso_fifo_ctrl4_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_CTRL4, (uint8_t *)®, 1); + + switch (reg.odr_t_batch) { + case LSM6DSO_TEMP_NOT_BATCHED: + *val = LSM6DSO_TEMP_NOT_BATCHED; + break; + + case LSM6DSO_TEMP_BATCHED_AT_1Hz6: + *val = LSM6DSO_TEMP_BATCHED_AT_1Hz6; + break; + + case LSM6DSO_TEMP_BATCHED_AT_12Hz5: + *val = LSM6DSO_TEMP_BATCHED_AT_12Hz5; + break; + + case LSM6DSO_TEMP_BATCHED_AT_52Hz: + *val = LSM6DSO_TEMP_BATCHED_AT_52Hz; + break; + + default: + *val = LSM6DSO_TEMP_NOT_BATCHED; + break; + } + + return ret; +} + +/** + * @brief Selects decimation for timestamp batching in FIFO. + * Writing rate will be the maximum rate between XL and + * GYRO BDR divided by decimation decoder.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of odr_ts_batch in reg FIFO_CTRL4 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_timestamp_decimation_set(stmdev_ctx_t *ctx, + lsm6dso_odr_ts_batch_t val) +{ + lsm6dso_fifo_ctrl4_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_CTRL4, (uint8_t *)®, 1); + + if (ret == 0) { + reg.odr_ts_batch = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_FIFO_CTRL4, + (uint8_t *)®, 1); + } + + return ret; +} + +/** + * @brief Selects decimation for timestamp batching in FIFO. + * Writing rate will be the maximum rate between XL and + * GYRO BDR divided by decimation decoder.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of odr_ts_batch in reg FIFO_CTRL4 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_timestamp_decimation_get(stmdev_ctx_t *ctx, + lsm6dso_odr_ts_batch_t *val) +{ + lsm6dso_fifo_ctrl4_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_CTRL4, (uint8_t *)®, 1); + + switch (reg.odr_ts_batch) { + case LSM6DSO_NO_DECIMATION: + *val = LSM6DSO_NO_DECIMATION; + break; + + case LSM6DSO_DEC_1: + *val = LSM6DSO_DEC_1; + break; + + case LSM6DSO_DEC_8: + *val = LSM6DSO_DEC_8; + break; + + case LSM6DSO_DEC_32: + *val = LSM6DSO_DEC_32; + break; + + default: + *val = LSM6DSO_NO_DECIMATION; + break; + } + + return ret; +} + +/** + * @brief Selects the trigger for the internal counter of batching events + * between XL and gyro.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of trig_counter_bdr + * in reg COUNTER_BDR_REG1 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_cnt_event_batch_set(stmdev_ctx_t *ctx, + lsm6dso_trig_counter_bdr_t val) +{ + lsm6dso_counter_bdr_reg1_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_COUNTER_BDR_REG1, (uint8_t *)®, + 1); + + if (ret == 0) { + reg.trig_counter_bdr = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_COUNTER_BDR_REG1, + (uint8_t *)®, 1); + } + + return ret; +} + +/** + * @brief Selects the trigger for the internal counter of batching events + * between XL and gyro.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of trig_counter_bdr + * in reg COUNTER_BDR_REG1 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_cnt_event_batch_get(stmdev_ctx_t *ctx, + lsm6dso_trig_counter_bdr_t *val) +{ + lsm6dso_counter_bdr_reg1_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_COUNTER_BDR_REG1, (uint8_t *)®, + 1); + + switch (reg.trig_counter_bdr) { + case LSM6DSO_XL_BATCH_EVENT: + *val = LSM6DSO_XL_BATCH_EVENT; + break; + + case LSM6DSO_GYRO_BATCH_EVENT: + *val = LSM6DSO_GYRO_BATCH_EVENT; + break; + + default: + *val = LSM6DSO_XL_BATCH_EVENT; + break; + } + + return ret; +} + +/** + * @brief Resets the internal counter of batching vents for a single sensor. + * This bit is automatically reset to zero if it was set to '1'.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of rst_counter_bdr in + * reg COUNTER_BDR_REG1 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_rst_batch_counter_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_counter_bdr_reg1_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_COUNTER_BDR_REG1, (uint8_t *)®, + 1); + + if (ret == 0) { + reg.rst_counter_bdr = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_COUNTER_BDR_REG1, + (uint8_t *)®, 1); + } + + return ret; +} + +/** + * @brief Resets the internal counter of batching events for a single sensor. + * This bit is automatically reset to zero if it was set to '1'.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of rst_counter_bdr in + * reg COUNTER_BDR_REG1 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_rst_batch_counter_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_counter_bdr_reg1_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_COUNTER_BDR_REG1, (uint8_t *)®, + 1); + *val = reg.rst_counter_bdr; + + return ret; +} + +/** + * @brief Batch data rate counter.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of cnt_bdr_th in + * reg COUNTER_BDR_REG2 and COUNTER_BDR_REG1. + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_batch_counter_threshold_set(stmdev_ctx_t *ctx, uint16_t val) +{ + lsm6dso_counter_bdr_reg1_t counter_bdr_reg1; + lsm6dso_counter_bdr_reg2_t counter_bdr_reg2; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_COUNTER_BDR_REG1, + (uint8_t *)&counter_bdr_reg1, 1); + + if (ret == 0) { + counter_bdr_reg2.cnt_bdr_th = 0x00FFU & (uint8_t)val; + counter_bdr_reg1.cnt_bdr_th = (uint8_t)(0x0700U & val) >> 8; + ret = lsm6dso_write_reg(ctx, LSM6DSO_COUNTER_BDR_REG1, + (uint8_t *)&counter_bdr_reg1, 1); + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_COUNTER_BDR_REG2, + (uint8_t *)&counter_bdr_reg2, 1); + } + + return ret; +} + +/** + * @brief Batch data rate counter.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of cnt_bdr_th in + * reg COUNTER_BDR_REG2 and COUNTER_BDR_REG1. + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_batch_counter_threshold_get(stmdev_ctx_t *ctx, uint16_t *val) +{ + lsm6dso_counter_bdr_reg1_t counter_bdr_reg1; + lsm6dso_counter_bdr_reg2_t counter_bdr_reg2; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_COUNTER_BDR_REG1, + (uint8_t *)&counter_bdr_reg1, 1); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_COUNTER_BDR_REG2, + (uint8_t *)&counter_bdr_reg2, 1); + *val = ((uint16_t)counter_bdr_reg1.cnt_bdr_th << 8) + + (uint16_t)counter_bdr_reg2.cnt_bdr_th; + } + + return ret; +} + +/** + * @brief Number of unread sensor data(TAG + 6 bytes) stored in FIFO.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of diff_fifo in reg FIFO_STATUS1 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_data_level_get(stmdev_ctx_t *ctx, uint16_t *val) +{ + lsm6dso_fifo_status1_t fifo_status1; + lsm6dso_fifo_status2_t fifo_status2; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_STATUS1, + (uint8_t *)&fifo_status1, 1); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_STATUS2, + (uint8_t *)&fifo_status2, 1); + *val = ((uint16_t)fifo_status2.diff_fifo << 8) + + (uint16_t)fifo_status1.diff_fifo; + } + + return ret; +} + +/** + * @brief FIFO status.[get] + * + * @param ctx read / write interface definitions + * @param val registers FIFO_STATUS2 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_status_get(stmdev_ctx_t *ctx, lsm6dso_fifo_status2_t *val) +{ + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_STATUS2, (uint8_t *)val, 1); + + return ret; +} + +/** + * @brief Smart FIFO full status.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of fifo_full_ia in reg FIFO_STATUS2 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_full_flag_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_fifo_status2_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_STATUS2, (uint8_t *)®, 1); + *val = reg.fifo_full_ia; + + return ret; +} + +/** + * @brief FIFO overrun status.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of fifo_over_run_latched in + * reg FIFO_STATUS2 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_ovr_flag_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_fifo_status2_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_STATUS2, (uint8_t *)®, 1); + *val = reg.fifo_ovr_ia; + + return ret; +} + +/** + * @brief FIFO watermark status.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of fifo_wtm_ia in reg FIFO_STATUS2 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_wtm_flag_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_fifo_status2_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_STATUS2, (uint8_t *)®, 1); + *val = reg.fifo_wtm_ia; + + return ret; +} + +/** + * @brief Identifies the sensor in FIFO_DATA_OUT.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of tag_sensor in reg FIFO_DATA_OUT_TAG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_sensor_tag_get(stmdev_ctx_t *ctx, lsm6dso_fifo_tag_t *val) +{ + lsm6dso_fifo_data_out_tag_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_FIFO_DATA_OUT_TAG, (uint8_t *)®, + 1); + + switch (reg.tag_sensor) { + case LSM6DSO_GYRO_NC_TAG: + *val = LSM6DSO_GYRO_NC_TAG; + break; + + case LSM6DSO_XL_NC_TAG: + *val = LSM6DSO_XL_NC_TAG; + break; + + case LSM6DSO_TEMPERATURE_TAG: + *val = LSM6DSO_TEMPERATURE_TAG; + break; + + case LSM6DSO_CFG_CHANGE_TAG: + *val = LSM6DSO_CFG_CHANGE_TAG; + break; + + case LSM6DSO_XL_NC_T_2_TAG: + *val = LSM6DSO_XL_NC_T_2_TAG; + break; + + case LSM6DSO_XL_NC_T_1_TAG: + *val = LSM6DSO_XL_NC_T_1_TAG; + break; + + case LSM6DSO_XL_2XC_TAG: + *val = LSM6DSO_XL_2XC_TAG; + break; + + case LSM6DSO_XL_3XC_TAG: + *val = LSM6DSO_XL_3XC_TAG; + break; + + case LSM6DSO_GYRO_NC_T_2_TAG: + *val = LSM6DSO_GYRO_NC_T_2_TAG; + break; + + case LSM6DSO_GYRO_NC_T_1_TAG: + *val = LSM6DSO_GYRO_NC_T_1_TAG; + break; + + case LSM6DSO_GYRO_2XC_TAG: + *val = LSM6DSO_GYRO_2XC_TAG; + break; + + case LSM6DSO_GYRO_3XC_TAG: + *val = LSM6DSO_GYRO_3XC_TAG; + break; + + case LSM6DSO_SENSORHUB_SLAVE0_TAG: + *val = LSM6DSO_SENSORHUB_SLAVE0_TAG; + break; + + case LSM6DSO_SENSORHUB_SLAVE1_TAG: + *val = LSM6DSO_SENSORHUB_SLAVE1_TAG; + break; + + case LSM6DSO_SENSORHUB_SLAVE2_TAG: + *val = LSM6DSO_SENSORHUB_SLAVE2_TAG; + break; + + case LSM6DSO_SENSORHUB_SLAVE3_TAG: + *val = LSM6DSO_SENSORHUB_SLAVE3_TAG; + break; + + case LSM6DSO_STEP_CPUNTER_TAG: + *val = LSM6DSO_STEP_CPUNTER_TAG; + break; + + case LSM6DSO_GAME_ROTATION_TAG: + *val = LSM6DSO_GAME_ROTATION_TAG; + break; + + case LSM6DSO_GEOMAG_ROTATION_TAG: + *val = LSM6DSO_GEOMAG_ROTATION_TAG; + break; + + case LSM6DSO_ROTATION_TAG: + *val = LSM6DSO_ROTATION_TAG; + break; + + case LSM6DSO_SENSORHUB_NACK_TAG: + *val = LSM6DSO_SENSORHUB_NACK_TAG; + break; + + default: + *val = LSM6DSO_GYRO_NC_TAG; + break; + } + + return ret; +} + +/** + * @brief : Enable FIFO batching of pedometer embedded + * function values.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of gbias_fifo_en in + * reg LSM6DSO_EMB_FUNC_FIFO_CFG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_pedo_batch_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_emb_func_fifo_cfg_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_FIFO_CFG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + reg.pedo_fifo_en = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_EMB_FUNC_FIFO_CFG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Enable FIFO batching of pedometer embedded function values.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of pedo_fifo_en in + * reg LSM6DSO_EMB_FUNC_FIFO_CFG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fifo_pedo_batch_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_emb_func_fifo_cfg_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_FIFO_CFG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + *val = reg.pedo_fifo_en; + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Enable FIFO batching data of first slave.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of batch_ext_sens_0_en in + * reg SLV0_CONFIG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_batch_slave_0_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_slv0_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_SLV0_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + reg.batch_ext_sens_0_en = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_SLV0_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Enable FIFO batching data of first slave.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of batch_ext_sens_0_en in + * reg SLV0_CONFIG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_batch_slave_0_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_slv0_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_SLV0_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + *val = reg.batch_ext_sens_0_en; + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Enable FIFO batching data of second slave.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of batch_ext_sens_1_en in + * reg SLV1_CONFIG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_batch_slave_1_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_slv1_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_SLV1_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + reg.batch_ext_sens_1_en = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_SLV1_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Enable FIFO batching data of second slave.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of batch_ext_sens_1_en in + * reg SLV1_CONFIG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_batch_slave_1_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_slv1_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_SLV1_CONFIG, + (uint8_t *)®, 1); + *val = reg.batch_ext_sens_1_en; + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Enable FIFO batching data of third slave.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of batch_ext_sens_2_en in + * reg SLV2_CONFIG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_batch_slave_2_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_slv2_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_SLV2_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + reg.batch_ext_sens_2_en = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_SLV2_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Enable FIFO batching data of third slave.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of batch_ext_sens_2_en in + * reg SLV2_CONFIG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_batch_slave_2_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_slv2_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_SLV2_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + *val = reg.batch_ext_sens_2_en; + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Enable FIFO batching data of fourth slave.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of batch_ext_sens_3_en + * in reg SLV3_CONFIG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_batch_slave_3_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_slv3_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_SLV3_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + reg.batch_ext_sens_3_en = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_SLV3_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Enable FIFO batching data of fourth slave.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of batch_ext_sens_3_en in + * reg SLV3_CONFIG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_batch_slave_3_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_slv3_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_SLV3_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + *val = reg.batch_ext_sens_3_en; + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @} + * + */ + +/** + * @defgroup LSM6DSO_DEN_functionality + * @brief This section groups all the functions concerning + * DEN functionality. + * @{ + * + */ + +/** + * @brief DEN functionality marking mode.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of den_mode in reg CTRL6_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_den_mode_set(stmdev_ctx_t *ctx, lsm6dso_den_mode_t val) +{ + lsm6dso_ctrl6_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL6_C, (uint8_t *)®, 1); + + if (ret == 0) { + reg.den_mode = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL6_C, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief DEN functionality marking mode.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of den_mode in reg CTRL6_C + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_den_mode_get(stmdev_ctx_t *ctx, lsm6dso_den_mode_t *val) +{ + lsm6dso_ctrl6_c_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL6_C, (uint8_t *)®, 1); + + switch (reg.den_mode) { + case LSM6DSO_DEN_DISABLE: + *val = LSM6DSO_DEN_DISABLE; + break; + + case LSM6DSO_LEVEL_FIFO: + *val = LSM6DSO_LEVEL_FIFO; + break; + + case LSM6DSO_LEVEL_LETCHED: + *val = LSM6DSO_LEVEL_LETCHED; + break; + + case LSM6DSO_LEVEL_TRIGGER: + *val = LSM6DSO_LEVEL_TRIGGER; + break; + + case LSM6DSO_EDGE_TRIGGER: + *val = LSM6DSO_EDGE_TRIGGER; + break; + + default: + *val = LSM6DSO_DEN_DISABLE; + break; + } + + return ret; +} + +/** + * @brief DEN active level configuration.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of den_lh in reg CTRL9_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_den_polarity_set(stmdev_ctx_t *ctx, lsm6dso_den_lh_t val) +{ + lsm6dso_ctrl9_xl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL9_XL, (uint8_t *)®, 1); + + if (ret == 0) { + reg.den_lh = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL9_XL, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief DEN active level configuration.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of den_lh in reg CTRL9_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_den_polarity_get(stmdev_ctx_t *ctx, lsm6dso_den_lh_t *val) +{ + lsm6dso_ctrl9_xl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL9_XL, (uint8_t *)®, 1); + + switch (reg.den_lh) { + case LSM6DSO_DEN_ACT_LOW: + *val = LSM6DSO_DEN_ACT_LOW; + break; + + case LSM6DSO_DEN_ACT_HIGH: + *val = LSM6DSO_DEN_ACT_HIGH; + break; + + default: + *val = LSM6DSO_DEN_ACT_LOW; + break; + } + + return ret; +} + +/** + * @brief DEN enable.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of den_xl_g in reg CTRL9_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_den_enable_set(stmdev_ctx_t *ctx, lsm6dso_den_xl_g_t val) +{ + lsm6dso_ctrl9_xl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL9_XL, (uint8_t *)®, 1); + + if (ret == 0) { + reg.den_xl_g = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL9_XL, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief DEN enable.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of den_xl_g in reg CTRL9_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_den_enable_get(stmdev_ctx_t *ctx, lsm6dso_den_xl_g_t *val) +{ + lsm6dso_ctrl9_xl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL9_XL, (uint8_t *)®, 1); + + switch (reg.den_xl_g) { + case LSM6DSO_STAMP_IN_GY_DATA: + *val = LSM6DSO_STAMP_IN_GY_DATA; + break; + + case LSM6DSO_STAMP_IN_XL_DATA: + *val = LSM6DSO_STAMP_IN_XL_DATA; + break; + + case LSM6DSO_STAMP_IN_GY_XL_DATA: + *val = LSM6DSO_STAMP_IN_GY_XL_DATA; + break; + + default: + *val = LSM6DSO_STAMP_IN_GY_DATA; + break; + } + + return ret; +} + +/** + * @brief DEN value stored in LSB of X-axis.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of den_z in reg CTRL9_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_den_mark_axis_x_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_ctrl9_xl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL9_XL, (uint8_t *)®, 1); + + if (ret == 0) { + reg.den_z = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL9_XL, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief DEN value stored in LSB of X-axis.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of den_z in reg CTRL9_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_den_mark_axis_x_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_ctrl9_xl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL9_XL, (uint8_t *)®, 1); + *val = reg.den_z; + + return ret; +} + +/** + * @brief DEN value stored in LSB of Y-axis.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of den_y in reg CTRL9_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_den_mark_axis_y_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_ctrl9_xl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL9_XL, (uint8_t *)®, 1); + + if (ret == 0) { + reg.den_y = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL9_XL, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief DEN value stored in LSB of Y-axis.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of den_y in reg CTRL9_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_den_mark_axis_y_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_ctrl9_xl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL9_XL, (uint8_t *)®, 1); + *val = reg.den_y; + + return ret; +} + +/** + * @brief DEN value stored in LSB of Z-axis.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of den_x in reg CTRL9_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_den_mark_axis_z_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_ctrl9_xl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL9_XL, (uint8_t *)®, 1); + + if (ret == 0) { + reg.den_x = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL9_XL, (uint8_t *)®, + 1); + } + + return ret; +} + +/** + * @brief DEN value stored in LSB of Z-axis.