generalized funcs

general/include/lsm6dso.h

@@ -44,6 +44,12 @@
 #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 uint8_t (*I2C_Read_Reg)(uint8_t *data, uint8_t reg);
+typedef uint8_t (*I2C_Read_Mult_Reg)(uint8_t *data, uint8_t reg,
+				     uint8_t length);
+typedef uint8_t (*I2C_Write_Reg)(uint8_t *data, uint8_t reg);
+
 /**
  * @brief Enumeration of axes of data available from the LSM6DSO IMU
  *
@@ -70,6 +76,12 @@ typedef struct {
 
 	int16_t gyro_data[3];
 
+	I2C_Read_Reg lsm6dso_read_reg;
+
+	I2C_Read_Mult_Reg lsm6dso_read_mult_reg;
+
+	I2C_Write_Reg lsm6dso_write_reg;
+
 } lsm6dso_t;
 
 /**
@@ -81,6 +93,34 @@ typedef struct {
  */
 HAL_StatusTypeDef lsm6dso_init(lsm6dso_t *imu, I2C_HandleTypeDef *i2c_handle);
 
+/**
+ * @brief reads LSM6DSO memory register
+ * 
+ * @param data
+ * @param reg
+ * @return 0 if HAL_OK, 1 if HAL_ERROR
+ */
+uint8_t lsm6dso_read_reg(uint8_