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of den_x in reg CTRL9_XL + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_den_mark_axis_z_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_ctrl9_xl_t reg; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL9_XL, (uint8_t *)®, 1); + *val = reg.den_x; + + return ret; +} + +/** + * @} + * + */ + +/** + * @defgroup LSM6DSO_Pedometer + * @brief This section groups all the functions that manage pedometer. + * @{ + * + */ + +/** + * @brief Enable pedometer algorithm.[set] + * + * @param ctx read / write interface definitions + * @param val turn on and configure pedometer + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_pedo_sens_set(stmdev_ctx_t *ctx, lsm6dso_pedo_md_t val) +{ + lsm6dso_pedo_cmd_reg_t pedo_cmd_reg; + int32_t ret; + + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_PEDO_CMD_REG, + (uint8_t *)&pedo_cmd_reg); + + if (ret == 0) { + pedo_cmd_reg.fp_rejection_en = ((uint8_t)val & 0x10U) >> 4; + pedo_cmd_reg.ad_det_en = ((uint8_t)val & 0x20U) >> 5; + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_PEDO_CMD_REG, + (uint8_t *)&pedo_cmd_reg); + } + + return ret; +} + +/** + * @brief Enable pedometer algorithm.[get] + * + * @param ctx read / write interface definitions + * @param val turn on and configure pedometer + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_pedo_sens_get(stmdev_ctx_t *ctx, lsm6dso_pedo_md_t *val) +{ + lsm6dso_pedo_cmd_reg_t pedo_cmd_reg; + int32_t ret; + + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_PEDO_CMD_REG, + (uint8_t *)&pedo_cmd_reg); + + switch ((pedo_cmd_reg.ad_det_en << 5) | + (pedo_cmd_reg.fp_rejection_en << 4)) { + case LSM6DSO_PEDO_BASE_MODE: + *val = LSM6DSO_PEDO_BASE_MODE; + break; + + case LSM6DSO_FALSE_STEP_REJ: + *val = LSM6DSO_FALSE_STEP_REJ; + break; + + case LSM6DSO_FALSE_STEP_REJ_ADV_MODE: + *val = LSM6DSO_FALSE_STEP_REJ_ADV_MODE; + break; + + default: + *val = LSM6DSO_PEDO_BASE_MODE; + break; + } + + return ret; +} + +/** + * @brief Interrupt status bit for step detection.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of is_step_det in reg EMB_FUNC_STATUS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_pedo_step_detect_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_emb_func_status_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_STATUS, + (uint8_t *)®, 1); + } + + if (ret == 0) { + *val = reg.is_step_det; + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Pedometer debounce configuration register (r/w).[set] + * + * @param ctx read / write interface definitions + * @param buff buffer that contains data to write + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_pedo_debounce_steps_set(stmdev_ctx_t *ctx, uint8_t *buff) +{ + int32_t ret; + + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_PEDO_DEB_STEPS_CONF, buff); + + return ret; +} + +/** + * @brief Pedometer debounce configuration register (r/w).[get] + * + * @param ctx read / write interface definitions + * @param buff buffer that stores data read + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_pedo_debounce_steps_get(stmdev_ctx_t *ctx, uint8_t *buff) +{ + int32_t ret; + + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_PEDO_DEB_STEPS_CONF, buff); + + return ret; +} + +/** + * @brief Time period register for step detection on delta time (r/w).[set] + * + * @param ctx read / write interface definitions + * @param buff buffer that contains data to write + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_pedo_steps_period_set(stmdev_ctx_t *ctx, uint16_t val) +{ + uint8_t buff[2]; + int32_t ret; + + buff[1] = (uint8_t)(val / 256U); + buff[0] = (uint8_t)(val - (buff[1] * 256U)); + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_PEDO_SC_DELTAT_L, &buff[0]); + + if (ret == 0) { + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_PEDO_SC_DELTAT_H, + &buff[1]); + } + + return ret; +} + +/** + * @brief Time period register for step detection on delta time (r/w).[get] + * + * @param ctx read / write interface definitions + * @param buff buffer that stores data read + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_pedo_steps_period_get(stmdev_ctx_t *ctx, uint16_t *val) +{ + uint8_t buff[2]; + int32_t ret; + + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_PEDO_SC_DELTAT_L, &buff[0]); + + if (ret == 0) { + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_PEDO_SC_DELTAT_H, + &buff[1]); + *val = buff[1]; + *val = (*val * 256U) + buff[0]; + } + + return ret; +} + +/** + * @brief Set when user wants to generate interrupt on count overflow + * event/every step.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of carry_count_en in reg PEDO_CMD_REG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_pedo_int_mode_set(stmdev_ctx_t *ctx, + lsm6dso_carry_count_en_t val) +{ + lsm6dso_pedo_cmd_reg_t reg; + int32_t ret; + + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_PEDO_CMD_REG, + (uint8_t *)®); + + if (ret == 0) { + reg.carry_count_en = (uint8_t)val; + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_PEDO_CMD_REG, + (uint8_t *)®); + } + + return ret; +} + +/** + * @brief Set when user wants to generate interrupt on count overflow + * event/every step.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of carry_count_en in reg PEDO_CMD_REG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_pedo_int_mode_get(stmdev_ctx_t *ctx, + lsm6dso_carry_count_en_t *val) +{ + lsm6dso_pedo_cmd_reg_t reg; + int32_t ret; + + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_PEDO_CMD_REG, + (uint8_t *)®); + + switch (reg.carry_count_en) { + case LSM6DSO_EVERY_STEP: + *val = LSM6DSO_EVERY_STEP; + break; + + case LSM6DSO_COUNT_OVERFLOW: + *val = LSM6DSO_COUNT_OVERFLOW; + break; + + default: + *val = LSM6DSO_EVERY_STEP; + break; + } + + return ret; +} + +/** + * @} + * + */ + +/** + * @defgroup LSM6DSO_significant_motion + * @brief This section groups all the functions that manage the + * significant motion detection. + * @{ + * + */ + +/** + * @brief Interrupt status bit for significant motion detection.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of is_sigmot in reg EMB_FUNC_STATUS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_motion_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_emb_func_status_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_STATUS, + (uint8_t *)®, 1); + } + + if (ret == 0) { + *val = reg.is_sigmot; + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @} + * + */ + +/** + * @defgroup LSM6DSO_tilt_detection + * @brief This section groups all the functions that manage the tilt + * event detection. + * @{ + * + */ + +/** + * @brief Interrupt status bit for tilt detection.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of is_tilt in reg EMB_FUNC_STATUS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_tilt_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_emb_func_status_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_STATUS, + (uint8_t *)®, 1); + } + + if (ret == 0) { + *val = reg.is_tilt; + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @} + * + */ + +/** + * @defgroup LSM6DSO_ magnetometer_sensor + * @brief This section groups all the functions that manage additional + * magnetometer sensor. + * @{ + * + */ + +/** + * @brief External magnetometer sensitivity value register.[set] + * + * @param ctx read / write interface definitions + * @param buff buffer that contains data to write + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_mag_sensitivity_set(stmdev_ctx_t *ctx, uint16_t val) +{ + uint8_t buff[2]; + int32_t ret; + + buff[1] = (uint8_t)(val / 256U); + buff[0] = (uint8_t)(val - (buff[1] * 256U)); + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_MAG_SENSITIVITY_L, + &buff[0]); + + if (ret == 0) { + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_MAG_SENSITIVITY_H, + &buff[1]); + } + + return ret; +} + +/** + * @brief External magnetometer sensitivity value register.[get] + * + * @param ctx read / write interface definitions + * @param buff buffer that stores data read + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_mag_sensitivity_get(stmdev_ctx_t *ctx, uint16_t *val) +{ + uint8_t buff[2]; + int32_t ret; + + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_SENSITIVITY_L, &buff[0]); + + if (ret == 0) { + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_SENSITIVITY_H, + &buff[1]); + *val = buff[1]; + *val = (*val * 256U) + buff[0]; + } + + return ret; +} + +/** + * @brief Offset for hard-iron compensation register (r/w).[set] + * + * @param ctx read / write interface definitions + * @param buff buffer that contains data to write + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_mag_offset_set(stmdev_ctx_t *ctx, int16_t *val) +{ + uint8_t buff[6]; + int32_t ret; + + buff[1] = (uint8_t)((uint16_t)val[0] / 256U); + buff[0] = (uint8_t)((uint16_t)val[0] - (buff[1] * 256U)); + buff[3] = (uint8_t)((uint16_t)val[1] / 256U); + buff[2] = (uint8_t)((uint16_t)val[1] - (buff[3] * 256U)); + buff[5] = (uint8_t)((uint16_t)val[2] / 256U); + buff[4] = (uint8_t)((uint16_t)val[2] - (buff[5] * 256U)); + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_MAG_OFFX_L, &buff[0]); + + if (ret == 0) { + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_MAG_OFFX_H, + &buff[1]); + } + + if (ret == 0) { + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_MAG_OFFY_L, + &buff[2]); + } + + if (ret == 0) { + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_MAG_OFFY_H, + &buff[3]); + } + + if (ret == 0) { + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_MAG_OFFZ_L, + &buff[4]); + } + + if (ret == 0) { + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_MAG_OFFZ_H, + &buff[5]); + } + + return ret; +} + +/** + * @brief Offset for hard-iron compensation register (r/w).[get] + * + * @param ctx read / write interface definitions + * @param buff buffer that stores data read + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_mag_offset_get(stmdev_ctx_t *ctx, int16_t *val) +{ + uint8_t buff[6]; + int32_t ret; + + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_OFFX_L, &buff[0]); + + if (ret == 0) { + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_OFFX_H, + &buff[1]); + } + + if (ret == 0) { + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_OFFY_L, + &buff[2]); + } + + if (ret == 0) { + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_OFFY_H, + &buff[3]); + } + + if (ret == 0) { + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_OFFZ_L, + &buff[4]); + } + + if (ret == 0) { + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_OFFZ_H, + &buff[5]); + val[0] = (int16_t)buff[1]; + val[0] = (val[0] * 256) + (int16_t)buff[0]; + val[1] = (int16_t)buff[3]; + val[1] = (val[1] * 256) + (int16_t)buff[2]; + val[2] = (int16_t)buff[5]; + val[2] = (val[2] * 256) + (int16_t)buff[4]; + } + + return ret; +} + +/** + * @brief Soft-iron (3x3 symmetric) matrix correction + * register (r/w). The value is expressed as + * half-precision floating-point format: + * SEEEEEFFFFFFFFFF + * S: 1 sign bit; + * E: 5 exponent bits; + * F: 10 fraction bits).[set] + * + * @param ctx read / write interface definitions + * @param buff buffer that contains data to write + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_mag_soft_iron_set(stmdev_ctx_t *ctx, int16_t *val) +{ + uint8_t buff[12]; + int32_t ret; + + uint8_t index; + buff[1] = (uint8_t)((uint16_t)val[0] / 256U); + buff[0] = (uint8_t)((uint16_t)val[0] - (buff[1] * 256U)); + buff[3] = (uint8_t)((uint16_t)val[1] / 256U); + buff[2] = (uint8_t)((uint16_t)val[1] - (buff[3] * 256U)); + buff[5] = (uint8_t)((uint16_t)val[2] / 256U); + buff[4] = (uint8_t)((uint16_t)val[2] - (buff[5] * 256U)); + buff[7] = (uint8_t)((uint16_t)val[3] / 256U); + buff[6] = (uint8_t)((uint16_t)val[3] - (buff[7] * 256U)); + buff[9] = (uint8_t)((uint16_t)val[4] / 256U); + buff[8] = (uint8_t)((uint16_t)val[4] - (buff[9] * 256U)); + buff[11] = (uint8_t)((uint16_t)val[5] / 256U); + buff[10] = (uint8_t)((uint16_t)val[5] - (buff[11] * 256U)); + index = 0x00U; + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_MAG_SI_XX_L, &buff[index]); + + if (ret == 0) { + index++; + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_MAG_SI_XX_H, + &buff[index]); + } + + if (ret == 0) { + index++; + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_MAG_SI_XY_L, + &buff[index]); + } + + if (ret == 0) { + index++; + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_MAG_SI_XY_H, + &buff[index]); + } + + if (ret == 0) { + index++; + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_MAG_SI_XZ_L, + &buff[index]); + } + + if (ret == 0) { + index++; + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_MAG_SI_XZ_H, + &buff[index]); + } + + if (ret == 0) { + index++; + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_MAG_SI_YY_L, + &buff[index]); + } + + if (ret == 0) { + index++; + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_MAG_SI_YY_H, + &buff[index]); + } + + if (ret == 0) { + index++; + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_MAG_SI_YZ_L, + &buff[index]); + } + + if (ret == 0) { + index++; + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_MAG_SI_YZ_H, + &buff[index]); + } + + if (ret == 0) { + index++; + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_MAG_SI_ZZ_L, + &buff[index]); + } + + if (ret == 0) { + index++; + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_MAG_SI_ZZ_H, + &buff[index]); + } + + return ret; +} + +/** + * @brief Soft-iron (3x3 symmetric) matrix + * correction register (r/w). + * The value is expressed as half-precision + * floating-point format: + * SEEEEEFFFFFFFFFF + * S: 1 sign bit; + * E: 5 exponent bits; + * F: 10 fraction bits.[get] + * + * @param ctx read / write interface definitions + * @param buff buffer that stores data read + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_mag_soft_iron_get(stmdev_ctx_t *ctx, int16_t *val) +{ + uint8_t buff[12]; + int32_t ret; + + uint8_t index; + index = 0x00U; + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_SI_XX_L, &buff[index]); + + if (ret == 0) { + index++; + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_SI_XX_H, + &buff[index]); + } + + if (ret == 0) { + index++; + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_SI_XY_L, + &buff[index]); + } + + if (ret == 0) { + index++; + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_SI_XY_H, + &buff[index]); + } + + if (ret == 0) { + index++; + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_SI_XZ_L, + &buff[index]); + } + + if (ret == 0) { + index++; + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_SI_XZ_H, + &buff[index]); + } + + if (ret == 0) { + index++; + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_SI_YY_L, + &buff[index]); + } + + if (ret == 0) { + index++; + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_SI_YY_H, + &buff[index]); + } + + if (ret == 0) { + index++; + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_SI_YZ_L, + &buff[index]); + } + + if (ret == 0) { + index++; + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_SI_YZ_H, + &buff[index]); + } + + if (ret == 0) { + index++; + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_SI_ZZ_L, + &buff[index]); + } + + if (ret == 0) { + index++; + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_SI_ZZ_H, + &buff[index]); + } + + val[0] = (int16_t)buff[1]; + val[0] = (val[0] * 256) + (int16_t)buff[0]; + val[1] = (int16_t)buff[3]; + val[1] = (val[1] * 256) + (int16_t)buff[2]; + val[2] = (int16_t)buff[5]; + val[2] = (val[2] * 256) + (int16_t)buff[4]; + val[3] = (int16_t)buff[7]; + val[3] = (val[3] * 256) + (int16_t)buff[6]; + val[4] = (int16_t)buff[9]; + val[4] = (val[4] * 256) + (int16_t)buff[8]; + val[5] = (int16_t)buff[11]; + val[5] = (val[5] * 256) + (int16_t)buff[10]; + + return ret; +} + +/** + * @brief Magnetometer Z-axis coordinates + * rotation (to be aligned to + * accelerometer/gyroscope axes + * orientation).[set] + * + * @param ctx read / write interface definitions + * @param val change the values of mag_z_axis in reg MAG_CFG_A + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_mag_z_orient_set(stmdev_ctx_t *ctx, lsm6dso_mag_z_axis_t val) +{ + lsm6dso_mag_cfg_a_t reg; + int32_t ret; + + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_CFG_A, (uint8_t *)®); + + if (ret == 0) { + reg.mag_z_axis = (uint8_t)val; + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_MAG_CFG_A, + (uint8_t *)®); + } + + return ret; +} + +/** + * @brief Magnetometer Z-axis coordinates + * rotation (to be aligned to + * accelerometer/gyroscope axes + * orientation).[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of mag_z_axis in reg MAG_CFG_A + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_mag_z_orient_get(stmdev_ctx_t *ctx, lsm6dso_mag_z_axis_t *val) +{ + lsm6dso_mag_cfg_a_t reg; + int32_t ret; + + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_CFG_A, (uint8_t *)®); + + switch (reg.mag_z_axis) { + case LSM6DSO_Z_EQ_Y: + *val = LSM6DSO_Z_EQ_Y; + break; + + case LSM6DSO_Z_EQ_MIN_Y: + *val = LSM6DSO_Z_EQ_MIN_Y; + break; + + case LSM6DSO_Z_EQ_X: + *val = LSM6DSO_Z_EQ_X; + break; + + case LSM6DSO_Z_EQ_MIN_X: + *val = LSM6DSO_Z_EQ_MIN_X; + break; + + case LSM6DSO_Z_EQ_MIN_Z: + *val = LSM6DSO_Z_EQ_MIN_Z; + break; + + case LSM6DSO_Z_EQ_Z: + *val = LSM6DSO_Z_EQ_Z; + break; + + default: + *val = LSM6DSO_Z_EQ_Y; + break; + } + + return ret; +} + +/** + * @brief Magnetometer Y-axis coordinates + * rotation (to be aligned to + * accelerometer/gyroscope axes + * orientation).[set] + * + * @param ctx read / write interface definitions + * @param val change the values of mag_y_axis in reg MAG_CFG_A + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_mag_y_orient_set(stmdev_ctx_t *ctx, lsm6dso_mag_y_axis_t val) +{ + lsm6dso_mag_cfg_a_t reg; + int32_t ret; + + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_CFG_A, (uint8_t *)®); + + if (ret == 0) { + reg.mag_y_axis = (uint8_t)val; + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_MAG_CFG_A, + (uint8_t *)®); + } + + return ret; +} + +/** + * @brief Magnetometer Y-axis coordinates + * rotation (to be aligned to + * accelerometer/gyroscope axes + * orientation).[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of mag_y_axis in reg MAG_CFG_A + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_mag_y_orient_get(stmdev_ctx_t *ctx, lsm6dso_mag_y_axis_t *val) +{ + lsm6dso_mag_cfg_a_t reg; + int32_t ret; + + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_CFG_A, (uint8_t *)®); + + switch (reg.mag_y_axis) { + case LSM6DSO_Y_EQ_Y: + *val = LSM6DSO_Y_EQ_Y; + break; + + case LSM6DSO_Y_EQ_MIN_Y: + *val = LSM6DSO_Y_EQ_MIN_Y; + break; + + case LSM6DSO_Y_EQ_X: + *val = LSM6DSO_Y_EQ_X; + break; + + case LSM6DSO_Y_EQ_MIN_X: + *val = LSM6DSO_Y_EQ_MIN_X; + break; + + case LSM6DSO_Y_EQ_MIN_Z: + *val = LSM6DSO_Y_EQ_MIN_Z; + break; + + case LSM6DSO_Y_EQ_Z: + *val = LSM6DSO_Y_EQ_Z; + break; + + default: + *val = LSM6DSO_Y_EQ_Y; + break; + } + + return ret; +} + +/** + * @brief Magnetometer X-axis coordinates + * rotation (to be aligned to + * accelerometer/gyroscope axes + * orientation).[set] + * + * @param ctx read / write interface definitions + * @param val change the values of mag_x_axis in reg MAG_CFG_B + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_mag_x_orient_set(stmdev_ctx_t *ctx, lsm6dso_mag_x_axis_t val) +{ + lsm6dso_mag_cfg_b_t reg; + int32_t ret; + + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_CFG_B, (uint8_t *)®); + + if (ret == 0) { + reg.mag_x_axis = (uint8_t)val; + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_MAG_CFG_B, + (uint8_t *)®); + } + + return ret; +} + +/** + * @brief Magnetometer X-axis coordinates + * rotation (to be aligned to + * accelerometer/gyroscope axes + * orientation).[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of mag_x_axis in reg MAG_CFG_B + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_mag_x_orient_get(stmdev_ctx_t *ctx, lsm6dso_mag_x_axis_t *val) +{ + lsm6dso_mag_cfg_b_t reg; + int32_t ret; + + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_MAG_CFG_B, (uint8_t *)®); + + switch (reg.mag_x_axis) { + case LSM6DSO_X_EQ_Y: + *val = LSM6DSO_X_EQ_Y; + break; + + case LSM6DSO_X_EQ_MIN_Y: + *val = LSM6DSO_X_EQ_MIN_Y; + break; + + case LSM6DSO_X_EQ_X: + *val = LSM6DSO_X_EQ_X; + break; + + case LSM6DSO_X_EQ_MIN_X: + *val = LSM6DSO_X_EQ_MIN_X; + break; + + case LSM6DSO_X_EQ_MIN_Z: + *val = LSM6DSO_X_EQ_MIN_Z; + break; + + case LSM6DSO_X_EQ_Z: + *val = LSM6DSO_X_EQ_Z; + break; + + default: + *val = LSM6DSO_X_EQ_Y; + break; + } + + return ret; +} + +/** + * @} + * + */ + +/** + * @defgroup LSM6DSO_finite_state_machine + * @brief This section groups all the functions that manage the + * state_machine. + * @{ + * + */ + +/** + * @brief Interrupt status bit for FSM long counter + * timeout interrupt event.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of is_fsm_lc in reg EMB_FUNC_STATUS + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_long_cnt_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_emb_func_status_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_STATUS, + (uint8_t *)®, 1); + } + + if (ret == 0) { + *val = reg.is_fsm_lc; + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Final State Machine enable.[set] + * + * @param ctx read / write interface definitions + * @param val union of registers from FSM_ENABLE_A to FSM_ENABLE_B + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fsm_enable_set(stmdev_ctx_t *ctx, lsm6dso_emb_fsm_enable_t *val) +{ + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_FSM_ENABLE_A, + (uint8_t *)&val->fsm_enable_a, 1); + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_FSM_ENABLE_B, + (uint8_t *)&val->fsm_enable_b, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Final State Machine enable.[get] + * + * @param ctx read / write interface definitions + * @param val union of registers from FSM_ENABLE_A to FSM_ENABLE_B + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fsm_enable_get(stmdev_ctx_t *ctx, lsm6dso_emb_fsm_enable_t *val) +{ + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_FSM_ENABLE_A, + (uint8_t *)val, 2); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief FSM long counter status register. Long counter value is an + * unsigned integer value (16-bit format).[set] + * + * @param ctx read / write interface definitions + * @param buff buffer that contains data to write + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_long_cnt_set(stmdev_ctx_t *ctx, uint16_t val) +{ + uint8_t buff[2]; + int32_t ret; + + buff[1] = (uint8_t)(val / 256U); + buff[0] = (uint8_t)(val - (buff[1] * 256U)); + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_FSM_LONG_COUNTER_L, buff, + 2); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief FSM long counter status register. Long counter value is an + * unsigned integer value (16-bit format).[get] + * + * @param ctx read / write interface definitions + * @param buff buffer that stores data read + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_long_cnt_get(stmdev_ctx_t *ctx, uint16_t *val) +{ + uint8_t buff[2]; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_FSM_LONG_COUNTER_L, buff, + 2); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + *val = buff[1]; + *val = (*val * 256U) + buff[0]; + } + + return ret; +} + +/** + * @brief Clear FSM long counter value.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of fsm_lc_clr in + * reg FSM_LONG_COUNTER_CLEAR + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_long_clr_set(stmdev_ctx_t *ctx, lsm6dso_fsm_lc_clr_t val) +{ + lsm6dso_fsm_long_counter_clear_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_FSM_LONG_COUNTER_CLEAR, + (uint8_t *)®, 1); + } + + if (ret == 0) { + reg.fsm_lc_clr = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_FSM_LONG_COUNTER_CLEAR, + (uint8_t *)®, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Clear FSM long counter value.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of fsm_lc_clr in + * reg FSM_LONG_COUNTER_CLEAR + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_long_clr_get(stmdev_ctx_t *ctx, lsm6dso_fsm_lc_clr_t *val) +{ + lsm6dso_fsm_long_counter_clear_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_FSM_LONG_COUNTER_CLEAR, + (uint8_t *)®, 1); + } + + if (ret == 0) { + switch (reg.fsm_lc_clr) { + case LSM6DSO_LC_NORMAL: + *val = LSM6DSO_LC_NORMAL; + break; + + case LSM6DSO_LC_CLEAR: + *val = LSM6DSO_LC_CLEAR; + break; + + case LSM6DSO_LC_CLEAR_DONE: + *val = LSM6DSO_LC_CLEAR_DONE; + break; + + default: + *val = LSM6DSO_LC_NORMAL; + break; + } + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief FSM output registers[get] + * + * @param ctx read / write interface definitions + * @param val struct of registers from FSM_OUTS1 to FSM_OUTS16 + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fsm_out_get(stmdev_ctx_t *ctx, lsm6dso_fsm_out_t *val) +{ + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_FSM_OUTS1, (uint8_t *)val, + 16); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Finite State Machine ODR configuration.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of fsm_odr in reg EMB_FUNC_ODR_CFG_B + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fsm_data_rate_set(stmdev_ctx_t *ctx, lsm6dso_fsm_odr_t val) +{ + lsm6dso_emb_func_odr_cfg_b_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_ODR_CFG_B, + (uint8_t *)®, 1); + } + + if (ret == 0) { + reg.not_used_01 = 3; /* set default values */ + reg.not_used_02 = 2; /* set default values */ + reg.fsm_odr = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_EMB_FUNC_ODR_CFG_B, + (uint8_t *)®, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Finite State Machine ODR configuration.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of fsm_odr in reg EMB_FUNC_ODR_CFG_B + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fsm_data_rate_get(stmdev_ctx_t *ctx, lsm6dso_fsm_odr_t *val) +{ + lsm6dso_emb_func_odr_cfg_b_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_ODR_CFG_B, + (uint8_t *)®, 1); + } + + if (ret == 0) { + switch (reg.fsm_odr) { + case LSM6DSO_ODR_FSM_12Hz5: + *val = LSM6DSO_ODR_FSM_12Hz5; + break; + + case LSM6DSO_ODR_FSM_26Hz: + *val = LSM6DSO_ODR_FSM_26Hz; + break; + + case LSM6DSO_ODR_FSM_52Hz: + *val = LSM6DSO_ODR_FSM_52Hz; + break; + + case LSM6DSO_ODR_FSM_104Hz: + *val = LSM6DSO_ODR_FSM_104Hz; + break; + + default: + *val = LSM6DSO_ODR_FSM_12Hz5; + break; + } + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief FSM initialization request.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of fsm_init in reg FSM_INIT + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fsm_init_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_emb_func_init_b_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_INIT_B, + (uint8_t *)®, 1); + } + + if (ret == 0) { + reg.fsm_init = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_EMB_FUNC_INIT_B, + (uint8_t *)®, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief FSM initialization request.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of fsm_init in reg FSM_INIT + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fsm_init_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_emb_func_init_b_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_INIT_B, + (uint8_t *)®, 1); + } + + if (ret == 0) { + *val = reg.fsm_init; + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief FSM long counter timeout register (r/w). The long counter + * timeout value is an unsigned integer value (16-bit format). + * When the long counter value reached this value, + * the FSM generates an interrupt.[set] + * + * @param ctx read / write interface definitions + * @param val the value of long counter + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_long_cnt_int_value_set(stmdev_ctx_t *ctx, uint16_t val) +{ + uint8_t buff[2]; + int32_t ret; + + buff[1] = (uint8_t)(val / 256U); + buff[0] = (uint8_t)(val - (buff[1] * 256U)); + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_FSM_LC_TIMEOUT_L, &buff[0]); + + if (ret == 0) { + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_FSM_LC_TIMEOUT_H, + &buff[1]); + } + + return ret; +} + +/** + * @brief FSM long counter timeout register (r/w). The long counter + * timeout value is an unsigned integer value (16-bit format). + * When the long counter value reached this value, + * the FSM generates an interrupt.[get] + * + * @param ctx read / write interface definitions + * @param val buffer that stores the value of long counter + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_long_cnt_int_value_get(stmdev_ctx_t *ctx, uint16_t *val) +{ + uint8_t buff[2]; + int32_t ret; + + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_FSM_LC_TIMEOUT_L, &buff[0]); + + if (ret == 0) { + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_FSM_LC_TIMEOUT_H, + &buff[1]); + *val = buff[1]; + *val = (*val * 256U) + buff[0]; + } + + return ret; +} + +/** + * @brief FSM number of programs register.[set] + * + * @param ctx read / write interface definitions + * @param val value to write + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fsm_number_of_programs_set(stmdev_ctx_t *ctx, uint8_t val) +{ + int32_t ret; + + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_FSM_PROGRAMS, &val); + + return ret; +} + +/** + * @brief FSM number of programs register.[get] + * + * @param ctx read / write interface definitions + * @param val buffer that stores data read. + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fsm_number_of_programs_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + int32_t ret; + + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_FSM_PROGRAMS, val); + + return ret; +} + +/** + * @brief FSM start address register (r/w). + * First available address is 0x033C.[set] + * + * @param ctx read / write interface definitions + * @param val the value of start address + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fsm_start_address_set(stmdev_ctx_t *ctx, uint16_t val) +{ + uint8_t buff[2]; + int32_t ret; + + buff[1] = (uint8_t)(val / 256U); + buff[0] = (uint8_t)(val - (buff[1] * 256U)); + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_FSM_START_ADD_L, &buff[0]); + + if (ret == 0) { + ret = lsm6dso_ln_pg_write_byte(ctx, LSM6DSO_FSM_START_ADD_H, + &buff[1]); + } + + return ret; +} + +/** + * @brief FSM start address register (r/w). + * First available address is 0x033C.[get] + * + * @param ctx read / write interface definitions + * @param val buffer the value of start address. + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_fsm_start_address_get(stmdev_ctx_t *ctx, uint16_t *val) +{ + uint8_t buff[2]; + int32_t ret; + + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_FSM_START_ADD_L, &buff[0]); + + if (ret == 0) { + ret = lsm6dso_ln_pg_read_byte(ctx, LSM6DSO_FSM_START_ADD_H, + &buff[1]); + *val = buff[1]; + *val = (*val * 256U) + buff[0]; + } + + return ret; +} + +/** + * @} + * + */ + +/** + * @defgroup LSM6DSO_Sensor_hub + * @brief This section groups all the functions that manage the + * sensor hub. + * @{ + * + */ + +/** + * @brief Sensor hub output registers.[get] + * + * @param ctx read / write interface definitions + * @param val values read from registers SENSOR_HUB_1 to SENSOR_HUB_18 + * @param len number of consecutive register to read (max 18) + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_read_data_raw_get(stmdev_ctx_t *ctx, uint8_t *val, + uint8_t len) +{ + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_SENSOR_HUB_1, + (uint8_t *)val, len); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Number of external sensors to be read by the sensor hub.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of aux_sens_on in reg MASTER_CONFIG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_slave_connected_set(stmdev_ctx_t *ctx, + lsm6dso_aux_sens_on_t val) +{ + lsm6dso_master_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_MASTER_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + reg.aux_sens_on = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_MASTER_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Number of external sensors to be read by the sensor hub.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of aux_sens_on in reg MASTER_CONFIG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_slave_connected_get(stmdev_ctx_t *ctx, + lsm6dso_aux_sens_on_t *val) +{ + lsm6dso_master_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_MASTER_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + switch (reg.aux_sens_on) { + case LSM6DSO_SLV_0: + *val = LSM6DSO_SLV_0; + break; + + case LSM6DSO_SLV_0_1: + *val = LSM6DSO_SLV_0_1; + break; + + case LSM6DSO_SLV_0_1_2: + *val = LSM6DSO_SLV_0_1_2; + break; + + case LSM6DSO_SLV_0_1_2_3: + *val = LSM6DSO_SLV_0_1_2_3; + break; + + default: + *val = LSM6DSO_SLV_0; + break; + } + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Sensor hub I2C master enable.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of master_on in reg MASTER_CONFIG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_master_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_master_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_MASTER_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + reg.master_on = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_MASTER_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Sensor hub I2C master enable.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of master_on in reg MASTER_CONFIG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_master_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_master_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_MASTER_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + *val = reg.master_on; + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Master I2C pull-up enable.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of shub_pu_en in reg MASTER_CONFIG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_pin_mode_set(stmdev_ctx_t *ctx, lsm6dso_shub_pu_en_t val) +{ + lsm6dso_master_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_MASTER_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + reg.shub_pu_en = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_MASTER_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Master I2C pull-up enable.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of shub_pu_en in reg MASTER_CONFIG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_pin_mode_get(stmdev_ctx_t *ctx, lsm6dso_shub_pu_en_t *val) +{ + lsm6dso_master_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_MASTER_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + switch (reg.shub_pu_en) { + case LSM6DSO_EXT_PULL_UP: + *val = LSM6DSO_EXT_PULL_UP; + break; + + case LSM6DSO_INTERNAL_PULL_UP: + *val = LSM6DSO_INTERNAL_PULL_UP; + break; + + default: + *val = LSM6DSO_EXT_PULL_UP; + break; + } + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief I2C interface pass-through.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of pass_through_mode in + * reg MASTER_CONFIG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_pass_through_set(stmdev_ctx_t *ctx, uint8_t val) +{ + lsm6dso_master_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_MASTER_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + reg.pass_through_mode = val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_MASTER_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief I2C interface pass-through.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of pass_through_mode in + * reg MASTER_CONFIG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_pass_through_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_master_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_MASTER_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + *val = reg.pass_through_mode; + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Sensor hub trigger signal selection.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of start_config in reg MASTER_CONFIG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_syncro_mode_set(stmdev_ctx_t *ctx, + lsm6dso_start_config_t val) +{ + lsm6dso_master_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_MASTER_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + reg.start_config = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_MASTER_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Sensor hub trigger signal selection.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of start_config in reg MASTER_CONFIG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_syncro_mode_get(stmdev_ctx_t *ctx, + lsm6dso_start_config_t *val) +{ + lsm6dso_master_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_MASTER_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + switch (reg.start_config) { + case LSM6DSO_EXT_ON_INT2_PIN: + *val = LSM6DSO_EXT_ON_INT2_PIN; + break; + + case LSM6DSO_XL_GY_DRDY: + *val = LSM6DSO_XL_GY_DRDY; + break; + + default: + *val = LSM6DSO_EXT_ON_INT2_PIN; + break; + } + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Slave 0 write operation is performed only at the first + * sensor hub cycle.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of write_once in reg MASTER_CONFIG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_write_mode_set(stmdev_ctx_t *ctx, lsm6dso_write_once_t val) +{ + lsm6dso_master_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_MASTER_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + reg.write_once = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_MASTER_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Slave 0 write operation is performed only at the first sensor + * hub cycle.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of write_once in reg MASTER_CONFIG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_write_mode_get(stmdev_ctx_t *ctx, lsm6dso_write_once_t *val) +{ + lsm6dso_master_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_MASTER_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + switch (reg.write_once) { + case LSM6DSO_EACH_SH_CYCLE: + *val = LSM6DSO_EACH_SH_CYCLE; + break; + + case LSM6DSO_ONLY_FIRST_CYCLE: + *val = LSM6DSO_ONLY_FIRST_CYCLE; + break; + + default: + *val = LSM6DSO_EACH_SH_CYCLE; + break; + } + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Reset Master logic and output registers.[set] + * + * @param ctx read / write interface definitions + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_reset_set(stmdev_ctx_t *ctx) +{ + lsm6dso_master_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_MASTER_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + reg.rst_master_regs = PROPERTY_ENABLE; + ret = lsm6dso_write_reg(ctx, LSM6DSO_MASTER_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + reg.rst_master_regs = PROPERTY_DISABLE; + ret = lsm6dso_write_reg(ctx, LSM6DSO_MASTER_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Reset Master logic and output registers.[get] + * + * @param ctx read / write interface definitions + * @param val change the values of rst_master_regs in reg MASTER_CONFIG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_reset_get(stmdev_ctx_t *ctx, uint8_t *val) +{ + lsm6dso_master_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_MASTER_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + *val = reg.rst_master_regs; + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Rate at which the master communicates.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of shub_odr in reg slv1_CONFIG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_data_rate_set(stmdev_ctx_t *ctx, lsm6dso_shub_odr_t val) +{ + lsm6dso_slv0_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_SLV0_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + reg.shub_odr = (uint8_t)val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_SLV0_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Rate at which the master communicates.[get] + * + * @param ctx read / write interface definitions + * @param val Get the values of shub_odr in reg slv1_CONFIG + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_data_rate_get(stmdev_ctx_t *ctx, lsm6dso_shub_odr_t *val) +{ + lsm6dso_slv0_config_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_SLV0_CONFIG, + (uint8_t *)®, 1); + } + + if (ret == 0) { + switch (reg.shub_odr) { + case LSM6DSO_SH_ODR_104Hz: + *val = LSM6DSO_SH_ODR_104Hz; + break; + + case LSM6DSO_SH_ODR_52Hz: + *val = LSM6DSO_SH_ODR_52Hz; + break; + + case LSM6DSO_SH_ODR_26Hz: + *val = LSM6DSO_SH_ODR_26Hz; + break; + + case LSM6DSO_SH_ODR_13Hz: + *val = LSM6DSO_SH_ODR_13Hz; + break; + + default: + *val = LSM6DSO_SH_ODR_104Hz; + break; + } + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Configure slave 0 for perform a write.[set] + * + * @param ctx read / write interface definitions + * @param val a structure that contain + * - uint8_t slv1_add; 8 bit i2c device address + * - uint8_t slv1_subadd; 8 bit register device address + * - uint8_t slv1_data; 8 bit data to write + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_cfg_write(stmdev_ctx_t *ctx, lsm6dso_sh_cfg_write_t *val) +{ + lsm6dso_slv0_add_t reg; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + reg.slave0 = val->slv0_add; + reg.rw_0 = 0; + ret = lsm6dso_write_reg(ctx, LSM6DSO_SLV0_ADD, (uint8_t *)®, + 1); + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_SLV0_SUBADD, + &(val->slv0_subadd), 1); + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_DATAWRITE_SLV0, + &(val->slv0_data), 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Configure slave 0 for perform a read.[set] + * + * @param ctx read / write interface definitions + * @param val Structure that contain + * - uint8_t slv1_add; 8 bit i2c device address + * - uint8_t slv1_subadd; 8 bit register device address + * - uint8_t slv1_len; num of bit to read + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_slv0_cfg_read(stmdev_ctx_t *ctx, lsm6dso_sh_cfg_read_t *val) +{ + lsm6dso_slv0_add_t slv0_add; + lsm6dso_slv0_config_t slv0_config; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + slv0_add.slave0 = val->slv_add; + slv0_add.rw_0 = 1; + ret = lsm6dso_write_reg(ctx, LSM6DSO_SLV0_ADD, + (uint8_t *)&slv0_add, 1); + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_SLV0_SUBADD, + &(val->slv_subadd), 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_SLV0_CONFIG, + (uint8_t *)&slv0_config, 1); + } + + if (ret == 0) { + slv0_config.slave0_numop = val->slv_len; + ret = lsm6dso_write_reg(ctx, LSM6DSO_SLV0_CONFIG, + (uint8_t *)&slv0_config, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Configure slave 0 for perform a write/read.[set] + * + * @param ctx read / write interface definitions + * @param val Structure that contain + * - uint8_t slv1_add; 8 bit i2c device address + * - uint8_t slv1_subadd; 8 bit register device address + * - uint8_t slv1_len; num of bit to read + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_slv1_cfg_read(stmdev_ctx_t *ctx, lsm6dso_sh_cfg_read_t *val) +{ + lsm6dso_slv1_add_t slv1_add; + lsm6dso_slv1_config_t slv1_config; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + slv1_add.slave1_add = val->slv_add; + slv1_add.r_1 = 1; + ret = lsm6dso_write_reg(ctx, LSM6DSO_SLV1_ADD, + (uint8_t *)&slv1_add, 1); + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_SLV1_SUBADD, + &(val->slv_subadd), 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_SLV1_CONFIG, + (uint8_t *)&slv1_config, 1); + } + + if (ret == 0) { + slv1_config.slave1_numop = val->slv_len; + ret = lsm6dso_write_reg(ctx, LSM6DSO_SLV1_CONFIG, + (uint8_t *)&slv1_config, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Configure slave 0 for perform a write/read.[set] + * + * @param ctx read / write interface definitions + * @param val Structure that contain + * - uint8_t slv2_add; 8 bit i2c device address + * - uint8_t slv2_subadd; 8 bit register device address + * - uint8_t slv2_len; num of bit to read + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_slv2_cfg_read(stmdev_ctx_t *ctx, lsm6dso_sh_cfg_read_t *val) +{ + lsm6dso_slv2_add_t slv2_add; + lsm6dso_slv2_config_t slv2_config; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + slv2_add.slave2_add = val->slv_add; + slv2_add.r_2 = 1; + ret = lsm6dso_write_reg(ctx, LSM6DSO_SLV2_ADD, + (uint8_t *)&slv2_add, 1); + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_SLV2_SUBADD, + &(val->slv_subadd), 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_SLV2_CONFIG, + (uint8_t *)&slv2_config, 1); + } + + if (ret == 0) { + slv2_config.slave2_numop = val->slv_len; + ret = lsm6dso_write_reg(ctx, LSM6DSO_SLV2_CONFIG, + (uint8_t *)&slv2_config, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Configure slave 0 for perform a write/read.[set] + * + * @param ctx read / write interface definitions + * @param val Structure that contain + * - uint8_t slv3_add; 8 bit i2c device address + * - uint8_t slv3_subadd; 8 bit register device address + * - uint8_t slv3_len; num of bit to read + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_slv3_cfg_read(stmdev_ctx_t *ctx, lsm6dso_sh_cfg_read_t *val) +{ + lsm6dso_slv3_add_t slv3_add; + lsm6dso_slv3_config_t slv3_config; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + slv3_add.slave3_add = val->slv_add; + slv3_add.r_3 = 1; + ret = lsm6dso_write_reg(ctx, LSM6DSO_SLV3_ADD, + (uint8_t *)&slv3_add, 1); + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_SLV3_SUBADD, + &(val->slv_subadd), 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_SLV3_CONFIG, + (uint8_t *)&slv3_config, 1); + } + + if (ret == 0) { + slv3_config.slave3_numop = val->slv_len; + ret = lsm6dso_write_reg(ctx, LSM6DSO_SLV3_CONFIG, + (uint8_t *)&slv3_config, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Sensor hub source register.[get] + * + * @param ctx read / write interface definitions + * @param val union of registers from STATUS_MASTER to + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_sh_status_get(stmdev_ctx_t *ctx, lsm6dso_status_master_t *val) +{ + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_SENSOR_HUB_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_STATUS_MASTER, + (uint8_t *)val, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @} + * + */ + +/** + * @defgroup Basic configuration + * @brief This section groups all the functions concerning + * device basic configuration. + * @{ + * + */ + +/** + * @brief Device "Who am I".[get] + * + * @param ctx communication interface handler. Use NULL to ignore + * this interface.(ptr) + * @param aux_ctx auxiliary communication interface handler. Use NULL + * to ignore this interface.(ptr) + * @param val ID values read from the two interfaces. ID values + * will be the same.(ptr) + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_id_get(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx, + lsm6dso_id_t *val) +{ + int32_t ret = 0; + + if (ctx != NULL) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_WHO_AM_I, + (uint8_t *)&(val->ui), 1); + } + + if (aux_ctx != NULL) { + if (ret == 0) { + ret = lsm6dso_read_reg(aux_ctx, LSM6DSO_WHO_AM_I, + (uint8_t *)&(val->aux), 1); + } + } + + return ret; +} + +/** + * @brief Re-initialize the device.[set] + * + * @param ctx communication interface handler.(ptr) + * @param val re-initialization mode. Refer to datasheet + * and application note for more information + * about differencies between boot and sw_reset + * procedure. + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_init_set(stmdev_ctx_t *ctx, lsm6dso_init_t val) +{ + lsm6dso_emb_func_init_a_t emb_func_init_a; + lsm6dso_emb_func_init_b_t emb_func_init_b; + lsm6dso_ctrl3_c_t ctrl3_c; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_INIT_B, + (uint8_t *)&emb_func_init_b, 1); + } + + if (ret == 0) { + emb_func_init_b.fifo_compr_init = + (uint8_t)val & ((uint8_t)LSM6DSO_FIFO_COMP >> 2); + emb_func_init_b.fsm_init = (uint8_t)val & + ((uint8_t)LSM6DSO_FSM >> 3); + ret = lsm6dso_write_reg(ctx, LSM6DSO_EMB_FUNC_INIT_B, + (uint8_t *)&emb_func_init_b, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_INIT_A, + (uint8_t *)&emb_func_init_a, 1); + } + + if (ret == 0) { + emb_func_init_a.step_det_init = + ((uint8_t)val & (uint8_t)LSM6DSO_PEDO) >> 5; + emb_func_init_a.tilt_init = + ((uint8_t)val & (uint8_t)LSM6DSO_TILT) >> 6; + emb_func_init_a.sig_mot_init = + ((uint8_t)val & (uint8_t)LSM6DSO_SMOTION) >> 7; + ret = lsm6dso_write_reg(ctx, LSM6DSO_EMB_FUNC_INIT_A, + (uint8_t *)&emb_func_init_a, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_C, + (uint8_t *)&ctrl3_c, 1); + } + + if (((val == LSM6DSO_BOOT) || (val == LSM6DSO_RESET)) && (ret == 0)) { + ctrl3_c.boot = (uint8_t)val & (uint8_t)LSM6DSO_BOOT; + ctrl3_c.sw_reset = ((uint8_t)val & (uint8_t)LSM6DSO_RESET) >> 1; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL3_C, + (uint8_t *)&ctrl3_c, 1); + } + + if ((val == LSM6DSO_DRV_RDY) && + ((ctrl3_c.bdu == PROPERTY_DISABLE) || + (ctrl3_c.if_inc == PROPERTY_DISABLE)) && + (ret == 0)) { + ctrl3_c.bdu = PROPERTY_ENABLE; + ctrl3_c.if_inc = PROPERTY_ENABLE; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL3_C, + (uint8_t *)&ctrl3_c, 1); + } + + return ret; +} + +/** + * @brief Configures the bus operating mode.[set] + * + * @param ctx communication interface handler. Use NULL to ignore + * this interface.(ptr) + * @param aux_ctx auxiliary communication interface handler. Use NULL + * to ignore this interface.(ptr) + * @param val configures the bus operating mode for both the + * main and the auxiliary interface. + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_bus_mode_set(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx, + lsm6dso_bus_mode_t val) +{ + lsm6dso_ctrl1_ois_t ctrl1_ois; + lsm6dso_i3c_bus_avb_t i3c_bus_avb; + lsm6dso_ctrl9_xl_t ctrl9_xl; + lsm6dso_ctrl3_c_t ctrl3_c; + lsm6dso_ctrl4_c_t ctrl4_c; + uint8_t bit_val; + int32_t ret; + + ret = 0; + + if (aux_ctx != NULL) { + ret = lsm6dso_read_reg(aux_ctx, LSM6DSO_CTRL1_OIS, + (uint8_t *)&ctrl1_ois, 1); + bit_val = ((uint8_t)val.aux_bus_md & 0x04U) >> 2; + + if ((ret == 0) && (ctrl1_ois.sim_ois != bit_val)) { + ctrl1_ois.sim_ois = bit_val; + ret = lsm6dso_write_reg(aux_ctx, LSM6DSO_CTRL1_OIS, + (uint8_t *)&ctrl1_ois, 1); + } + } + + if (ctx != NULL) { + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL9_XL, + (uint8_t *)&ctrl9_xl, 1); + } + + bit_val = ((uint8_t)val.ui_bus_md & 0x04U) >> 2; + + if ((ret == 0) && (ctrl9_xl.i3c_disable != bit_val)) { + ctrl9_xl.i3c_disable = bit_val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL9_XL, + (uint8_t *)&ctrl9_xl, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_I3C_BUS_AVB, + (uint8_t *)&i3c_bus_avb, 1); + } + + bit_val = ((uint8_t)val.ui_bus_md & 0x30U) >> 4; + + if ((ret == 0) && (i3c_bus_avb.i3c_bus_avb_sel != bit_val)) { + i3c_bus_avb.i3c_bus_avb_sel = bit_val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_I3C_BUS_AVB, + (uint8_t *)&i3c_bus_avb, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL4_C, + (uint8_t *)&ctrl4_c, 1); + } + + bit_val = ((uint8_t)val.ui_bus_md & 0x02U) >> 1; + + if ((ret == 0) && (ctrl4_c.i2c_disable != bit_val)) { + ctrl4_c.i2c_disable = bit_val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL4_C, + (uint8_t *)&ctrl4_c, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_C, + (uint8_t *)&ctrl3_c, 1); + } + + bit_val = (uint8_t)val.ui_bus_md & 0x01U; + + if ((ret == 0) && (ctrl3_c.sim != bit_val)) { + ctrl3_c.sim = bit_val; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL3_C, + (uint8_t *)&ctrl3_c, 1); + } + } + + return ret; +} + +/** + * @brief Get the bus operating mode.[get] + * + * @param ctx communication interface handler. Use NULL to ignore + * this interface.(ptr) + * @param aux_ctx auxiliary communication interface handler. Use NULL + * to ignore this interface.(ptr) + * @param val retrieves the bus operating mode for both the main + * and the auxiliary interface.(ptr) + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_bus_mode_get(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx, + lsm6dso_bus_mode_t *val) +{ + lsm6dso_ctrl1_ois_t ctrl1_ois; + lsm6dso_i3c_bus_avb_t i3c_bus_avb; + lsm6dso_ctrl9_xl_t ctrl9_xl; + lsm6dso_ctrl3_c_t ctrl3_c; + lsm6dso_ctrl4_c_t ctrl4_c; + int32_t ret = 0; + + if (aux_ctx != NULL) { + ret = lsm6dso_read_reg(aux_ctx, LSM6DSO_CTRL1_OIS, + (uint8_t *)&ctrl1_ois, 1); + + switch (ctrl1_ois.sim_ois) { + case LSM6DSO_SPI_4W_AUX: + val->aux_bus_md = LSM6DSO_SPI_4W_AUX; + break; + + case LSM6DSO_SPI_3W_AUX: + val->aux_bus_md = LSM6DSO_SPI_3W_AUX; + break; + + default: + val->aux_bus_md = LSM6DSO_SPI_4W_AUX; + break; + } + } + + if (ctx != NULL) { + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL9_XL, + (uint8_t *)&ctrl9_xl, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_I3C_BUS_AVB, + (uint8_t *)&i3c_bus_avb, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL4_C, + (uint8_t *)&ctrl4_c, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_C, + (uint8_t *)&ctrl3_c, 1); + + switch ((i3c_bus_avb.i3c_bus_avb_sel << 4) & + (ctrl9_xl.i3c_disable << 2) & + (ctrl4_c.i2c_disable << 1) & ctrl3_c.sim) { + case LSM6DSO_SEL_BY_HW: + val->ui_bus_md = LSM6DSO_SEL_BY_HW; + break; + + case LSM6DSO_SPI_4W: + val->ui_bus_md = LSM6DSO_SPI_4W; + break; + + case LSM6DSO_SPI_3W: + val->ui_bus_md = LSM6DSO_SPI_3W; + break; + + case LSM6DSO_I2C: + val->ui_bus_md = LSM6DSO_I2C; + break; + + case LSM6DSO_I3C_T_50us: + val->ui_bus_md = LSM6DSO_I3C_T_50us; + break; + + case LSM6DSO_I3C_T_2us: + val->ui_bus_md = LSM6DSO_I3C_T_2us; + break; + + case LSM6DSO_I3C_T_1ms: + val->ui_bus_md = LSM6DSO_I3C_T_1ms; + break; + + case LSM6DSO_I3C_T_25ms: + val->ui_bus_md = LSM6DSO_I3C_T_25ms; + break; + + default: + val->ui_bus_md = LSM6DSO_SEL_BY_HW; + break; + } + } + } + + return ret; +} + +/** + * @brief Get the status of the device.[get] + * + * @param ctx communication interface handler. Use NULL to ignore + * this interface.(ptr) + * @param aux_ctx auxiliary communication interface handler. Use NULL + * to ignore this interface.(ptr) + * @param val the status of the device.(ptr) + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_status_get(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx, + lsm6dso_status_t *val) +{ + lsm6dso_status_spiaux_t status_spiaux; + lsm6dso_status_reg_t status_reg; + lsm6dso_ctrl3_c_t ctrl3_c; + int32_t ret; + ret = 0; + + if (aux_ctx != NULL) { + ret = lsm6dso_read_reg(aux_ctx, LSM6DSO_STATUS_SPIAUX, + (uint8_t *)&status_spiaux, 1); + val->ois_drdy_xl = status_spiaux.xlda; + val->ois_drdy_g = status_spiaux.gda; + val->ois_gyro_settling = status_spiaux.gyro_settling; + } + + if (ctx != NULL) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_C, + (uint8_t *)&ctrl3_c, 1); + val->sw_reset = ctrl3_c.sw_reset; + val->boot = ctrl3_c.boot; + + if ((ret == 0) && (ctrl3_c.sw_reset == PROPERTY_DISABLE) && + (ctrl3_c.boot == PROPERTY_DISABLE)) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_STATUS_REG, + (uint8_t *)&status_reg, 1); + val->drdy_xl = status_reg.xlda; + val->drdy_g = status_reg.gda; + val->drdy_temp = status_reg.tda; + } + } + + return ret; +} + +/** + * @brief Electrical pin configuration.[set] + * + * @param ctx communication interface handler.(ptr) + * @param val the electrical settings for the configurable + * pins. + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_pin_conf_set(stmdev_ctx_t *ctx, lsm6dso_pin_conf_t val) +{ + lsm6dso_i3c_bus_avb_t i3c_bus_avb; + lsm6dso_pin_ctrl_t pin_ctrl; + lsm6dso_ctrl3_c_t ctrl3_c; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_PIN_CTRL, (uint8_t *)&pin_ctrl, 1); + + if (ret == 0) { + pin_ctrl.ois_pu_dis = ~val.aux_sdo_ocs_pull_up; + pin_ctrl.sdo_pu_en = val.sdo_sa0_pull_up; + ret = lsm6dso_write_reg(ctx, LSM6DSO_PIN_CTRL, + (uint8_t *)&pin_ctrl, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_C, + (uint8_t *)&ctrl3_c, 1); + } + + if (ret == 0) { + ctrl3_c.pp_od = ~val.int1_int2_push_pull; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL3_C, + (uint8_t *)&ctrl3_c, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_I3C_BUS_AVB, + (uint8_t *)&i3c_bus_avb, 1); + } + + if (ret == 0) { + i3c_bus_avb.pd_dis_int1 = ~val.int1_pull_down; + ret = lsm6dso_write_reg(ctx, LSM6DSO_I3C_BUS_AVB, + (uint8_t *)&i3c_bus_avb, 1); + } + + return ret; +} + +/** + * @brief Electrical pin configuration.[get] + * + * @param ctx communication interface handler.(ptr) + * @param val the electrical settings for the configurable + * pins.(ptr) + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_pin_conf_get(stmdev_ctx_t *ctx, lsm6dso_pin_conf_t *val) +{ + lsm6dso_i3c_bus_avb_t i3c_bus_avb; + lsm6dso_pin_ctrl_t pin_ctrl; + lsm6dso_ctrl3_c_t ctrl3_c; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_PIN_CTRL, (uint8_t *)&pin_ctrl, 1); + + if (ret == 0) { + val->aux_sdo_ocs_pull_up = ~pin_ctrl.ois_pu_dis; + val->aux_sdo_ocs_pull_up = pin_ctrl.sdo_pu_en; + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_C, + (uint8_t *)&ctrl3_c, 1); + } + + if (ret == 0) { + val->int1_int2_push_pull = ~ctrl3_c.pp_od; + ret = lsm6dso_read_reg(ctx, LSM6DSO_I3C_BUS_AVB, + (uint8_t *)&i3c_bus_avb, 1); + } + + if (ret == 0) { + val->int1_pull_down = ~i3c_bus_avb.pd_dis_int1; + } + + return ret; +} + +/** + * @brief Interrupt pins hardware signal configuration.[set] + * + * @param ctx communication interface handler.(ptr) + * @param val the pins hardware signal settings. + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_interrupt_mode_set(stmdev_ctx_t *ctx, lsm6dso_int_mode_t val) +{ + lsm6dso_tap_cfg0_t tap_cfg0; + lsm6dso_page_rw_t page_rw; + lsm6dso_ctrl3_c_t ctrl3_c; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_C, (uint8_t *)&ctrl3_c, 1); + + if (ret == 0) { + ctrl3_c.h_lactive = val.active_low; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL3_C, + (uint8_t *)&ctrl3_c, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG0, + (uint8_t *)&tap_cfg0, 1); + } + + if (ret == 0) { + tap_cfg0.lir = val.base_latched; + tap_cfg0.int_clr_on_read = val.base_latched | val.emb_latched; + ret = lsm6dso_write_reg(ctx, LSM6DSO_TAP_CFG0, + (uint8_t *)&tap_cfg0, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_PAGE_RW, + (uint8_t *)&page_rw, 1); + } + + if (ret == 0) { + page_rw.emb_func_lir = val.emb_latched; + ret = lsm6dso_write_reg(ctx, LSM6DSO_PAGE_RW, + (uint8_t *)&page_rw, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Interrupt pins hardware signal configuration.[get] + * + * @param ctx communication interface handler.(ptr) + * @param val the pins hardware signal settings.(ptr) + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_interrupt_mode_get(stmdev_ctx_t *ctx, lsm6dso_int_mode_t *val) +{ + lsm6dso_tap_cfg0_t tap_cfg0; + lsm6dso_page_rw_t page_rw; + lsm6dso_ctrl3_c_t ctrl3_c; + int32_t ret; + + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL3_C, (uint8_t *)&ctrl3_c, 1); + + if (ret == 0) { + ctrl3_c.h_lactive = val->active_low; + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG0, + (uint8_t *)&tap_cfg0, 1); + } + + if (ret == 0) { + tap_cfg0.lir = val->base_latched; + tap_cfg0.int_clr_on_read = val->base_latched | val->emb_latched; + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_PAGE_RW, + (uint8_t *)&page_rw, 1); + } + + if (ret == 0) { + page_rw.emb_func_lir = val->emb_latched; + ret = lsm6dso_write_reg(ctx, LSM6DSO_PAGE_RW, + (uint8_t *)&page_rw, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Route interrupt signals on int1 pin.[set] + * + * @param ctx communication interface handler.(ptr) + * @param val the signals to route on int1 pin. + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_pin_int1_route_set(stmdev_ctx_t *ctx, + lsm6dso_pin_int1_route_t val) +{ + lsm6dso_pin_int2_route_t pin_int2_route; + lsm6dso_emb_func_int1_t emb_func_int1; + lsm6dso_fsm_int1_a_t fsm_int1_a; + lsm6dso_fsm_int1_b_t fsm_int1_b; + lsm6dso_int1_ctrl_t int1_ctrl; + lsm6dso_int2_ctrl_t int2_ctrl; + lsm6dso_tap_cfg2_t tap_cfg2; + lsm6dso_md2_cfg_t md2_cfg; + lsm6dso_md1_cfg_t md1_cfg; + lsm6dso_ctrl4_c_t ctrl4_c; + int32_t ret; + int1_ctrl.int1_drdy_xl = val.drdy_xl; + int1_ctrl.int1_drdy_g = val.drdy_g; + int1_ctrl.int1_boot = val.boot; + int1_ctrl.int1_fifo_th = val.fifo_th; + int1_ctrl.int1_fifo_ovr = val.fifo_ovr; + int1_ctrl.int1_fifo_full = val.fifo_full; + int1_ctrl.int1_cnt_bdr = val.fifo_bdr; + int1_ctrl.den_drdy_flag = val.den_flag; + md1_cfg.int1_shub = val.sh_endop; + md1_cfg.int1_6d = val.six_d; + md1_cfg.int1_double_tap = val.double_tap; + md1_cfg.int1_ff = val.free_fall; + md1_cfg.int1_wu = val.wake_up; + md1_cfg.int1_single_tap = val.single_tap; + md1_cfg.int1_sleep_change = val.sleep_change; + emb_func_int1.not_used_01 = 0; + emb_func_int1.int1_step_detector = val.step_detector; + emb_func_int1.int1_tilt = val.tilt; + emb_func_int1.int1_sig_mot = val.sig_mot; + emb_func_int1.not_used_02 = 0; + emb_func_int1.int1_fsm_lc = val.fsm_lc; + fsm_int1_a.int1_fsm1 = val.fsm1; + fsm_int1_a.int1_fsm2 = val.fsm2; + fsm_int1_a.int1_fsm3 = val.fsm3; + fsm_int1_a.int1_fsm4 = val.fsm4; + fsm_int1_a.int1_fsm5 = val.fsm5; + fsm_int1_a.int1_fsm6 = val.fsm6; + fsm_int1_a.int1_fsm7 = val.fsm7; + fsm_int1_a.int1_fsm8 = val.fsm8; + fsm_int1_b.int1_fsm9 = val.fsm9; + fsm_int1_b.int1_fsm10 = val.fsm10; + fsm_int1_b.int1_fsm11 = val.fsm11; + fsm_int1_b.int1_fsm12 = val.fsm12; + fsm_int1_b.int1_fsm13 = val.fsm13; + fsm_int1_b.int1_fsm14 = val.fsm14; + fsm_int1_b.int1_fsm15 = val.fsm15; + fsm_int1_b.int1_fsm16 = val.fsm16; + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL4_C, (uint8_t *)&ctrl4_c, 1); + + if (ret == 0) { + if ((val.drdy_temp | val.timestamp) != PROPERTY_DISABLE) { + ctrl4_c.int2_on_int1 = PROPERTY_ENABLE; + } + + else { + ctrl4_c.int2_on_int1 = PROPERTY_DISABLE; + } + + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL4_C, + (uint8_t *)&ctrl4_c, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_EMB_FUNC_INT1, + (uint8_t *)&emb_func_int1, 1); + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_FSM_INT1_A, + (uint8_t *)&fsm_int1_a, 1); + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_FSM_INT1_B, + (uint8_t *)&fsm_int1_b, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + if (ret == 0) { + if ((emb_func_int1.int1_fsm_lc | emb_func_int1.int1_sig_mot | + emb_func_int1.int1_step_detector | + emb_func_int1.int1_tilt | fsm_int1_a.int1_fsm1 | + fsm_int1_a.int1_fsm2 | fsm_int1_a.int1_fsm3 | + fsm_int1_a.int1_fsm4 | fsm_int1_a.int1_fsm5 | + fsm_int1_a.int1_fsm6 | fsm_int1_a.int1_fsm7 | + fsm_int1_a.int1_fsm8 | fsm_int1_b.int1_fsm9 | + fsm_int1_b.int1_fsm10 | fsm_int1_b.int1_fsm11 | + fsm_int1_b.int1_fsm12 | fsm_int1_b.int1_fsm13 | + fsm_int1_b.int1_fsm14 | fsm_int1_b.int1_fsm15 | + fsm_int1_b.int1_fsm16) != PROPERTY_DISABLE) { + md1_cfg.int1_emb_func = PROPERTY_ENABLE; + } + + else { + md1_cfg.int1_emb_func = PROPERTY_DISABLE; + } + + ret = lsm6dso_write_reg(ctx, LSM6DSO_INT1_CTRL, + (uint8_t *)&int1_ctrl, 1); + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_MD1_CFG, + (uint8_t *)&md1_cfg, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_INT2_CTRL, + (uint8_t *)&int2_ctrl, 1); + } + + if (ret == 0) { + int2_ctrl.int2_drdy_temp = val.drdy_temp; + ret = lsm6dso_write_reg(ctx, LSM6DSO_INT2_CTRL, + (uint8_t *)&int2_ctrl, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_MD2_CFG, + (uint8_t *)&md2_cfg, 1); + } + + if (ret == 0) { + md2_cfg.int2_timestamp = val.timestamp; + ret = lsm6dso_write_reg(ctx, LSM6DSO_MD2_CFG, + (uint8_t *)&md2_cfg, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG2, + (uint8_t *)&tap_cfg2, 1); + } + + if (ret == 0) { + ret = lsm6dso_pin_int2_route_get(ctx, NULL, &pin_int2_route); + } + + if (ret == 0) { + if ((pin_int2_route.fifo_bdr | pin_int2_route.drdy_g | + pin_int2_route.drdy_temp | pin_int2_route.drdy_xl | + pin_int2_route.fifo_full | pin_int2_route.fifo_ovr | + pin_int2_route.fifo_th | pin_int2_route.six_d | + pin_int2_route.double_tap | pin_int2_route.free_fall | + pin_int2_route.wake_up | pin_int2_route.single_tap | + pin_int2_route.sleep_change | int1_ctrl.den_drdy_flag | + int1_ctrl.int1_boot | int1_ctrl.int1_cnt_bdr | + int1_ctrl.int1_drdy_g | int1_ctrl.int1_drdy_xl | + int1_ctrl.int1_fifo_full | int1_ctrl.int1_fifo_ovr | + int1_ctrl.int1_fifo_th | md1_cfg.int1_shub | + md1_cfg.int1_6d | md1_cfg.int1_double_tap | + md1_cfg.int1_ff | md1_cfg.int1_wu | + md1_cfg.int1_single_tap | md1_cfg.int1_sleep_change) != + PROPERTY_DISABLE) { + tap_cfg2.interrupts_enable = PROPERTY_ENABLE; + } + + else { + tap_cfg2.interrupts_enable = PROPERTY_DISABLE; + } + + ret = lsm6dso_write_reg(ctx, LSM6DSO_TAP_CFG2, + (uint8_t *)&tap_cfg2, 1); + } + + return ret; +} + +/** + * @brief Route interrupt signals on int1 pin.[get] + * + * @param ctx communication interface handler.(ptr) + * @param val the signals that are routed on int1 pin.(ptr) + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_pin_int1_route_get(stmdev_ctx_t *ctx, + lsm6dso_pin_int1_route_t *val) +{ + lsm6dso_emb_func_int1_t emb_func_int1; + lsm6dso_fsm_int1_a_t fsm_int1_a; + lsm6dso_fsm_int1_b_t fsm_int1_b; + lsm6dso_int1_ctrl_t int1_ctrl; + lsm6dso_int2_ctrl_t int2_ctrl; + lsm6dso_md2_cfg_t md2_cfg; + lsm6dso_md1_cfg_t md1_cfg; + lsm6dso_ctrl4_c_t ctrl4_c; + int32_t ret; + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_INT1, + (uint8_t *)&emb_func_int1, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_FSM_INT1_A, + (uint8_t *)&fsm_int1_a, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_FSM_INT1_B, + (uint8_t *)&fsm_int1_b, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_INT1_CTRL, + (uint8_t *)&int1_ctrl, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_MD1_CFG, + (uint8_t *)&md1_cfg, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL4_C, + (uint8_t *)&ctrl4_c, 1); + } + + if (ctrl4_c.int2_on_int1 == PROPERTY_ENABLE) { + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_INT2_CTRL, + (uint8_t *)&int2_ctrl, 1); + val->drdy_temp = int2_ctrl.int2_drdy_temp; + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_MD2_CFG, + (uint8_t *)&md2_cfg, 1); + val->timestamp = md2_cfg.int2_timestamp; + } + } + + else { + val->drdy_temp = PROPERTY_DISABLE; + val->timestamp = PROPERTY_DISABLE; + } + + val->drdy_xl = int1_ctrl.int1_drdy_xl; + val->drdy_g = int1_ctrl.int1_drdy_g; + val->boot = int1_ctrl.int1_boot; + val->fifo_th = int1_ctrl.int1_fifo_th; + val->fifo_ovr = int1_ctrl.int1_fifo_ovr; + val->fifo_full = int1_ctrl.int1_fifo_full; + val->fifo_bdr = int1_ctrl.int1_cnt_bdr; + val->den_flag = int1_ctrl.den_drdy_flag; + val->sh_endop = md1_cfg.int1_shub; + val->six_d = md1_cfg.int1_6d; + val->double_tap = md1_cfg.int1_double_tap; + val->free_fall = md1_cfg.int1_ff; + val->wake_up = md1_cfg.int1_wu; + val->single_tap = md1_cfg.int1_single_tap; + val->sleep_change = md1_cfg.int1_sleep_change; + val->step_detector = emb_func_int1.int1_step_detector; + val->tilt = emb_func_int1.int1_tilt; + val->sig_mot = emb_func_int1.int1_sig_mot; + val->fsm_lc = emb_func_int1.int1_fsm_lc; + val->fsm1 = fsm_int1_a.int1_fsm1; + val->fsm2 = fsm_int1_a.int1_fsm2; + val->fsm3 = fsm_int1_a.int1_fsm3; + val->fsm4 = fsm_int1_a.int1_fsm4; + val->fsm5 = fsm_int1_a.int1_fsm5; + val->fsm6 = fsm_int1_a.int1_fsm6; + val->fsm7 = fsm_int1_a.int1_fsm7; + val->fsm8 = fsm_int1_a.int1_fsm8; + val->fsm9 = fsm_int1_b.int1_fsm9; + val->fsm10 = fsm_int1_b.int1_fsm10; + val->fsm11 = fsm_int1_b.int1_fsm11; + val->fsm12 = fsm_int1_b.int1_fsm12; + val->fsm13 = fsm_int1_b.int1_fsm13; + val->fsm14 = fsm_int1_b.int1_fsm14; + val->fsm15 = fsm_int1_b.int1_fsm15; + val->fsm16 = fsm_int1_b.int1_fsm16; + + return ret; +} + +/** + * @brief Route interrupt signals on int2 pin.[set] + * + * @param ctx communication interface handler. Use NULL to ignore + * this interface.(ptr) + * @param aux_ctx auxiliary communication interface handler. Use NULL + * to ignore this interface.(ptr) + * @param val the signals to route on int2 pin. + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_pin_int2_route_set(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx, + lsm6dso_pin_int2_route_t val) +{ + lsm6dso_pin_int1_route_t pin_int1_route; + lsm6dso_emb_func_int2_t emb_func_int2; + lsm6dso_fsm_int2_a_t fsm_int2_a; + lsm6dso_fsm_int2_b_t fsm_int2_b; + lsm6dso_int2_ctrl_t int2_ctrl; + lsm6dso_tap_cfg2_t tap_cfg2; + lsm6dso_md2_cfg_t md2_cfg; + lsm6dso_ctrl4_c_t ctrl4_c; + lsm6dso_int_ois_t int_ois; + int32_t ret; + ret = 0; + + if (aux_ctx != NULL) { + ret = lsm6dso_read_reg(aux_ctx, LSM6DSO_INT_OIS, + (uint8_t *)&int_ois, 1); + + if (ret == 0) { + int_ois.int2_drdy_ois = val.drdy_ois; + ret = lsm6dso_write_reg(aux_ctx, LSM6DSO_INT_OIS, + (uint8_t *)&int_ois, 1); + } + } + + if (ctx != NULL) { + int2_ctrl.int2_drdy_xl = val.drdy_xl; + int2_ctrl.int2_drdy_g = val.drdy_g; + int2_ctrl.int2_drdy_temp = val.drdy_temp; + int2_ctrl.int2_fifo_th = val.fifo_th; + int2_ctrl.int2_fifo_ovr = val.fifo_ovr; + int2_ctrl.int2_fifo_full = val.fifo_full; + int2_ctrl.int2_cnt_bdr = val.fifo_bdr; + int2_ctrl.not_used_01 = 0; + md2_cfg.int2_timestamp = val.timestamp; + md2_cfg.int2_6d = val.six_d; + md2_cfg.int2_double_tap = val.double_tap; + md2_cfg.int2_ff = val.free_fall; + md2_cfg.int2_wu = val.wake_up; + md2_cfg.int2_single_tap = val.single_tap; + md2_cfg.int2_sleep_change = val.sleep_change; + emb_func_int2.not_used_01 = 0; + emb_func_int2.int2_step_detector = val.step_detector; + emb_func_int2.int2_tilt = val.tilt; + emb_func_int2.int2_sig_mot = val.sig_mot; + emb_func_int2.not_used_02 = 0; + emb_func_int2.int2_fsm_lc = val.fsm_lc; + fsm_int2_a.int2_fsm1 = val.fsm1; + fsm_int2_a.int2_fsm2 = val.fsm2; + fsm_int2_a.int2_fsm3 = val.fsm3; + fsm_int2_a.int2_fsm4 = val.fsm4; + fsm_int2_a.int2_fsm5 = val.fsm5; + fsm_int2_a.int2_fsm6 = val.fsm6; + fsm_int2_a.int2_fsm7 = val.fsm7; + fsm_int2_a.int2_fsm8 = val.fsm8; + fsm_int2_b.int2_fsm9 = val.fsm9; + fsm_int2_b.int2_fsm10 = val.fsm10; + fsm_int2_b.int2_fsm11 = val.fsm11; + fsm_int2_b.int2_fsm12 = val.fsm12; + fsm_int2_b.int2_fsm13 = val.fsm13; + fsm_int2_b.int2_fsm14 = val.fsm14; + fsm_int2_b.int2_fsm15 = val.fsm15; + fsm_int2_b.int2_fsm16 = val.fsm16; + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL4_C, + (uint8_t *)&ctrl4_c, 1); + + if (ret == 0) { + if ((val.drdy_temp | val.timestamp) != + PROPERTY_DISABLE) { + ctrl4_c.int2_on_int1 = PROPERTY_DISABLE; + } + + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL4_C, + (uint8_t *)&ctrl4_c, 1); + } + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, + LSM6DSO_EMBEDDED_FUNC_BANK); + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_EMB_FUNC_INT2, + (uint8_t *)&emb_func_int2, 1); + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_FSM_INT2_A, + (uint8_t *)&fsm_int2_a, 1); + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_FSM_INT2_B, + (uint8_t *)&fsm_int2_b, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + if (ret == 0) { + if ((emb_func_int2.int2_fsm_lc | + emb_func_int2.int2_sig_mot | + emb_func_int2.int2_step_detector | + emb_func_int2.int2_tilt | fsm_int2_a.int2_fsm1 | + fsm_int2_a.int2_fsm2 | fsm_int2_a.int2_fsm3 | + fsm_int2_a.int2_fsm4 | fsm_int2_a.int2_fsm5 | + fsm_int2_a.int2_fsm6 | fsm_int2_a.int2_fsm7 | + fsm_int2_a.int2_fsm8 | fsm_int2_b.int2_fsm9 | + fsm_int2_b.int2_fsm10 | fsm_int2_b.int2_fsm11 | + fsm_int2_b.int2_fsm12 | fsm_int2_b.int2_fsm13 | + fsm_int2_b.int2_fsm14 | fsm_int2_b.int2_fsm15 | + fsm_int2_b.int2_fsm16) != PROPERTY_DISABLE) { + md2_cfg.int2_emb_func = PROPERTY_ENABLE; + } + + else { + md2_cfg.int2_emb_func = PROPERTY_DISABLE; + } + + ret = lsm6dso_write_reg(ctx, LSM6DSO_INT2_CTRL, + (uint8_t *)&int2_ctrl, 1); + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_MD2_CFG, + (uint8_t *)&md2_cfg, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_TAP_CFG2, + (uint8_t *)&tap_cfg2, 1); + } + + if (ret == 0) { + ret = lsm6dso_pin_int1_route_get(ctx, &pin_int1_route); + } + + if (ret == 0) { + if ((val.fifo_bdr | val.drdy_g | val.drdy_temp | + val.drdy_xl | val.fifo_full | val.fifo_ovr | + val.fifo_th | val.six_d | val.double_tap | + val.free_fall | val.wake_up | val.single_tap | + val.sleep_change | pin_int1_route.den_flag | + pin_int1_route.boot | pin_int1_route.fifo_bdr | + pin_int1_route.drdy_g | pin_int1_route.drdy_xl | + pin_int1_route.fifo_full | + pin_int1_route.fifo_ovr | pin_int1_route.fifo_th | + pin_int1_route.six_d | pin_int1_route.double_tap | + pin_int1_route.free_fall | pin_int1_route.wake_up | + pin_int1_route.single_tap | + pin_int1_route.sleep_change) != PROPERTY_DISABLE) { + tap_cfg2.interrupts_enable = PROPERTY_ENABLE; + } + + else { + tap_cfg2.interrupts_enable = PROPERTY_DISABLE; + } + + ret = lsm6dso_write_reg(ctx, LSM6DSO_TAP_CFG2, + (uint8_t *)&tap_cfg2, 1); + } + } + + return ret; +} + +/** + * @brief Route interrupt signals on int2 pin.[get] + * + * @param ctx communication interface handler. Use NULL to ignore + * this interface.(ptr) + * @param aux_ctx auxiliary communication interface handler. Use NULL + * to ignore this interface.(ptr) + * @param val the signals that are routed on int2 pin.(ptr) + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_pin_int2_route_get(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx, + lsm6dso_pin_int2_route_t *val) +{ + lsm6dso_emb_func_int2_t emb_func_int2; + lsm6dso_fsm_int2_a_t fsm_int2_a; + lsm6dso_fsm_int2_b_t fsm_int2_b; + lsm6dso_int2_ctrl_t int2_ctrl; + lsm6dso_md2_cfg_t md2_cfg; + lsm6dso_ctrl4_c_t ctrl4_c; + lsm6dso_int_ois_t int_ois; + int32_t ret; + ret = 0; + + if (aux_ctx != NULL) { + ret = lsm6dso_read_reg(aux_ctx, LSM6DSO_INT_OIS, + (uint8_t *)&int_ois, 1); + val->drdy_ois = int_ois.int2_drdy_ois; + } + + if (ctx != NULL) { + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, + LSM6DSO_EMBEDDED_FUNC_BANK); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_INT2, + (uint8_t *)&emb_func_int2, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_FSM_INT2_A, + (uint8_t *)&fsm_int2_a, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_FSM_INT2_B, + (uint8_t *)&fsm_int2_b, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_INT2_CTRL, + (uint8_t *)&int2_ctrl, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_MD2_CFG, + (uint8_t *)&md2_cfg, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL4_C, + (uint8_t *)&ctrl4_c, 1); + } + + if (ctrl4_c.int2_on_int1 == PROPERTY_DISABLE) { + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_INT2_CTRL, + (uint8_t *)&int2_ctrl, + 1); + val->drdy_temp = int2_ctrl.int2_drdy_temp; + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_MD2_CFG, + (uint8_t *)&md2_cfg, 1); + val->timestamp = md2_cfg.int2_timestamp; + } + } + + else { + val->drdy_temp = PROPERTY_DISABLE; + val->timestamp = PROPERTY_DISABLE; + } + + val->drdy_xl = int2_ctrl.int2_drdy_xl; + val->drdy_g = int2_ctrl.int2_drdy_g; + val->drdy_temp = int2_ctrl.int2_drdy_temp; + val->fifo_th = int2_ctrl.int2_fifo_th; + val->fifo_ovr = int2_ctrl.int2_fifo_ovr; + val->fifo_full = int2_ctrl.int2_fifo_full; + val->fifo_bdr = int2_ctrl.int2_cnt_bdr; + val->timestamp = md2_cfg.int2_timestamp; + val->six_d = md2_cfg.int2_6d; + val->double_tap = md2_cfg.int2_double_tap; + val->free_fall = md2_cfg.int2_ff; + val->wake_up = md2_cfg.int2_wu; + val->single_tap = md2_cfg.int2_single_tap; + val->sleep_change = md2_cfg.int2_sleep_change; + val->step_detector = emb_func_int2.int2_step_detector; + val->tilt = emb_func_int2.int2_tilt; + val->fsm_lc = emb_func_int2.int2_fsm_lc; + val->fsm1 = fsm_int2_a.int2_fsm1; + val->fsm2 = fsm_int2_a.int2_fsm2; + val->fsm3 = fsm_int2_a.int2_fsm3; + val->fsm4 = fsm_int2_a.int2_fsm4; + val->fsm5 = fsm_int2_a.int2_fsm5; + val->fsm6 = fsm_int2_a.int2_fsm6; + val->fsm7 = fsm_int2_a.int2_fsm7; + val->fsm8 = fsm_int2_a.int2_fsm8; + val->fsm9 = fsm_int2_b.int2_fsm9; + val->fsm10 = fsm_int2_b.int2_fsm10; + val->fsm11 = fsm_int2_b.int2_fsm11; + val->fsm12 = fsm_int2_b.int2_fsm12; + val->fsm13 = fsm_int2_b.int2_fsm13; + val->fsm14 = fsm_int2_b.int2_fsm14; + val->fsm15 = fsm_int2_b.int2_fsm15; + val->fsm16 = fsm_int2_b.int2_fsm16; + } + + return ret; +} + +/** + * @brief Get the status of all the interrupt sources.[get] + * + * @param ctx communication interface handler.(ptr) + * @param val the status of all the interrupt sources.(ptr) + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_all_sources_get(stmdev_ctx_t *ctx, lsm6dso_all_sources_t *val) +{ + lsm6dso_emb_func_status_mainpage_t emb_func_status_mainpage; + lsm6dso_status_master_mainpage_t status_master_mainpage; + lsm6dso_fsm_status_a_mainpage_t fsm_status_a_mainpage; + lsm6dso_fsm_status_b_mainpage_t fsm_status_b_mainpage; + lsm6dso_fifo_status1_t fifo_status1; + lsm6dso_fifo_status2_t fifo_status2; + lsm6dso_all_int_src_t all_int_src; + lsm6dso_wake_up_src_t wake_up_src; + lsm6dso_status_reg_t status_reg; + lsm6dso_tap_src_t tap_src; + lsm6dso_d6d_src_t d6d_src; + uint8_t reg[5]; + int32_t ret; + ret = lsm6dso_read_reg(ctx, LSM6DSO_ALL_INT_SRC, reg, 5); + + if (ret == 0) { + bytecpy((uint8_t *)&all_int_src, ®[0]); + bytecpy((uint8_t *)&wake_up_src, ®[1]); + bytecpy((uint8_t *)&tap_src, ®[2]); + bytecpy((uint8_t *)&d6d_src, ®[3]); + bytecpy((uint8_t *)&status_reg, ®[4]); + val->timestamp = all_int_src.timestamp_endcount; + val->wake_up_z = wake_up_src.z_wu; + val->wake_up_y = wake_up_src.y_wu; + val->wake_up_x = wake_up_src.x_wu; + val->wake_up = wake_up_src.wu_ia; + val->sleep_state = wake_up_src.sleep_state; + val->free_fall = wake_up_src.ff_ia; + val->sleep_change = wake_up_src.sleep_change_ia; + val->tap_x = tap_src.x_tap; + val->tap_y = tap_src.y_tap; + val->tap_z = tap_src.z_tap; + val->tap_sign = tap_src.tap_sign; + val->double_tap = tap_src.double_tap; + val->single_tap = tap_src.single_tap; + val->six_d_xl = d6d_src.xl; + val->six_d_xh = d6d_src.xh; + val->six_d_yl = d6d_src.yl; + val->six_d_yh = d6d_src.yh; + val->six_d_zl = d6d_src.zl; + val->six_d_zh = d6d_src.zh; + val->six_d = d6d_src.d6d_ia; + val->den_flag = d6d_src.den_drdy; + val->drdy_xl = status_reg.xlda; + val->drdy_g = status_reg.gda; + val->drdy_temp = status_reg.tda; + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_STATUS_MAINPAGE, + reg, 3); + } + + if (ret == 0) { + bytecpy((uint8_t *)&emb_func_status_mainpage, ®[0]); + bytecpy((uint8_t *)&fsm_status_a_mainpage, ®[1]); + bytecpy((uint8_t *)&fsm_status_b_mainpage, ®[2]); + val->step_detector = emb_func_status_mainpage.is_step_det; + val->tilt = emb_func_status_mainpage.is_tilt; + val->sig_mot = emb_func_status_mainpage.is_sigmot; + val->fsm_lc = emb_func_status_mainpage.is_fsm_lc; + val->fsm1 = fsm_status_a_mainpage.is_fsm1; + val->fsm2 = fsm_status_a_mainpage.is_fsm2; + val->fsm3 = fsm_status_a_mainpage.is_fsm3; + val->fsm4 = fsm_status_a_mainpage.is_fsm4; + val->fsm5 = fsm_status_a_mainpage.is_fsm5; + val->fsm6 = fsm_status_a_mainpage.is_fsm6; + val->fsm7 = fsm_status_a_mainpage.is_fsm7; + val->fsm8 = fsm_status_a_mainpage.is_fsm8; + val->fsm9 = fsm_status_b_mainpage.is_fsm9; + val->fsm10 = fsm_status_b_mainpage.is_fsm10; + val->fsm11 = fsm_status_b_mainpage.is_fsm11; + val->fsm12 = fsm_status_b_mainpage.is_fsm12; + val->fsm13 = fsm_status_b_mainpage.is_fsm13; + val->fsm14 = fsm_status_b_mainpage.is_fsm14; + val->fsm15 = fsm_status_b_mainpage.is_fsm15; + val->fsm16 = fsm_status_b_mainpage.is_fsm16; + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_STATUS_MASTER_MAINPAGE, reg, + 3); + } + + if (ret == 0) { + bytecpy((uint8_t *)&status_master_mainpage, ®[0]); + bytecpy((uint8_t *)&fifo_status1, ®[1]); + bytecpy((uint8_t *)&fifo_status2, ®[2]); + val->sh_endop = status_master_mainpage.sens_hub_endop; + val->sh_slave0_nack = status_master_mainpage.slave0_nack; + val->sh_slave1_nack = status_master_mainpage.slave1_nack; + val->sh_slave2_nack = status_master_mainpage.slave2_nack; + val->sh_slave3_nack = status_master_mainpage.slave3_nack; + val->sh_wr_once = status_master_mainpage.wr_once_done; + val->fifo_diff = (256U * fifo_status2.diff_fifo) + + fifo_status1.diff_fifo; + val->fifo_ovr_latched = fifo_status2.over_run_latched; + val->fifo_bdr = fifo_status2.counter_bdr_ia; + val->fifo_full = fifo_status2.fifo_full_ia; + val->fifo_ovr = fifo_status2.fifo_ovr_ia; + val->fifo_th = fifo_status2.fifo_wtm_ia; + } + + return ret; +} + +/** + * @brief Sensor conversion parameters selection.[set] + * + * @param ctx communication interface handler. Use NULL to ignore + * this interface.(ptr) + * @param aux_ctx auxiliary communication interface handler. Use NULL + * to ignore this interface.(ptr) + * @param val set the sensor conversion parameters by checking + * the constraints of the device.(ptr) + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_mode_set(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx, + lsm6dso_md_t *val) +{ + lsm6dso_func_cfg_access_t func_cfg_access; + lsm6dso_ctrl1_ois_t ctrl1_ois; + lsm6dso_ctrl2_ois_t ctrl2_ois; + lsm6dso_ctrl3_ois_t ctrl3_ois; + lsm6dso_ctrl1_xl_t ctrl1_xl; + lsm6dso_ctrl8_xl_t ctrl8_xl; + lsm6dso_ctrl2_g_t ctrl2_g; + lsm6dso_ctrl3_c_t ctrl3_c; + lsm6dso_ctrl4_c_t ctrl4_c; + lsm6dso_ctrl5_c_t ctrl5_c; + lsm6dso_ctrl6_c_t ctrl6_c; + lsm6dso_ctrl7_g_t ctrl7_g; + uint8_t xl_hm_mode; + uint8_t g_hm_mode; + uint8_t xl_ulp_en; + uint8_t odr_gy; + uint8_t odr_xl; + uint8_t reg[8]; + int32_t ret; + + ret = 0; + /* FIXME: Remove warnings with STM32CubeIDE */ + ctrl3_c.not_used_01 = 0; + ctrl4_c.not_used_01 = 0; + ctrl5_c.xl_ulp_en = 0; + /* reading input configuration */ + xl_hm_mode = ((uint8_t)val->ui.xl.odr & 0x10U) >> 4; + xl_ulp_en = ((uint8_t)val->ui.xl.odr & 0x20U) >> 5; + odr_xl = (uint8_t)val->ui.xl.odr & 0x0FU; + + /* if enable xl ultra low power mode disable gy and OIS chain */ + if (xl_ulp_en == PROPERTY_ENABLE) { + val->ois.xl.odr = LSM6DSO_XL_OIS_OFF; + val->ois.gy.odr = LSM6DSO_GY_OIS_OFF; + val->ui.gy.odr = LSM6DSO_GY_UI_OFF; + } + + /* if OIS xl is enabled also gyro OIS is enabled */ + if (val->ois.xl.odr == LSM6DSO_XL_OIS_6667Hz_HP) { + val->ois.gy.odr = LSM6DSO_GY_OIS_6667Hz_HP; + } + + g_hm_mode = ((uint8_t)val->ui.gy.odr & 0x10U) >> 4; + odr_gy = (uint8_t)val->ui.gy.odr & 0x0FU; + + /* reading registers to be configured */ + if (ctx != NULL) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL1_XL, reg, 8); + bytecpy((uint8_t *)&ctrl1_xl, ®[0]); + bytecpy((uint8_t *)&ctrl2_g, ®[1]); + bytecpy((uint8_t *)&ctrl3_c, ®[2]); + bytecpy((uint8_t *)&ctrl4_c, ®[3]); + bytecpy((uint8_t *)&ctrl5_c, ®[4]); + bytecpy((uint8_t *)&ctrl6_c, ®[5]); + bytecpy((uint8_t *)&ctrl7_g, ®[6]); + bytecpy((uint8_t *)&ctrl8_xl, ®[7]); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_FUNC_CFG_ACCESS, + (uint8_t *)&func_cfg_access, 1); + } + + /* if toggle xl ultra low power mode, turn off xl before reconfigure */ + if (ctrl5_c.xl_ulp_en != xl_ulp_en) { + ctrl1_xl.odr_xl = (uint8_t)0x00U; + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL1_XL, + (uint8_t *)&ctrl1_xl, 1); + } + } + + /* reading OIS registers to be configured */ + if (aux_ctx != NULL) { + if (ret == 0) { + ret = lsm6dso_read_reg(aux_ctx, LSM6DSO_CTRL1_OIS, reg, + 3); + } + + bytecpy((uint8_t *)&ctrl1_ois, ®[0]); + bytecpy((uint8_t *)&ctrl2_ois, ®[1]); + bytecpy((uint8_t *)&ctrl3_ois, ®[2]); + } + + else { + if (ctx != NULL) { + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL1_OIS, + reg, 3); + } + + bytecpy((uint8_t *)&ctrl1_ois, ®[0]); + bytecpy((uint8_t *)&ctrl2_ois, ®[1]); + bytecpy((uint8_t *)&ctrl3_ois, ®[2]); + } + } + + /* Check the Finite State Machine data rate constraints */ + if (val->fsm.sens != LSM6DSO_FSM_DISABLE) { + switch (val->fsm.odr) { + case LSM6DSO_FSM_12Hz5: + if ((val->fsm.sens != LSM6DSO_FSM_GY) && + (odr_xl == 0x00U)) { + odr_xl = 0x01U; + } + + if ((val->fsm.sens != LSM6DSO_FSM_XL) && + (odr_gy == 0x00U)) { + xl_ulp_en = PROPERTY_DISABLE; + odr_gy = 0x01U; + } + + break; + + case LSM6DSO_FSM_26Hz: + if ((val->fsm.sens != LSM6DSO_FSM_GY) && + (odr_xl < 0x02U)) { + odr_xl = 0x02U; + } + + if ((val->fsm.sens != LSM6DSO_FSM_XL) && + (odr_gy < 0x02U)) { + xl_ulp_en = PROPERTY_DISABLE; + odr_gy = 0x02U; + } + + break; + + case LSM6DSO_FSM_52Hz: + if ((val->fsm.sens != LSM6DSO_FSM_GY) && + (odr_xl < 0x03U)) { + odr_xl = 0x03U; + } + + if ((val->fsm.sens != LSM6DSO_FSM_XL) && + (odr_gy < 0x03U)) { + xl_ulp_en = PROPERTY_DISABLE; + odr_gy = 0x03U; + } + + break; + + case LSM6DSO_FSM_104Hz: + if ((val->fsm.sens != LSM6DSO_FSM_GY) && + (odr_xl < 0x04U)) { + odr_xl = 0x04U; + } + + if ((val->fsm.sens != LSM6DSO_FSM_XL) && + (odr_gy < 0x04U)) { + xl_ulp_en = PROPERTY_DISABLE; + odr_gy = 0x04U; + } + + break; + + default: + odr_xl = 0x00U; + odr_gy = 0x00U; + break; + } + } + + /* Updating the accelerometer data rate configuration */ + switch ((ctrl5_c.xl_ulp_en << 5) | (ctrl6_c.xl_hm_mode << 4) | + ctrl1_xl.odr_xl) { + case LSM6DSO_XL_UI_OFF: + val->ui.xl.odr = LSM6DSO_XL_UI_OFF; + break; + + case LSM6DSO_XL_UI_12Hz5_HP: + val->ui.xl.odr = LSM6DSO_XL_UI_12Hz5_HP; + break; + + case LSM6DSO_XL_UI_26Hz_HP: + val->ui.xl.odr = LSM6DSO_XL_UI_26Hz_HP; + break; + + case LSM6DSO_XL_UI_52Hz_HP: + val->ui.xl.odr = LSM6DSO_XL_UI_52Hz_HP; + break; + + case LSM6DSO_XL_UI_104Hz_HP: + val->ui.xl.odr = LSM6DSO_XL_UI_104Hz_HP; + break; + + case LSM6DSO_XL_UI_208Hz_HP: + val->ui.xl.odr = LSM6DSO_XL_UI_208Hz_HP; + break; + + case LSM6DSO_XL_UI_416Hz_HP: + val->ui.xl.odr = LSM6DSO_XL_UI_416Hz_HP; + break; + + case LSM6DSO_XL_UI_833Hz_HP: + val->ui.xl.odr = LSM6DSO_XL_UI_833Hz_HP; + break; + + case LSM6DSO_XL_UI_1667Hz_HP: + val->ui.xl.odr = LSM6DSO_XL_UI_1667Hz_HP; + break; + + case LSM6DSO_XL_UI_3333Hz_HP: + val->ui.xl.odr = LSM6DSO_XL_UI_3333Hz_HP; + break; + + case LSM6DSO_XL_UI_6667Hz_HP: + val->ui.xl.odr = LSM6DSO_XL_UI_6667Hz_HP; + break; + + case LSM6DSO_XL_UI_1Hz6_LP: + val->ui.xl.odr = LSM6DSO_XL_UI_1Hz6_LP; + break; + + case LSM6DSO_XL_UI_12Hz5_LP: + val->ui.xl.odr = LSM6DSO_XL_UI_12Hz5_LP; + break; + + case LSM6DSO_XL_UI_26Hz_LP: + val->ui.xl.odr = LSM6DSO_XL_UI_26Hz_LP; + break; + + case LSM6DSO_XL_UI_52Hz_LP: + val->ui.xl.odr = LSM6DSO_XL_UI_52Hz_LP; + break; + + case LSM6DSO_XL_UI_104Hz_NM: + val->ui.xl.odr = LSM6DSO_XL_UI_104Hz_NM; + break; + + case LSM6DSO_XL_UI_208Hz_NM: + val->ui.xl.odr = LSM6DSO_XL_UI_208Hz_NM; + break; + + case LSM6DSO_XL_UI_1Hz6_ULP: + val->ui.xl.odr = LSM6DSO_XL_UI_1Hz6_ULP; + break; + + case LSM6DSO_XL_UI_12Hz5_ULP: + val->ui.xl.odr = LSM6DSO_XL_UI_12Hz5_ULP; + break; + + case LSM6DSO_XL_UI_26Hz_ULP: + val->ui.xl.odr = LSM6DSO_XL_UI_26Hz_ULP; + break; + + case LSM6DSO_XL_UI_52Hz_ULP: + val->ui.xl.odr = LSM6DSO_XL_UI_52Hz_ULP; + break; + + case LSM6DSO_XL_UI_104Hz_ULP: + val->ui.xl.odr = LSM6DSO_XL_UI_104Hz_ULP; + break; + + case LSM6DSO_XL_UI_208Hz_ULP: + val->ui.xl.odr = LSM6DSO_XL_UI_208Hz_ULP; + break; + + default: + val->ui.xl.odr = LSM6DSO_XL_UI_OFF; + break; + } + + /* Updating the accelerometer data rate configuration */ + switch ((ctrl7_g.g_hm_mode << 4) | ctrl2_g.odr_g) { + case LSM6DSO_GY_UI_OFF: + val->ui.gy.odr = LSM6DSO_GY_UI_OFF; + break; + + case LSM6DSO_GY_UI_12Hz5_LP: + val->ui.gy.odr = LSM6DSO_GY_UI_12Hz5_LP; + break; + + case LSM6DSO_GY_UI_12Hz5_HP: + val->ui.gy.odr = LSM6DSO_GY_UI_12Hz5_HP; + break; + + case LSM6DSO_GY_UI_26Hz_LP: + val->ui.gy.odr = LSM6DSO_GY_UI_26Hz_LP; + break; + + case LSM6DSO_GY_UI_26Hz_HP: + val->ui.gy.odr = LSM6DSO_GY_UI_26Hz_HP; + break; + + case LSM6DSO_GY_UI_52Hz_LP: + val->ui.gy.odr = LSM6DSO_GY_UI_52Hz_LP; + break; + + case LSM6DSO_GY_UI_52Hz_HP: + val->ui.gy.odr = LSM6DSO_GY_UI_52Hz_HP; + break; + + case LSM6DSO_GY_UI_104Hz_NM: + val->ui.gy.odr = LSM6DSO_GY_UI_104Hz_NM; + break; + + case LSM6DSO_GY_UI_104Hz_HP: + val->ui.gy.odr = LSM6DSO_GY_UI_104Hz_HP; + break; + + case LSM6DSO_GY_UI_208Hz_NM: + val->ui.gy.odr = LSM6DSO_GY_UI_208Hz_NM; + break; + + case LSM6DSO_GY_UI_208Hz_HP: + val->ui.gy.odr = LSM6DSO_GY_UI_208Hz_HP; + break; + + case LSM6DSO_GY_UI_416Hz_HP: + val->ui.gy.odr = LSM6DSO_GY_UI_416Hz_HP; + break; + + case LSM6DSO_GY_UI_833Hz_HP: + val->ui.gy.odr = LSM6DSO_GY_UI_833Hz_HP; + break; + + case LSM6DSO_GY_UI_1667Hz_HP: + val->ui.gy.odr = LSM6DSO_GY_UI_1667Hz_HP; + break; + + case LSM6DSO_GY_UI_3333Hz_HP: + val->ui.gy.odr = LSM6DSO_GY_UI_3333Hz_HP; + break; + + case LSM6DSO_GY_UI_6667Hz_HP: + val->ui.gy.odr = LSM6DSO_GY_UI_6667Hz_HP; + break; + + default: + val->ui.gy.odr = LSM6DSO_GY_UI_OFF; + break; + } + + /* Check accelerometer full scale constraints */ + /* Full scale of 16g must be the same for UI and OIS */ + if ((val->ui.xl.fs == LSM6DSO_XL_UI_16g) || + (val->ois.xl.fs == LSM6DSO_XL_OIS_16g)) { + val->ui.xl.fs = LSM6DSO_XL_UI_16g; + val->ois.xl.fs = LSM6DSO_XL_OIS_16g; + } + + /* prapare new configuration */ + + /* Full scale of 16g must be the same for UI and OIS */ + if (val->ui.xl.fs == LSM6DSO_XL_UI_16g) { + ctrl8_xl.xl_fs_mode = PROPERTY_DISABLE; + } + + else { + ctrl8_xl.xl_fs_mode = PROPERTY_ENABLE; + } + + /* OIS new configuration */ + ctrl7_g.ois_on_en = val->ois.ctrl_md & 0x01U; + + switch (val->ois.ctrl_md) { + case LSM6DSO_OIS_ONLY_AUX: + ctrl1_ois.fs_g_ois = (uint8_t)val->ois.gy.fs; + ctrl1_ois.ois_en_spi2 = (uint8_t)val->ois.gy.odr | + (uint8_t)val->ois.xl.odr; + ctrl1_ois.mode4_en = (uint8_t)val->ois.xl.odr; + ctrl3_ois.fs_xl_ois = (uint8_t)val->ois.xl.fs; + break; + + case LSM6DSO_OIS_MIXED: + ctrl1_ois.fs_g_ois = (uint8_t)val->ois.gy.fs; + ctrl7_g.ois_on = (uint8_t)val->ois.gy.odr | + (uint8_t)val->ois.xl.odr; + ctrl1_ois.mode4_en = (uint8_t)val->ois.xl.odr; + ctrl3_ois.fs_xl_ois = (uint8_t)val->ois.xl.fs; + break; + + default: + ctrl1_ois.fs_g_ois = (uint8_t)val->ois.gy.fs; + ctrl1_ois.ois_en_spi2 = (uint8_t)val->ois.gy.odr | + (uint8_t)val->ois.xl.odr; + ctrl1_ois.mode4_en = (uint8_t)val->ois.xl.odr; + ctrl3_ois.fs_xl_ois = (uint8_t)val->ois.xl.fs; + break; + } + + /* UI new configuration */ + ctrl1_xl.odr_xl = odr_xl; + ctrl1_xl.fs_xl = (uint8_t)val->ui.xl.fs; + ctrl5_c.xl_ulp_en = xl_ulp_en; + ctrl6_c.xl_hm_mode = xl_hm_mode; + ctrl7_g.g_hm_mode = g_hm_mode; + ctrl2_g.odr_g = odr_gy; + ctrl2_g.fs_g = (uint8_t)val->ui.gy.fs; + + /* writing checked configuration */ + if (ctx != NULL) { + bytecpy(®[0], (uint8_t *)&ctrl1_xl); + bytecpy(®[1], (uint8_t *)&ctrl2_g); + bytecpy(®[2], (uint8_t *)&ctrl3_c); + bytecpy(®[3], (uint8_t *)&ctrl4_c); + bytecpy(®[4], (uint8_t *)&ctrl5_c); + bytecpy(®[5], (uint8_t *)&ctrl6_c); + bytecpy(®[6], (uint8_t *)&ctrl7_g); + bytecpy(®[7], (uint8_t *)&ctrl8_xl); + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_CTRL1_XL, + (uint8_t *)®, 8); + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_FUNC_CFG_ACCESS, + (uint8_t *)&func_cfg_access, 1); + } + } + + /* writing OIS checked configuration */ + if (aux_ctx != NULL) { + bytecpy(®[0], (uint8_t *)&ctrl1_ois); + bytecpy(®[1], (uint8_t *)&ctrl2_ois); + bytecpy(®[2], (uint8_t *)&ctrl3_ois); + + if (ret == 0) { + ret = lsm6dso_write_reg(aux_ctx, LSM6DSO_CTRL1_OIS, reg, + 3); + } + } + + return ret; +} + +/** + * @brief Sensor conversion parameters selection.[get] + * + * @param ctx communication interface handler. Use NULL to ignore + * this interface.(ptr) + * @param aux_ctx auxiliary communication interface handler. Use NULL + * to ignore this interface.(ptr) + * @param val get the sensor conversion parameters.(ptr) + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_mode_get(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx, + lsm6dso_md_t *val) +{ + lsm6dso_emb_func_odr_cfg_b_t emb_func_odr_cfg_b; + lsm6dso_func_cfg_access_t func_cfg_access; + lsm6dso_emb_func_en_b_t emb_func_en_b; + lsm6dso_fsm_enable_a_t fsm_enable_a; + lsm6dso_fsm_enable_b_t fsm_enable_b; + lsm6dso_ctrl1_ois_t ctrl1_ois; + lsm6dso_ctrl2_ois_t ctrl2_ois; + lsm6dso_ctrl3_ois_t ctrl3_ois; + lsm6dso_ctrl1_xl_t ctrl1_xl; + lsm6dso_ctrl2_g_t ctrl2_g; + lsm6dso_ctrl3_c_t ctrl3_c; + lsm6dso_ctrl4_c_t ctrl4_c; + lsm6dso_ctrl5_c_t ctrl5_c; + lsm6dso_ctrl6_c_t ctrl6_c; + lsm6dso_ctrl7_g_t ctrl7_g; + uint8_t reg[8]; + int32_t ret; + + ret = 0; + + /* reading the registers of the device */ + if (ctx != NULL) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL1_XL, reg, 7); + bytecpy((uint8_t *)&ctrl1_xl, ®[0]); + bytecpy((uint8_t *)&ctrl2_g, ®[1]); + bytecpy((uint8_t *)&ctrl3_c, ®[2]); + bytecpy((uint8_t *)&ctrl4_c, ®[3]); + bytecpy((uint8_t *)&ctrl5_c, ®[4]); + bytecpy((uint8_t *)&ctrl6_c, ®[5]); + bytecpy((uint8_t *)&ctrl7_g, ®[6]); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_FUNC_CFG_ACCESS, + (uint8_t *)&func_cfg_access, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, + LSM6DSO_EMBEDDED_FUNC_BANK); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_ODR_CFG_B, + reg, 1); + bytecpy((uint8_t *)&emb_func_odr_cfg_b, ®[0]); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_EN_B, + (uint8_t *)&emb_func_en_b, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_FSM_ENABLE_A, reg, + 2); + bytecpy((uint8_t *)&fsm_enable_a, ®[0]); + bytecpy((uint8_t *)&fsm_enable_b, ®[1]); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + } + + if (aux_ctx != NULL) { + if (ret == 0) { + ret = lsm6dso_read_reg(aux_ctx, LSM6DSO_CTRL1_OIS, reg, + 3); + } + + bytecpy((uint8_t *)&ctrl1_ois, ®[0]); + bytecpy((uint8_t *)&ctrl2_ois, ®[1]); + bytecpy((uint8_t *)&ctrl3_ois, ®[2]); + } + + else { + if (ctx != NULL) { + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_CTRL1_OIS, + reg, 3); + } + + bytecpy((uint8_t *)&ctrl1_ois, ®[0]); + bytecpy((uint8_t *)&ctrl2_ois, ®[1]); + bytecpy((uint8_t *)&ctrl3_ois, ®[2]); + } + } + + /* fill the input structure */ + + /* get accelerometer configuration */ + switch ((ctrl5_c.xl_ulp_en << 5) | (ctrl6_c.xl_hm_mode << 4) | + ctrl1_xl.odr_xl) { + case LSM6DSO_XL_UI_OFF: + val->ui.xl.odr = LSM6DSO_XL_UI_OFF; + break; + + case LSM6DSO_XL_UI_12Hz5_HP: + val->ui.xl.odr = LSM6DSO_XL_UI_12Hz5_HP; + break; + + case LSM6DSO_XL_UI_26Hz_HP: + val->ui.xl.odr = LSM6DSO_XL_UI_26Hz_HP; + break; + + case LSM6DSO_XL_UI_52Hz_HP: + val->ui.xl.odr = LSM6DSO_XL_UI_52Hz_HP; + break; + + case LSM6DSO_XL_UI_104Hz_HP: + val->ui.xl.odr = LSM6DSO_XL_UI_104Hz_HP; + break; + + case LSM6DSO_XL_UI_208Hz_HP: + val->ui.xl.odr = LSM6DSO_XL_UI_208Hz_HP; + break; + + case LSM6DSO_XL_UI_416Hz_HP: + val->ui.xl.odr = LSM6DSO_XL_UI_416Hz_HP; + break; + + case LSM6DSO_XL_UI_833Hz_HP: + val->ui.xl.odr = LSM6DSO_XL_UI_833Hz_HP; + break; + + case LSM6DSO_XL_UI_1667Hz_HP: + val->ui.xl.odr = LSM6DSO_XL_UI_1667Hz_HP; + break; + + case LSM6DSO_XL_UI_3333Hz_HP: + val->ui.xl.odr = LSM6DSO_XL_UI_3333Hz_HP; + break; + + case LSM6DSO_XL_UI_6667Hz_HP: + val->ui.xl.odr = LSM6DSO_XL_UI_6667Hz_HP; + break; + + case LSM6DSO_XL_UI_1Hz6_LP: + val->ui.xl.odr = LSM6DSO_XL_UI_1Hz6_LP; + break; + + case LSM6DSO_XL_UI_12Hz5_LP: + val->ui.xl.odr = LSM6DSO_XL_UI_12Hz5_LP; + break; + + case LSM6DSO_XL_UI_26Hz_LP: + val->ui.xl.odr = LSM6DSO_XL_UI_26Hz_LP; + break; + + case LSM6DSO_XL_UI_52Hz_LP: + val->ui.xl.odr = LSM6DSO_XL_UI_52Hz_LP; + break; + + case LSM6DSO_XL_UI_104Hz_NM: + val->ui.xl.odr = LSM6DSO_XL_UI_104Hz_NM; + break; + + case LSM6DSO_XL_UI_208Hz_NM: + val->ui.xl.odr = LSM6DSO_XL_UI_208Hz_NM; + break; + + case LSM6DSO_XL_UI_1Hz6_ULP: + val->ui.xl.odr = LSM6DSO_XL_UI_1Hz6_ULP; + break; + + case LSM6DSO_XL_UI_12Hz5_ULP: + val->ui.xl.odr = LSM6DSO_XL_UI_12Hz5_ULP; + break; + + case LSM6DSO_XL_UI_26Hz_ULP: + val->ui.xl.odr = LSM6DSO_XL_UI_26Hz_ULP; + break; + + case LSM6DSO_XL_UI_52Hz_ULP: + val->ui.xl.odr = LSM6DSO_XL_UI_52Hz_ULP; + break; + + case LSM6DSO_XL_UI_104Hz_ULP: + val->ui.xl.odr = LSM6DSO_XL_UI_104Hz_ULP; + break; + + case LSM6DSO_XL_UI_208Hz_ULP: + val->ui.xl.odr = LSM6DSO_XL_UI_208Hz_ULP; + break; + + default: + val->ui.xl.odr = LSM6DSO_XL_UI_OFF; + break; + } + + switch (ctrl1_xl.fs_xl) { + case LSM6DSO_XL_UI_2g: + val->ui.xl.fs = LSM6DSO_XL_UI_2g; + break; + + case LSM6DSO_XL_UI_4g: + val->ui.xl.fs = LSM6DSO_XL_UI_4g; + break; + + case LSM6DSO_XL_UI_8g: + val->ui.xl.fs = LSM6DSO_XL_UI_8g; + break; + + case LSM6DSO_XL_UI_16g: + val->ui.xl.fs = LSM6DSO_XL_UI_16g; + break; + + default: + val->ui.xl.fs = LSM6DSO_XL_UI_2g; + break; + } + + /* get gyroscope configuration */ + switch ((ctrl7_g.g_hm_mode << 4) | ctrl2_g.odr_g) { + case LSM6DSO_GY_UI_OFF: + val->ui.gy.odr = LSM6DSO_GY_UI_OFF; + break; + + case LSM6DSO_GY_UI_12Hz5_LP: + val->ui.gy.odr = LSM6DSO_GY_UI_12Hz5_LP; + break; + + case LSM6DSO_GY_UI_12Hz5_HP: + val->ui.gy.odr = LSM6DSO_GY_UI_12Hz5_HP; + break; + + case LSM6DSO_GY_UI_26Hz_LP: + val->ui.gy.odr = LSM6DSO_GY_UI_26Hz_LP; + break; + + case LSM6DSO_GY_UI_26Hz_HP: + val->ui.gy.odr = LSM6DSO_GY_UI_26Hz_HP; + break; + + case LSM6DSO_GY_UI_52Hz_LP: + val->ui.gy.odr = LSM6DSO_GY_UI_52Hz_LP; + break; + + case LSM6DSO_GY_UI_52Hz_HP: + val->ui.gy.odr = LSM6DSO_GY_UI_52Hz_HP; + break; + + case LSM6DSO_GY_UI_104Hz_NM: + val->ui.gy.odr = LSM6DSO_GY_UI_104Hz_NM; + break; + + case LSM6DSO_GY_UI_104Hz_HP: + val->ui.gy.odr = LSM6DSO_GY_UI_104Hz_HP; + break; + + case LSM6DSO_GY_UI_208Hz_NM: + val->ui.gy.odr = LSM6DSO_GY_UI_208Hz_NM; + break; + + case LSM6DSO_GY_UI_208Hz_HP: + val->ui.gy.odr = LSM6DSO_GY_UI_208Hz_HP; + break; + + case LSM6DSO_GY_UI_416Hz_HP: + val->ui.gy.odr = LSM6DSO_GY_UI_416Hz_HP; + break; + + case LSM6DSO_GY_UI_833Hz_HP: + val->ui.gy.odr = LSM6DSO_GY_UI_833Hz_HP; + break; + + case LSM6DSO_GY_UI_1667Hz_HP: + val->ui.gy.odr = LSM6DSO_GY_UI_1667Hz_HP; + break; + + case LSM6DSO_GY_UI_3333Hz_HP: + val->ui.gy.odr = LSM6DSO_GY_UI_3333Hz_HP; + break; + + case LSM6DSO_GY_UI_6667Hz_HP: + val->ui.gy.odr = LSM6DSO_GY_UI_6667Hz_HP; + break; + + default: + val->ui.gy.odr = LSM6DSO_GY_UI_OFF; + break; + } + + switch (ctrl2_g.fs_g) { + case LSM6DSO_GY_UI_125dps: + val->ui.gy.fs = LSM6DSO_GY_UI_125dps; + break; + + case LSM6DSO_GY_UI_250dps: + val->ui.gy.fs = LSM6DSO_GY_UI_250dps; + break; + + case LSM6DSO_GY_UI_500dps: + val->ui.gy.fs = LSM6DSO_GY_UI_500dps; + break; + + case LSM6DSO_GY_UI_1000dps: + val->ui.gy.fs = LSM6DSO_GY_UI_1000dps; + break; + + case LSM6DSO_GY_UI_2000dps: + val->ui.gy.fs = LSM6DSO_GY_UI_2000dps; + break; + + default: + val->ui.gy.fs = LSM6DSO_GY_UI_125dps; + break; + } + + /* get finite state machine configuration */ + if ((fsm_enable_a.fsm1_en | fsm_enable_a.fsm2_en | + fsm_enable_a.fsm3_en | fsm_enable_a.fsm4_en | + fsm_enable_a.fsm5_en | fsm_enable_a.fsm6_en | + fsm_enable_a.fsm7_en | fsm_enable_a.fsm8_en | + fsm_enable_b.fsm9_en | fsm_enable_b.fsm10_en | + fsm_enable_b.fsm11_en | fsm_enable_b.fsm12_en | + fsm_enable_b.fsm13_en | fsm_enable_b.fsm14_en | + fsm_enable_b.fsm15_en | fsm_enable_b.fsm16_en) == + PROPERTY_ENABLE) { + switch (emb_func_odr_cfg_b.fsm_odr) { + case LSM6DSO_FSM_12Hz5: + val->fsm.odr = LSM6DSO_FSM_12Hz5; + break; + + case LSM6DSO_FSM_26Hz: + val->fsm.odr = LSM6DSO_FSM_26Hz; + break; + + case LSM6DSO_FSM_52Hz: + val->fsm.odr = LSM6DSO_FSM_52Hz; + break; + + case LSM6DSO_FSM_104Hz: + val->fsm.odr = LSM6DSO_FSM_104Hz; + break; + + default: + val->fsm.odr = LSM6DSO_FSM_12Hz5; + break; + } + + val->fsm.sens = LSM6DSO_FSM_XL_GY; + + if (val->ui.gy.odr == LSM6DSO_GY_UI_OFF) { + val->fsm.sens = LSM6DSO_FSM_XL; + } + + if (val->ui.xl.odr == LSM6DSO_XL_UI_OFF) { + val->fsm.sens = LSM6DSO_FSM_GY; + } + } + + else { + val->fsm.sens = LSM6DSO_FSM_DISABLE; + } + + /* get ois configuration */ + + /* OIS configuration mode */ + switch (ctrl7_g.ois_on_en) { + case LSM6DSO_OIS_ONLY_AUX: + switch (ctrl3_ois.fs_xl_ois) { + case LSM6DSO_XL_OIS_2g: + val->ois.xl.fs = LSM6DSO_XL_OIS_2g; + break; + + case LSM6DSO_XL_OIS_4g: + val->ois.xl.fs = LSM6DSO_XL_OIS_4g; + break; + + case LSM6DSO_XL_OIS_8g: + val->ois.xl.fs = LSM6DSO_XL_OIS_8g; + break; + + case LSM6DSO_XL_OIS_16g: + val->ois.xl.fs = LSM6DSO_XL_OIS_16g; + break; + + default: + val->ois.xl.fs = LSM6DSO_XL_OIS_2g; + break; + } + + switch (ctrl1_ois.mode4_en) { + case LSM6DSO_XL_OIS_OFF: + val->ois.xl.odr = LSM6DSO_XL_OIS_OFF; + break; + + case LSM6DSO_XL_OIS_6667Hz_HP: + val->ois.xl.odr = LSM6DSO_XL_OIS_6667Hz_HP; + break; + + default: + val->ois.xl.odr = LSM6DSO_XL_OIS_OFF; + break; + } + + switch (ctrl1_ois.fs_g_ois) { + case LSM6DSO_GY_OIS_250dps: + val->ois.gy.fs = LSM6DSO_GY_OIS_250dps; + break; + + case LSM6DSO_GY_OIS_500dps: + val->ois.gy.fs = LSM6DSO_GY_OIS_500dps; + break; + + case LSM6DSO_GY_OIS_1000dps: + val->ois.gy.fs = LSM6DSO_GY_OIS_1000dps; + break; + + case LSM6DSO_GY_OIS_2000dps: + val->ois.gy.fs = LSM6DSO_GY_OIS_2000dps; + break; + + default: + val->ois.gy.fs = LSM6DSO_GY_OIS_250dps; + break; + } + + switch (ctrl1_ois.ois_en_spi2) { + case LSM6DSO_GY_OIS_OFF: + val->ois.gy.odr = LSM6DSO_GY_OIS_OFF; + break; + + case LSM6DSO_GY_OIS_6667Hz_HP: + val->ois.gy.odr = LSM6DSO_GY_OIS_6667Hz_HP; + break; + + default: + val->ois.gy.odr = LSM6DSO_GY_OIS_OFF; + break; + } + + val->ois.ctrl_md = LSM6DSO_OIS_ONLY_AUX; + break; + + case LSM6DSO_OIS_MIXED: + switch (ctrl3_ois.fs_xl_ois) { + case LSM6DSO_XL_OIS_2g: + val->ois.xl.fs = LSM6DSO_XL_OIS_2g; + break; + + case LSM6DSO_XL_OIS_4g: + val->ois.xl.fs = LSM6DSO_XL_OIS_4g; + break; + + case LSM6DSO_XL_OIS_8g: + val->ois.xl.fs = LSM6DSO_XL_OIS_8g; + break; + + case LSM6DSO_XL_OIS_16g: + val->ois.xl.fs = LSM6DSO_XL_OIS_16g; + break; + + default: + val->ois.xl.fs = LSM6DSO_XL_OIS_2g; + break; + } + + switch (ctrl1_ois.mode4_en) { + case LSM6DSO_XL_OIS_OFF: + val->ois.xl.odr = LSM6DSO_XL_OIS_OFF; + break; + + case LSM6DSO_XL_OIS_6667Hz_HP: + val->ois.xl.odr = LSM6DSO_XL_OIS_6667Hz_HP; + break; + + default: + val->ois.xl.odr = LSM6DSO_XL_OIS_OFF; + break; + } + + switch (ctrl1_ois.fs_g_ois) { + case LSM6DSO_GY_OIS_250dps: + val->ois.gy.fs = LSM6DSO_GY_OIS_250dps; + break; + + case LSM6DSO_GY_OIS_500dps: + val->ois.gy.fs = LSM6DSO_GY_OIS_500dps; + break; + + case LSM6DSO_GY_OIS_1000dps: + val->ois.gy.fs = LSM6DSO_GY_OIS_1000dps; + break; + + case LSM6DSO_GY_OIS_2000dps: + val->ois.gy.fs = LSM6DSO_GY_OIS_2000dps; + break; + + default: + val->ois.gy.fs = LSM6DSO_GY_OIS_250dps; + break; + } + + switch (ctrl1_ois.ois_en_spi2) { + case LSM6DSO_GY_OIS_OFF: + val->ois.gy.odr = LSM6DSO_GY_OIS_OFF; + break; + + case LSM6DSO_GY_OIS_6667Hz_HP: + val->ois.gy.odr = LSM6DSO_GY_OIS_6667Hz_HP; + break; + + default: + val->ois.gy.odr = LSM6DSO_GY_OIS_OFF; + break; + } + + val->ois.ctrl_md = LSM6DSO_OIS_MIXED; + break; + + default: + ctrl1_ois.fs_g_ois = (uint8_t)val->ois.gy.fs; + ctrl1_ois.ois_en_spi2 = (uint8_t)val->ois.gy.odr | + (uint8_t)val->ois.xl.odr; + ctrl1_ois.mode4_en = (uint8_t)val->ois.xl.odr; + ctrl3_ois.fs_xl_ois = (uint8_t)val->ois.xl.fs; + val->ois.ctrl_md = LSM6DSO_OIS_ONLY_AUX; + break; + } + + return ret; +} + +/** + * @brief Read data in engineering unit.[get] + * + * @param ctx communication interface handler.(ptr) + * @param md the sensor conversion parameters.(ptr) + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_data_get(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx, + lsm6dso_md_t *md, lsm6dso_data_t *data) +{ + uint8_t buff[14]; + int32_t ret; + + uint8_t i; + uint8_t j; + ret = 0; + + /* read data */ + if (ctx != NULL) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_OUT_TEMP_L, buff, 14); + } + + j = 0; + /* temperature conversion */ + data->ui.heat.raw = (int16_t)buff[j + 1U]; + data->ui.heat.raw = (((int16_t)data->ui.heat.raw * (int16_t)256) + + (int16_t)buff[j]); + j += 2U; + data->ui.heat.deg_c = + lsm6dso_from_lsb_to_celsius((int16_t)data->ui.heat.raw); + + /* angular rate conversion */ + for (i = 0U; i < 3U; i++) { + data->ui.gy.raw[i] = (int16_t)buff[j + 1U]; + data->ui.gy.raw[i] = + (data->ui.gy.raw[i] * 256) + (int16_t)buff[j]; + j += 2U; + + switch (md->ui.gy.fs) { + case LSM6DSO_GY_UI_250dps: + data->ui.gy.mdps[i] = + lsm6dso_from_fs250_to_mdps(data->ui.gy.raw[i]); + break; + + case LSM6DSO_GY_UI_125dps: + data->ui.gy.mdps[i] = + lsm6dso_from_fs125_to_mdps(data->ui.gy.raw[i]); + break; + + case LSM6DSO_GY_UI_500dps: + data->ui.gy.mdps[i] = + lsm6dso_from_fs500_to_mdps(data->ui.gy.raw[i]); + break; + + case LSM6DSO_GY_UI_1000dps: + data->ui.gy.mdps[i] = + lsm6dso_from_fs1000_to_mdps(data->ui.gy.raw[i]); + break; + + case LSM6DSO_GY_UI_2000dps: + data->ui.gy.mdps[i] = + lsm6dso_from_fs2000_to_mdps(data->ui.gy.raw[i]); + break; + + default: + data->ui.gy.mdps[i] = 0.0f; + break; + } + } + + /* acceleration conversion */ + for (i = 0U; i < 3U; i++) { + data->ui.xl.raw[i] = (int16_t)buff[j + 1U]; + data->ui.xl.raw[i] = + (data->ui.xl.raw[i] * 256) + (int16_t)buff[j]; + j += 2U; + + switch (md->ui.xl.fs) { + case LSM6DSO_XL_UI_2g: + data->ui.xl.mg[i] = + lsm6dso_from_fs2_to_mg(data->ui.xl.raw[i]); + break; + + case LSM6DSO_XL_UI_4g: + data->ui.xl.mg[i] = + lsm6dso_from_fs4_to_mg(data->ui.xl.raw[i]); + break; + + case LSM6DSO_XL_UI_8g: + data->ui.xl.mg[i] = + lsm6dso_from_fs8_to_mg(data->ui.xl.raw[i]); + break; + + case LSM6DSO_XL_UI_16g: + data->ui.xl.mg[i] = + lsm6dso_from_fs16_to_mg(data->ui.xl.raw[i]); + break; + + default: + data->ui.xl.mg[i] = 0.0f; + break; + } + } + + /* read data from ois chain */ + if (aux_ctx != NULL) { + if (ret == 0) { + ret = lsm6dso_read_reg(aux_ctx, LSM6DSO_OUTX_L_G, buff, + 12); + } + } + + j = 0; + + /* ois angular rate conversion */ + for (i = 0U; i < 3U; i++) { + data->ois.gy.raw[i] = (int16_t)buff[j + 1U]; + data->ois.gy.raw[i] = + (data->ois.gy.raw[i] * 256) + (int16_t)buff[j]; + j += 2U; + + switch (md->ois.gy.fs) { + case LSM6DSO_GY_UI_250dps: + data->ois.gy.mdps[i] = + lsm6dso_from_fs250_to_mdps(data->ois.gy.raw[i]); + break; + + case LSM6DSO_GY_UI_125dps: + data->ois.gy.mdps[i] = + lsm6dso_from_fs125_to_mdps(data->ois.gy.raw[i]); + break; + + case LSM6DSO_GY_UI_500dps: + data->ois.gy.mdps[i] = + lsm6dso_from_fs500_to_mdps(data->ois.gy.raw[i]); + break; + + case LSM6DSO_GY_UI_1000dps: + data->ois.gy.mdps[i] = lsm6dso_from_fs1000_to_mdps( + data->ois.gy.raw[i]); + break; + + case LSM6DSO_GY_UI_2000dps: + data->ois.gy.mdps[i] = lsm6dso_from_fs2000_to_mdps( + data->ois.gy.raw[i]); + break; + + default: + data->ois.gy.mdps[i] = 0.0f; + break; + } + } + + /* ois acceleration conversion */ + for (i = 0U; i < 3U; i++) { + data->ois.xl.raw[i] = (int16_t)buff[j + 1U]; + data->ois.xl.raw[i] = + (data->ois.xl.raw[i] * 256) + (int16_t)buff[j]; + j += 2U; + + switch (md->ois.xl.fs) { + case LSM6DSO_XL_UI_2g: + data->ois.xl.mg[i] = + lsm6dso_from_fs2_to_mg(data->ois.xl.raw[i]); + break; + + case LSM6DSO_XL_UI_4g: + data->ois.xl.mg[i] = + lsm6dso_from_fs4_to_mg(data->ois.xl.raw[i]); + break; + + case LSM6DSO_XL_UI_8g: + data->ois.xl.mg[i] = + lsm6dso_from_fs8_to_mg(data->ois.xl.raw[i]); + break; + + case LSM6DSO_XL_UI_16g: + data->ois.xl.mg[i] = + lsm6dso_from_fs16_to_mg(data->ois.xl.raw[i]); + break; + + default: + data->ois.xl.mg[i] = 0.0f; + break; + } + } + + return ret; +} + +/** + * @brief Embedded functions.[set] + * + * @param ctx read / write interface definitions + * @param val change the values of registers + * EMB_FUNC_EN_A e EMB_FUNC_EN_B. + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_embedded_sens_set(stmdev_ctx_t *ctx, lsm6dso_emb_sens_t *val) +{ + lsm6dso_emb_func_en_a_t emb_func_en_a; + lsm6dso_emb_func_en_b_t emb_func_en_b; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_EN_A, + (uint8_t *)&emb_func_en_a, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_EN_B, + (uint8_t *)&emb_func_en_b, 1); + emb_func_en_b.fsm_en = val->fsm; + emb_func_en_a.tilt_en = val->tilt; + emb_func_en_a.pedo_en = val->step; + emb_func_en_b.pedo_adv_en = val->step_adv; + emb_func_en_a.sign_motion_en = val->sig_mot; + emb_func_en_b.fifo_compr_en = val->fifo_compr; + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_EMB_FUNC_EN_A, + (uint8_t *)&emb_func_en_a, 1); + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_EMB_FUNC_EN_B, + (uint8_t *)&emb_func_en_b, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief Embedded functions.[get] + * + * @param ctx read / write interface definitions + * @param val get the values of registers + * EMB_FUNC_EN_A e EMB_FUNC_EN_B. + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_embedded_sens_get(stmdev_ctx_t *ctx, + lsm6dso_emb_sens_t *emb_sens) +{ + lsm6dso_emb_func_en_a_t emb_func_en_a; + lsm6dso_emb_func_en_b_t emb_func_en_b; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_EN_A, + (uint8_t *)&emb_func_en_a, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_EN_B, + (uint8_t *)&emb_func_en_b, 1); + emb_sens->fsm = emb_func_en_b.fsm_en; + emb_sens->tilt = emb_func_en_a.tilt_en; + emb_sens->step = emb_func_en_a.pedo_en; + emb_sens->step_adv = emb_func_en_b.pedo_adv_en; + emb_sens->sig_mot = emb_func_en_a.sign_motion_en; + emb_sens->fifo_compr = emb_func_en_b.fifo_compr_en; + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @brief turn off all embedded functions.[get] + * + * @param ctx read / write interface definitions + * @param val get the values of registers + * EMB_FUNC_EN_A e EMB_FUNC_EN_B. + * @retval interface status (MANDATORY: return 0 -> no Error) + * + */ +int32_t lsm6dso_embedded_sens_off(stmdev_ctx_t *ctx) +{ + lsm6dso_emb_func_en_a_t emb_func_en_a; + lsm6dso_emb_func_en_b_t emb_func_en_b; + int32_t ret; + + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_EMBEDDED_FUNC_BANK); + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_EN_A, + (uint8_t *)&emb_func_en_a, 1); + } + + if (ret == 0) { + ret = lsm6dso_read_reg(ctx, LSM6DSO_EMB_FUNC_EN_B, + (uint8_t *)&emb_func_en_b, 1); + emb_func_en_b.fsm_en = PROPERTY_DISABLE; + emb_func_en_a.tilt_en = PROPERTY_DISABLE; + emb_func_en_a.pedo_en = PROPERTY_DISABLE; + emb_func_en_b.pedo_adv_en = PROPERTY_DISABLE; + emb_func_en_a.sign_motion_en = PROPERTY_DISABLE; + emb_func_en_b.fifo_compr_en = PROPERTY_DISABLE; + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_EMB_FUNC_EN_A, + (uint8_t *)&emb_func_en_a, 1); + } + + if (ret == 0) { + ret = lsm6dso_write_reg(ctx, LSM6DSO_EMB_FUNC_EN_B, + (uint8_t *)&emb_func_en_b, 1); + } + + if (ret == 0) { + ret = lsm6dso_mem_bank_set(ctx, LSM6DSO_USER_BANK); + } + + return ret; +} + +/** + * @} + * + */ + +/** + * @} + * + */ From 6427e594510a830b62185d601df8a5c3815745d7 Mon Sep 17 00:00:00 2001 From: rubennoro <160801172+rubennoro@users.noreply.github.com> Date: Thu, 5 Dec 2024 14:49:16 -0500 Subject: [PATCH 03/12] Newnewfeat/pca (#198) * changes finalized * finalized 2 * struct fix * final final * removing the i2c_handler, preping for cerb changes * Better Documentation * added doxygen comments, removed unnecessary comments * added param & ret comments --------- Co-authored-by: Ruben Noroian --- general/include/pca9539.h | 95 ++++++++++++++++++++++++++++++--------- general/src/pca9539.c | 51 ++++++++++++--------- 2 files changed, 102 insertions(+), 44 deletions(-) diff --git a/general/include/pca9539.h b/general/include/pca9539.h index 72a392a..98b0937 100644 --- a/general/include/pca9539.h +++ b/general/include/pca9539.h @@ -5,8 +5,7 @@ #include /* -PCA 9539 16 bit GPIO expander. Datasheet: -https://www.ti.com/lit/ds/symlink/pca9539.pdf?ts=1716785085909 +PCA 9539 16 bit GPIO expander. Datasheet: https://www.ti.com/lit/ds/symlink/pca9539.pdf?ts=1716785085909 */ /// Possible I2C addresses, see comment below @@ -36,31 +35,83 @@ PCA 9539 16 bit GPIO expander. Datasheet: #define PCA_DIRECTION_0_REG 0x06 #define PCA_DIRECTION_1_REG 0x07 +/** + * @brief Pointer to write function + * + */ +typedef int (*WritePtr)(uint16_t dev_addr, uint16_t mem_address, + uint16_t mem_add_size, uint8_t *data, uint16_t size, + int delay); + +/** + * @brief Pointer to read function + * + */ +typedef int (*ReadPtr)(uint16_t dev_addr, uint16_t mem_address, + uint16_t mem_add_size, uint8_t *data, uint16_t size, + int delay); + typedef struct { - I2C_HandleTypeDef *i2c_handle; + WritePtr write; + ReadPtr read; + uint16_t dev_addr; } pca9539_t; -/// Init PCA9539, a 16 bit I2C GPIO expander -void pca9539_init(pca9539_t *pca, I2C_HandleTypeDef *i2c_handle, +/** + * @brief Initialize the PCA9539 Driver + * + * @param pca pointer to a new driver struct + * @param writeFunc function pointer to HAL specific write func + * @param readFunc function pointer to HAL specific read func + * @param dev_addr i2c device address + */ +void pca9539_init(pca9539_t *pca, WritePtr writeFunc, ReadPtr readFunc, uint8_t dev_addr); -/// @brief Read all pins on a bus, for example using reg_type input to get -/// incoming logic level -HAL_StatusTypeDef pca9539_read_reg(pca9539_t *pca, uint8_t reg_type, - uint8_t *buf); -/// @brief Read a specific pin on a bus, do not iterate over this, use read_pins -/// instead -HAL_StatusTypeDef pca9539_read_pin(pca9539_t *pca, uint8_t reg_type, - uint8_t pin, uint8_t *buf); - -/// @brief Write all pins on a bus, for example using reg_type OUTPUT to set -/// logic level or DIRECTION to set as output -HAL_StatusTypeDef pca9539_write_reg(pca9539_t *pca, uint8_t reg_type, - uint8_t buf); -/// @brief Write a specific pin on a bus, do not iterate over this, use -/// write_pins instead -HAL_StatusTypeDef pca9539_write_pin(pca9539_t *pca, uint8_t reg_type, - uint8_t pin, uint8_t buf); +/** + * @brief Read the register of the PCA9539 + * + * @param pca pointer to driver struct with read & write funcs + * @param reg_type type of register being read + * @param buf pointer to buffer storing reg data + * @return int Error code return + */ +int pca9539_read_reg(pca9539_t *pca, uint8_t reg_type, uint8_t *buf); + +/** + * @brief Read the pin state of the PCA9539 + * + * @param pca pointer to driver struct with read & write funcs + * @param reg_type type of register being read + * @param pin pin num to read + * @param buf pointer storing buffer state + * @return int Error code return + */ +int pca9539_read_pin(pca9539_t *pca, uint8_t reg_type, uint8_t pin, + uint8_t *buf); + +/** + + * @brief Write the register of the PCA9539 + * + * @param pca pointer to driver struct with read & write funcs + * @param reg_type type of register being written to + * @param buf pointer with value to write to reg + * @return int Error code return + */ +int pca9539_write_reg(pca9539_t *pca, uint8_t reg_type, uint8_t buf); + +/** + * @brief Write the pin of the PCA9539 + * + * @param pca pointer to driver struct with read & write funcs + * @param reg_type type of register being written to + * @param pin pin to modify + * @param buf pointer with value to write to reg + * @return int Error code return + */ +int pca9539_write_pin(pca9539_t *pca, uint8_t reg_type, uint8_t pin, + uint8_t buf); #endif \ No newline at end of file diff --git a/general/src/pca9539.c b/general/src/pca9539.c index 6e62f2f..2cac0ec 100644 --- a/general/src/pca9539.c +++ b/general/src/pca9539.c @@ -4,31 +4,39 @@ #define REG_SIZE_BITS 8 -HAL_StatusTypeDef pca_write_reg(pca9539_t *pca, uint16_t address, uint8_t *data) +int pca_write_reg(pca9539_t *pca, uint16_t address, uint8_t *data) { - // ensure shifting left one, HAL adds the write bit - return HAL_I2C_Mem_Write(pca->i2c_handle, pca->dev_addr, address, - I2C_MEMADD_SIZE_8BIT, data, 1, HAL_MAX_DELAY); + //Parameters in the HAL Function + uint16_t mem_add_size = 8; + uint16_t data_size = 1; + int delay = 0xFFFFFFFFU; + + return pca->write(pca->dev_addr, address, mem_add_size, data, data_size, + delay); } -HAL_StatusTypeDef pca_read_reg(pca9539_t *pca, uint16_t address, uint8_t *data) +int pca_read_reg(pca9539_t *pca, uint16_t address, uint8_t *data) { - return HAL_I2C_Mem_Read(pca->i2c_handle, pca->dev_addr, address, - I2C_MEMADD_SIZE_8BIT, data, 1, HAL_MAX_DELAY); + uint16_t mem_add_size = 8; + uint16_t data_size = 1; + int delay = 0xFFFFFFFFU; + + return pca->read(pca->dev_addr, address, mem_add_size, data, data_size, + delay); } -void pca9539_init(pca9539_t *pca, I2C_HandleTypeDef *i2c_handle, +void pca9539_init(pca9539_t *pca, WritePtr writeFunc, ReadPtr readFunc, uint8_t dev_addr) { - pca->i2c_handle = i2c_handle; - pca->dev_addr = dev_addr - << 1u; /* shifted one to the left cuz STM says so */ + pca->dev_addr = dev_addr << 1u; + + pca->write = writeFunc; + pca->read = readFunc; } -HAL_StatusTypeDef pca9539_read_reg(pca9539_t *pca, uint8_t reg_type, - uint8_t *buf) +int pca9539_read_reg(pca9539_t *pca, uint8_t reg_type, uint8_t *buf) { - HAL_StatusTypeDef status = pca_read_reg(pca, reg_type, buf); + int status = pca_read_reg(pca, reg_type, buf); if (status) { return status; } @@ -36,11 +44,11 @@ HAL_StatusTypeDef pca9539_read_reg(pca9539_t *pca, uint8_t reg_type, return status; } -HAL_StatusTypeDef pca9539_read_pin(pca9539_t *pca, uint8_t reg_type, - uint8_t pin, uint8_t *buf) +int pca9539_read_pin(pca9539_t *pca, uint8_t reg_type, uint8_t pin, + uint8_t *buf) { uint8_t data; - HAL_StatusTypeDef status = pca_read_reg(pca, reg_type, &data); + int status = pca_read_reg(pca, reg_type, &data); if (status) { return status; } @@ -50,19 +58,18 @@ HAL_StatusTypeDef pca9539_read_pin(pca9539_t *pca, uint8_t reg_type, return status; } -HAL_StatusTypeDef pca9539_write_reg(pca9539_t *pca, uint8_t reg_type, - uint8_t buf) +int pca9539_write_reg(pca9539_t *pca, uint8_t reg_type, uint8_t buf) { return pca_write_reg(pca, reg_type, &buf); } -HAL_StatusTypeDef pca9539_write_pin(pca9539_t *pca, uint8_t reg_type, - uint8_t pin, uint8_t buf) +int pca9539_write_pin(pca9539_t *pca, uint8_t reg_type, uint8_t pin, + uint8_t buf) { uint8_t data; uint8_t data_new; - HAL_StatusTypeDef status = pca_read_reg(pca, reg_type, &data); + int status = pca_read_reg(pca, reg_type, &data); if (status) { return status; } From 23f4301ed526550e7cbc2f9860ca77ed450a9fac Mon Sep 17 00:00:00 2001 From: Harrison Eckert <65581761+harrison-e@users.noreply.github.com> Date: Thu, 5 Dec 2024 22:22:23 -0500 Subject: [PATCH 04/12] Added Sense SOC to cerb CAN spec (#212) --- cangen/can-messages/mpu.json | 18 +++++++++++++++++- 1 file changed, 17 insertions(+), 1 deletion(-) diff --git a/cangen/can-messages/mpu.json b/cangen/can-messages/mpu.json index 41216d4..8566065 100644 --- a/cangen/can-messages/mpu.json +++ b/cangen/can-messages/mpu.json @@ -373,6 +373,22 @@ "format": "divide10000" } ] + }, + { + "name": "MPU/Sense/SOC", + "unit": "%", + "sim": { + "min": 5, + "max": 99, + "inc_min": 0.1, + "inc_max": 0.5 + }, + "points": [ + { + "size": 32, + "endianness": "little" + } + ] } ] }, @@ -933,4 +949,4 @@ } ] } -] \ No newline at end of file +] From f52b227a56bd8fff80bbf1cfc27b0902e82c651e Mon Sep 17 00:00:00 2001 From: Harrison Eckert <65581761+harrison-e@users.noreply.github.com> Date: Thu, 5 Dec 2024 23:01:48 -0500 Subject: [PATCH 05/12] Added LV Sense SOC to cerb CAN spec (#214) * Added Sense SOC to cerb CAN spec * Changed LV Sense SoC point size from 32 to 8 --- cangen/can-messages/mpu.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cangen/can-messages/mpu.json b/cangen/can-messages/mpu.json index 8566065..2787a51 100644 --- a/cangen/can-messages/mpu.json +++ b/cangen/can-messages/mpu.json @@ -385,7 +385,7 @@ }, "points": [ { - "size": 32, + "size": 8, "endianness": "little" } ] From dd6097b2ee7a541d8c23a1b25896f0d7e6288d2f Mon Sep 17 00:00:00 2001 From: Jack Rubacha Date: Fri, 6 Dec 2024 13:55:00 -0500 Subject: [PATCH 06/12] Update msb.json to account for IMU units --- cangen/can-messages/msb.json | 80 ++++++++++++++++++------------------ 1 file changed, 40 insertions(+), 40 deletions(-) diff --git a/cangen/can-messages/msb.json b/cangen/can-messages/msb.json index 858f44d..03892c3 100644 --- a/cangen/can-messages/msb.json +++ b/cangen/can-messages/msb.json @@ -43,12 +43,12 @@ "fields": [ { "name": "MSB/FL/Accel", - "unit": "g", + "unit": "mg", "sim": { - "min": 0, - "max": 2, - "inc_min": 0.01, - "inc_max": 0.25 + "min": -2000, + "max": 2000, + "inc_min": 0.1, + "inc_max": 2.5 }, "points": [ { @@ -74,13 +74,13 @@ "fields": [ { "name": "MSB/FL/Gyro", + "unit": "mdps", "sim": { - "min": 0, - "max": 15, - "inc_min": 0.1, - "inc_max": 0.5 + "min": -500000, + "max": 500000, + "inc_min": 10, + "inc_max": 1000 }, - "unit": "", "points": [ { "size": 16, @@ -234,12 +234,12 @@ "fields": [ { "name": "MSB/FR/Accel", - "unit": "g", + "unit": "mg", "sim": { - "min": 0, - "max": 2, - "inc_min": 0.01, - "inc_max": 0.25 + "min": -2000, + "max": 2000, + "inc_min": 0.1, + "inc_max": 2.5 }, "points": [ { @@ -265,12 +265,12 @@ "fields": [ { "name": "MSB/FR/Gyro", - "unit": "", + "unit": "mdps", "sim": { - "min": 0, - "max": 15, - "inc_min": 0.1, - "inc_max": 0.5 + "min": -500000, + "max": 500000, + "inc_min": 10, + "inc_max": 1000 }, "points": [ { @@ -425,12 +425,12 @@ "fields": [ { "name": "MSB/BL/Accel", - "unit": "g", + "unit": "mg", "sim": { - "min": 0, - "max": 2, - "inc_min": 0.01, - "inc_max": 0.25 + "min": -2000, + "max": 2000, + "inc_min": 0.1, + "inc_max": 2.5 }, "points": [ { @@ -456,12 +456,12 @@ "fields": [ { "name": "MSB/BL/Gyro", - "unit": "", + "unit": "mdps", "sim": { - "min": 0, - "max": 15, - "inc_min": 0.1, - "inc_max": 0.5 + "min": -500000, + "max": 500000, + "inc_min": 10, + "inc_max": 1000 }, "points": [ { @@ -616,12 +616,12 @@ "fields": [ { "name": "MSB/BR/Accel", - "unit": "g", + "unit": "mg", "sim": { - "min": 0, - "max": 2, - "inc_min": 0.01, - "inc_max": 0.25 + "min": -2000, + "max": 2000, + "inc_min": 0.1, + "inc_max": 2.5 }, "points": [ { @@ -647,12 +647,12 @@ "fields": [ { "name": "MSB/BR/Gyro", - "unit": "", + "unit": "mdps", "sim": { - "min": 0, - "max": 15, - "inc_min": 0.1, - "inc_max": 0.5 + "min": -500000, + "max": 500000, + "inc_min": 10, + "inc_max": 1000 }, "points": [ { From f6ffa63e1dc78f1cdff5c0196e2a43e901b8d0f6 Mon Sep 17 00:00:00 2001 From: Jack Rubacha Date: Fri, 6 Dec 2024 18:29:18 -0500 Subject: [PATCH 07/12] Update mpu.json to fix torque --- cangen/can-messages/mpu.json | 15 --------------- 1 file changed, 15 deletions(-) diff --git a/cangen/can-messages/mpu.json b/cangen/can-messages/mpu.json index 2787a51..9a9f236 100644 --- a/cangen/can-messages/mpu.json +++ b/cangen/can-messages/mpu.json @@ -131,21 +131,6 @@ } ] } - , - { - "name": "MPU/State/TorqueLimit", - "unit": "percentage", - "sim_min": 0, - "sim_max": 1, - "sim_inc_min": 0.1, - "sim_inc_max": 0.1, - "points": [ - { - "size": 8, - "format": "divide100" - } - ] - } ] }, { From 4773522600aabdfc5a7c4d3238c5526118dd3be1 Mon Sep 17 00:00:00 2001 From: Dylan Donahue <98500199+dyldonahue@users.noreply.github.com> Date: Sun, 8 Dec 2024 17:11:10 -0500 Subject: [PATCH 08/12] added safe dir (#207) * added safe dir * removed tmux and libncurses * removed more packages * poop fart --- dev/Dockerfile | 13 ++++--------- dev/scripts/gdb.sh | 2 +- ner_environment/build_system/build_system.py | 7 ++++--- ner_environment/build_system/miniterm.py | 3 +-- 4 files changed, 10 insertions(+), 15 deletions(-) diff --git a/dev/Dockerfile b/dev/Dockerfile index 70ba5f2..d273ca1 100644 --- a/dev/Dockerfile +++ b/dev/Dockerfile @@ -16,8 +16,6 @@ RUN apt-get update && apt-get install -y \ minicom \ vim \ clang-format \ - tmux \ - libncurses5 \ linux-tools-generic \ gcc-arm-linux-gnueabihf \ g++-arm-linux-gnueabihf \ @@ -27,13 +25,6 @@ RUN apt-get update && apt-get install -y \ python3 \ python3-pip -# Install and setup rust -RUN curl https://sh.rustup.rs -sSf | bash -s -- -y -ENV PATH="/root/.cargo/bin:${PATH}" -RUN rustup target add armv7-unknown-linux-gnueabihf - -# Install Python YAML Parser -RUN pip install "ruamel.yaml<0.18.0" RUN wget https://builds.renode.io/renode-1.14.0+20231003gitf86ac3cf.linux-portable.tar.gz RUN mkdir renode_portable && tar -xvf renode-*.linux-portable.tar.gz -C renode_portable --strip-components=1 @@ -56,3 +47,7 @@ RUN wget -qO- https://developer.arm.com/-/media/Files/downloads/gnu-rm/10.3-2021 ENV PATH $PATH:/home/dev/gcc-arm-none-eabi-10.3-2021.10/bin WORKDIR /home/app + +# Set up safe directory +RUN git config --global --add safe.directory /home/app + diff --git a/dev/scripts/gdb.sh b/dev/scripts/gdb.sh index 91153f5..3b36e1f 100755 --- a/dev/scripts/gdb.sh +++ b/dev/scripts/gdb.sh @@ -3,6 +3,6 @@ elf_file=$(ls /home/app/build/*.elf) printf "$elf_file" -openocd -f interface/cmsis-dap.cfg -f target/"$STM_TARGET_NAME"x.cfg -c "adapter speed 5000" -c "init" -c "reset halt" & sleep 1 && arm-none-eabi-gdb $elf_file -ex "target remote localhost:3333" +openocd -f interface/cmsis-dap.cfg -f target/"$STM_TARGET_NAME"x.cfg -c "adapter speed 5000" -c "init" -c "reset halt" & sleep 1 && gdb $elf_file -ex "target remote localhost:3333" kill $(pidof openocd) diff --git a/ner_environment/build_system/build_system.py b/ner_environment/build_system/build_system.py index 0d13062..4a92a0a 100644 --- a/ner_environment/build_system/build_system.py +++ b/ner_environment/build_system/build_system.py @@ -59,7 +59,7 @@ def build(profile: str = typer.Option(None, "--profile", "-p", callback=unsuppor @app.command(help="Configure autoformatter settings") def clang(disable: bool = typer.Option(False, "--disable","-d", help="Disable clang-format"), - enable: bool = typer.Option(False, "--enable", "-e", help="Enable clang-format"), + enablrune: bool = typer.Option(False, "--enable", "-e", help="Enable clang-format"), run: bool = typer.Option(False, "--run", "-r", help="Run clang-format")): if disable: @@ -113,7 +113,7 @@ def debug(ftdi: bool = typer.Option(False, "--ftdi", help="Set this flag if the if platform.system() == "Linux" and is_wsl() == 0: gdb_uri = "localhost" - send_command = ["docker", "compose", "run", "--rm", "ner-gcc-arm", "arm-none-eabi-gdb", f"/home/app/build/{elf_file}", "-ex", f"target extended-remote {gdb_uri}:3333"] + send_command = ["docker", "compose", "run", "--rm", "ner-gcc-arm", "gdb", f"/home/app/build/{elf_file}", "-ex", f"target extended-remote {gdb_uri}:3333"] subprocess.run(send_command) @@ -168,7 +168,8 @@ def flash(ftdi: bool = typer.Option(False, "--ftdi", help="Set this flag if the # ============================================================================== @app.command(help="Open UART terminal of conneced device") -def serial(ls: bool = typer.Option(False, "--list", help="Specify the device to connect or disconnect (e.g., /dev/ttyACM0,/dev/ttyUSB0,/dev/ttyUSB1,COM1)"), +def serial(ls: bool = typer.Option(False, "--list", help='''Specify the device to connect or disconnect (e.g., /dev/ttyACM0,/dev/ttyUSB0,/dev/ttyUSB1,COM1) + Mandatory on MacOS, may be optional on otherwise. On Mac, find this by running `ls /dev/tty.usb*' '''), device: str = typer.Option("", "--device", "-d", help="Specify the board to connect to")): if ls: diff --git a/ner_environment/build_system/miniterm.py b/ner_environment/build_system/miniterm.py index b34d4a7..04413c7 100644 --- a/ner_environment/build_system/miniterm.py +++ b/ner_environment/build_system/miniterm.py @@ -19,8 +19,7 @@ def list_usb_devices(): print(f"Failed to list USB devices on Windows: {e}", file=sys.stderr) sys.exit(1) - elif os_name == 'Linux' or os_name == 'Darwin': # Darwin is macOS - # List USB devices on Unix-like systems + elif os_name == 'Linux': try: result = subprocess.run(['ls /dev/tty*'], shell=True, capture_output=True, text=True) From c2061ae62cf670cdb6fb6ac9c966f3ec74ffc916 Mon Sep 17 00:00:00 2001 From: Harrison Eckert <65581761+harrison-e@users.noreply.github.com> Date: Tue, 10 Dec 2024 16:15:39 -0500 Subject: [PATCH 09/12] Added support to decode IEEE754 32-bit floats over CAN (#216) * Added ieee754-f32 field to CANPoint spec in cangen/README * Fixed format field description in cangen/README --- cangen/README.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/cangen/README.md b/cangen/README.md index e0c4196..8231c45 100644 --- a/cangen/README.md +++ b/cangen/README.md @@ -107,8 +107,9 @@ Within the `points` member of a NetField object, there is a list of Point object - `size`, an integer representing the size to be read in bits - `signed` (optional), boolean representing whether or not the number is signed in two's complement form (`false` by default) - `endianness` (optional), string representing the byte endianness of the bits being read, either `"big"` or `"little"` (`"big"` by default) -- `format` (optional, not recommended), string representing the final type of the data (`"f32"` by default) +- `format` (optional), string representing the format of the bits (e.g. `divide100`) (blank by default) - `default_value` (optional, only for Encodable Messages), float representing the default value to be sent before a command is received or when an empty command is received. This is ignored when decoding the Point (`0` by default) +- `ieee754_f32` (optional), boolean indicating if the bits in the Point should be interpreted as an IEEE754 32-bit float. **Be sure to endian swap the float before sending!!** (`false` by default) #### Sim Within the `sim` member of a NetField object, there is a single sim object. This object is one of two types, either `sweep` or `enum`. However these types are implied, not written in the JSON, just use them correctly! From 96746ba444ce958ecd38986cd95b5e8d0a9d1c6c Mon Sep 17 00:00:00 2001 From: Harrison Eckert <65581761+harrison-e@users.noreply.github.com> Date: Sat, 21 Dec 2024 16:22:02 -0500 Subject: [PATCH 10/12] CAN spec patches (#218) * Message 0x18FF50E5 (Charger Box Status) now byte aligned. Changed unused from 24 to 27 bits. * Changed sim frequencies in MPU/State/Mode and MPU/State/ModeIndex to add to 1. Mode option 1 from 0.80 to 0.79, and ModeIndex option 2 from 0.40 to 0.20. * Sim option 4 frequency of MPU/State/Mode changed from 0.00 to 0.01 --- cangen/can-messages/charger.json | 4 ++-- cangen/can-messages/mpu.json | 9 ++++----- 2 files changed, 6 insertions(+), 7 deletions(-) diff --git a/cangen/can-messages/charger.json b/cangen/can-messages/charger.json index 0dea159..acd1cc7 100644 --- a/cangen/can-messages/charger.json +++ b/cangen/can-messages/charger.json @@ -218,10 +218,10 @@ "send": false, "points": [ { - "size": 24 + "size": 27 } ] } ] } -] \ No newline at end of file +] diff --git a/cangen/can-messages/mpu.json b/cangen/can-messages/mpu.json index 9a9f236..67fa5e2 100644 --- a/cangen/can-messages/mpu.json +++ b/cangen/can-messages/mpu.json @@ -15,7 +15,7 @@ ], [ 1, - 0.80 + 0.78 ], [ 2, @@ -27,7 +27,7 @@ ], [ 4, - 0.00 + 0.01 ] ] }, @@ -52,7 +52,7 @@ ], [ 2, - 0.40 + 0.20 ], [ 3, @@ -370,8 +370,7 @@ }, "points": [ { - "size": 8, - "endianness": "little" + "size": 8 } ] } From a799851eaae4f1ba4c8d2606c226439dc470e028 Mon Sep 17 00:00:00 2001 From: Jack Rubacha Date: Sun, 29 Dec 2024 13:48:00 -0500 Subject: [PATCH 11/12] Add A calypso build check, (#219) * add a calypso build * add to mpu the versioning * remove docker container * it be annoying * why doesnt it understand zero * some fixes * add shep * fix duplicate key --- .github/workflows/build_calypso.yml | 22 ++++++ cangen/can-messages/bms.json | 112 +++++++++++++++++++++++++++- cangen/can-messages/mpu.json | 110 +++++++++++++++++++++++++++ 3 files changed, 243 insertions(+), 1 deletion(-) create mode 100644 .github/workflows/build_calypso.yml diff --git a/.github/workflows/build_calypso.yml b/.github/workflows/build_calypso.yml new file mode 100644 index 0000000..7800ebe --- /dev/null +++ b/.github/workflows/build_calypso.yml @@ -0,0 +1,22 @@ +name: Check CAN, build Calypso +on: + push: + paths: + - 'cangen/**' + +jobs: + run-build: + runs-on: ubuntu-latest + steps: + - name: Clone Calypso + uses: actions/checkout@v4 + with: + repository: Northeastern-Electric-Racing/Calypso + + - name: Clone Embedded-base + uses: actions/checkout@v4 + with: + path: "./Embedded-Base" + + - name: Build Calypso + run: cargo build --locked diff --git a/cangen/can-messages/bms.json b/cangen/can-messages/bms.json index 4e9c34a..b56f314 100644 --- a/cangen/can-messages/bms.json +++ b/cangen/can-messages/bms.json @@ -992,5 +992,115 @@ ] } ] - } + }, + { + "id": "0x69A", + "desc": "Shepherd Version Tag", + "sim_freq": 1000, + "fields": [ + { + "name": "BMS/Version/Tag", + "unit": "major.minor.patch", + "sim": { + "min": 0, + "max": 3, + "inc_min": 1, + "inc_max": 1, + "round": true + }, + "points": [ + { + "size": 8 + }, + { + "size": 8 + }, + { + "size": 8 + } + ] + }, + { + "name": "BMS/Version/Dirty", + "unit": "bool", + "sim": { + "options": [ + [ + 0, + 0.95 + ], + [ + 1, + 0.05 + ] + ] + }, + "points": [ + { + "size": 8 + } + ] + }, + { + "name": "BMS/Version/LocalCommit", + "unit": "bool", + "sim": { + "options": [ + [ + 0, + 0.95 + ], + [ + 1, + 0.05 + ] + ] + }, + "points": [ + { + "size": 8 + } + ] + } + ] + }, + { + "id": "0x69B", + "desc": "Shepherd Version Hash", + "sim_freq": 1000, + "fields": [ + { + "name": "BMS/Version/ShortHash", + "unit": "hash", + "sim": { + "min": 0, + "max": 4294967295, + "inc_min": 1, + "inc_max": 1, + "round": true + }, + "points": [ + { + "size": 32 + } + ] + }, + { + "name": "BMS/Version/AuthorHash", + "unit": "hash", + "sim": { + "min": 0, + "max": 4294967295, + "inc_min": 1, + "inc_max": 1, + "round": true + }, + "points": [ + { + "size": 32 + } + ] + } + ] + } ] diff --git a/cangen/can-messages/mpu.json b/cangen/can-messages/mpu.json index 67fa5e2..21f5d84 100644 --- a/cangen/can-messages/mpu.json +++ b/cangen/can-messages/mpu.json @@ -932,5 +932,115 @@ ] } ] + }, + { + "id": "0x698", + "desc": "Cerberus Version Tag", + "sim_freq": 1000, + "fields": [ + { + "name": "MPU/Version/Tag", + "unit": "major.minor.patch", + "sim": { + "min": 0, + "max": 3, + "inc_min": 1, + "inc_max": 1, + "round": true + }, + "points": [ + { + "size": 8 + }, + { + "size": 8 + }, + { + "size": 8 + } + ] + }, + { + "name": "MPU/Version/Dirty", + "unit": "bool", + "sim": { + "options": [ + [ + 0, + 0.95 + ], + [ + 1, + 0.05 + ] + ] + }, + "points": [ + { + "size": 8 + } + ] + }, + { + "name": "MPU/Version/LocalCommit", + "unit": "bool", + "sim": { + "options": [ + [ + 0, + 0.95 + ], + [ + 1, + 0.05 + ] + ] + }, + "points": [ + { + "size": 8 + } + ] + } + ] + }, + { + "id": "0x699", + "desc": "Cerberus Version Hash", + "sim_freq": 1000, + "fields": [ + { + "name": "MPU/Version/ShortHash", + "unit": "hash", + "sim": { + "min": 0, + "max": 4294967295, + "inc_min": 1, + "inc_max": 1, + "round": true + }, + "points": [ + { + "size": 32 + } + ] + }, + { + "name": "MPU/Version/AuthorHash", + "unit": "hash", + "sim": { + "min": 0, + "max": 4294967295, + "inc_min": 1, + "inc_max": 1, + "round": true + }, + "points": [ + { + "size": 32 + } + ] + } + ] } ] From f1fb165ca1dc61db677ee1ce061fbf2cac6333ac Mon Sep 17 00:00:00 2001 From: Jack Rubacha Date: Fri, 3 Jan 2025 23:07:14 -0500 Subject: [PATCH 12/12] Spring 2024 Dev Launchpad (#220) * initial platformio devenv * oops --- README.md | 39 +++---- launchpad.py | 115 ------------------- ner_environment/build_system/build_system.py | 77 ++++++++++++- ner_environment/ner_setup.py | 21 +++- 4 files changed, 105 insertions(+), 147 deletions(-) delete mode 100644 launchpad.py diff --git a/README.md b/README.md index 1b52fb9..8d5e4c0 100644 --- a/README.md +++ b/README.md @@ -1,33 +1,22 @@ # Embedded-Base -Embedded-Base is a collection of drivers & middleware designed for use across various systems. +Embedded-Base is a collection of drivers, middlewares, and communication definitions designed for use across various systems. -This repository houses custom drivers and middleware that can be utilized in multiple projects. +Most firmware projects define Embedded-Base as a submodule. -To use this repository in any project, it should be set up as a submodule. +## Getting Started With NER Firmware -## Getting Started +All you need is on confluence [here](https://nerdocs.atlassian.net/wiki/spaces/NER/pages/1343533/Firmware+Onboarding+Embedded+Software#Development-Environment-Setup). -#### 1. Clone Embbeded-Base: - ~~~ - git clone https://github.com/Northeastern-Electric-Racing/Embedded-Base.git - ~~~ +### Notable items in this repository -#### 2. Initialize submodule - Within the application directory, run the following command to initialize the submodule: - ~~~ - git submodule update --init - ~~~ - -## Development Guidelines - -When developing in the parent directory, it's recommended to frequently run the following command to update all submodules in case changes have been made: -~~~ -git submodule update --remote -~~~ - - -**When making changes to a driver located within Embedded-Base, always make those changes directly within the Embedded-Base repository. Avoid making changes to a submodule from the parent directory.** Although it's technically possible, doing so can lead to disorganization, which we want to avoid. - -This approach ensures that changes to Embedded-Base are tracked properly and can be easily integrated into your projects using it as a submodule. +- `cangen`: All JSON definitions of in-car CAN data as well as documentation and parsing utilities. +- `dev`: The manual version of the NER build system, compatible up circuit boards in competition 22A +- `ner_environment`: The NER developer environment compatible with all boards from 22A onwards and cross platform support. +- `general`: Cross-platform C source files for all peripheral drivers used by NER. +- `middleware`: Cross-platform C source files common utilities used across various platforms. +- `platforms`: C source files specific to STM HAL versions. +- `clang-format`: The organization wide clang-format definition. +- `ftdi_flash.cfg`: An openocd script to assist in FTDI flashing. +- `openocd.cfg`: A openocd stub to load GDB onto a target. diff --git a/launchpad.py b/launchpad.py deleted file mode 100644 index b517706..0000000 --- a/launchpad.py +++ /dev/null @@ -1,115 +0,0 @@ -import subprocess -import sys -import os -import platform -import shutil - -def install_platformio(venv_path): - """Install PlatformIO package and set up aliases.""" - try: - # Install the platformio package - subprocess.check_call([sys.executable, '-m', 'pip', 'install', 'platformio']) - - # Define aliases - aliases = [ - 'lpbuild="platformio run"', - 'lpflash="platformio run --target upload"', - 'lpinit="platformio project init"', - - ] - - os_type = platform.system() - if os_type == 'Windows': - activate_path = os.path.join(venv_path, 'Scripts', 'activate') # Bash script for Git Bash on Windows - else: - activate_path = os.path.join(venv_path, 'bin', 'activate') # bash script for Unix-like system - - - with open(activate_path, 'a') as activate_file: - activate_file.write('\n# Aliases\n') - for alias in aliases: - alias_name, alias_command = alias.strip().split('=', 1) - alias_command = alias_command.strip('"') - activate_file.write(f'alias {alias_name}="{alias_command}"\n') - - print("Aliases added to the activation script successfully.") - - except subprocess.CalledProcessError as e: - print(f"Failed to install PlatformIO: {e}", file=sys.stderr) - sys.exit(1) - -def uninstall_platformio(venv_path): - """Uninstall PlatformIO package and remove aliases.""" - try: - # Uninstall the platformio package - subprocess.check_call([sys.executable, '-m', 'pip', 'uninstall', '-y', 'platformio']) - - # Remove PlatformIO directory - remove_platformio_directory() - - # Determine OS and adjust alias handling - os_type = platform.system() - if os_type == 'Windows': - activate_path = os.path.join(venv_path, 'Scripts', 'activate') # Bash script for Git Bash on Windows - else: - activate_path = os.path.join(venv_path, 'bin', 'activate') # bash script for Unix-like system - - remove_aliases(activate_path) - - print("PlatformIO uninstalled and aliases removed. Please restart your terminal or source your profile script.") - - except subprocess.CalledProcessError as e: - print(f"Failed to uninstall PlatformIO: {e}", file=sys.stderr) - sys.exit(1) - -def remove_aliases(activate_path): - """Remove aliases from the virtual environment's activation script.""" - try: - if os.path.exists(activate_path): - with open(activate_path, 'r') as f: - lines = f.readlines() - with open(activate_path, 'w') as f: - for line in lines: - if not line.startswith('alias '): - f.write(line) - print("Aliases removed from the activation script successfully.") - else: - print("Activation script not found.", file=sys.stderr) - sys.exit(1) - except Exception as e: - print(f"Failed to remove aliases: {e}", file=sys.stderr) - sys.exit(1) - -def remove_platformio_directory(): - """Remove the PlatformIO directory.""" - platformio_dir = os.path.expanduser('~/.platformio') - if os.path.isdir(platformio_dir): - try: - shutil.rmtree(platformio_dir) - print("PlatformIO directory removed.") - except OSError as e: - print(f"Failed to remove PlatformIO directory: {e}", file=sys.stderr) - sys.exit(1) - else: - print("PlatformIO directory does not exist.") -def main(): - if len(sys.argv) != 2: - print("Usage: launchpad.py [install|uninstall]", file=sys.stderr) - sys.exit(1) - - os_type = platform.system() - current_directory = os.path.dirname(os.path.abspath(__file__)) - parent_directory = os.path.dirname(current_directory) - venv_path = os.path.join(parent_directory, 'ner-venv') - - action = sys.argv[1].lower() - if action == 'install': - install_platformio(venv_path) - elif action == 'uninstall': - uninstall_platformio(venv_path) - else: - print("Invalid action. Use 'install' or 'uninstall'.", file=sys.stderr) - sys.exit(1) - -if __name__ == '__main__': - main() \ No newline at end of file diff --git a/ner_environment/build_system/build_system.py b/ner_environment/build_system/build_system.py index 4a92a0a..a3f79a5 100644 --- a/ner_environment/build_system/build_system.py +++ b/ner_environment/build_system/build_system.py @@ -13,6 +13,7 @@ # # To see a list of available commands and additional configuration options, run `ner --help` # ============================================================================== +import shutil import typer from rich import print import platform @@ -31,9 +32,12 @@ # ============================================================================== app = typer.Typer(help="Northeastern Electric Racing Firmware Build System", - epilog="For more information, visit https://nerdocs.atlassian.net/wiki/spaces/NER/pages/611516420/NER+Build+System", + epilog="For more information, visit https://nerdocs.atlassian.net/wiki/spaces/NER/pages/524451844/2024+Firmware+Onboarding+Master", add_completion=False) +lp_app = typer.Typer(help="Install configure, and run launchpad environment items") +app.add_typer(lp_app, name="lp") + def unsupported_option_cb(value:bool): if value: print("[bold red] WARNING: the selected option is not currently implemented. This is either because is is an planned or deprecated feature") @@ -59,7 +63,7 @@ def build(profile: str = typer.Option(None, "--profile", "-p", callback=unsuppor @app.command(help="Configure autoformatter settings") def clang(disable: bool = typer.Option(False, "--disable","-d", help="Disable clang-format"), - enablrune: bool = typer.Option(False, "--enable", "-e", help="Enable clang-format"), + enable: bool = typer.Option(False, "--enable", "-e", help="Enable clang-format"), run: bool = typer.Option(False, "--run", "-r", help="Run clang-format")): if disable: @@ -239,7 +243,74 @@ def usbip(connect: bool = typer.Option(False, "--connect", help="Connect to a US elif disconnect: disconnect_usbip() - + +# ============================================================================== +# ---- Launchpad Section +# ============================================================================== + + +# ============================================================================== +# init +# ============================================================================== +@lp_app.command(help="Initialize launchpad, run before any commands") +def install(): + """Install PlatformIO package.""" + try: + # Install the platformio package + subprocess.check_call(['pip', 'install', 'platformio']) + + except subprocess.CalledProcessError as e: + print(f"Failed to install PlatformIO: {e}", file=sys.stderr) + sys.exit(1) + +# ============================================================================== +# uninstall +# ============================================================================== +@lp_app.command(help="Remove launchpad") +def uninstall(): + """Uninstall PlatformIO package.""" + try: + # Install the platformio package + subprocess.check_call(['pip', 'uninstall', '-y', 'platformio']) + + platformio_dir = os.path.expanduser('~/.platformio') + if os.path.isdir(platformio_dir): + shutil.rmtree(platformio_dir) + print("PlatformIO directory removed.") + else: + print("PlatformIO directory does not exist.") + + except subprocess.CalledProcessError as e: + print(f"Failed to uninstall PlatformIO: {e}", file=sys.stderr) + sys.exit(1) + +# ============================================================================== +# build +# ============================================================================== +@lp_app.command(help="Build your launchpad project") +def build(): + subprocess.run(['platformio', 'run']) + +# ============================================================================== +# flash +# ============================================================================== +@lp_app.command(help="Flash your launchpad project to a board") +def flash(): + subprocess.run(['platformio', 'run', '--target', 'upload']) + +# ============================================================================== +# serial +# ============================================================================== +@lp_app.command(help="View serial output from the device") +def serial(): + subprocess.run(['platformio', 'device', 'monitor']) + + +# ============================================================================== +# ---- End Launchpad Section +# ============================================================================== + + # ============================================================================== # Helper functions - not direct commands # ============================================================================== diff --git a/ner_environment/ner_setup.py b/ner_environment/ner_setup.py index 2a7045d..39d4d17 100644 --- a/ner_environment/ner_setup.py +++ b/ner_environment/ner_setup.py @@ -77,6 +77,14 @@ def install_precommit(venv_python): print(f"Failed to install pre-commit: {e}", file=sys.stderr) sys.exit(1) +def install_launchpad(venv_python): + print("Installing launchpad (platformio)...") + try: + run_command([venv_python, '-m', 'pip', 'install', 'platformio']) + except Exception as e: + print(f"Failed to install platformio: {e}", file=sys.stderr) + sys.exit(1) + def install_openocd(): os_type = platform.system() try: @@ -142,21 +150,26 @@ def main(): answer = input("Would you like to install all python packages in the venv? (yes/no)") if 'y' in answer: - # Use the venv's Python + # Use the venv's Python venv_python = os.path.join(venv_path, 'bin', 'python') # Step 4: run setup.py (installs requirements and entry points) run_setup(venv_python) # Step 5: Run pre-commit install - install_precommit(venv_python) + # disabled bc buggy as all hell + #install_precommit(venv_python) + answer = input("Would you like to install launchpad? (yes/no)") + if 'y' in answer: + # Step 5: Install launchpad + install_launchpad(venv_python) answer = input("Would you like to install openOCD? (do this manually if on a weird linux distro!) (yes/no)") if 'y' in answer: - # Step 5: Install probe-rs + # Step 6: Install openocd install_openocd() - # Step 6: Install usbip if on Linux + # Step 7: Install usbip if on Linux if os_type == "Linux" and is_wsl() == 0: answer = input("Would you like to install usbip? (yes/no)") if 'y' in answer: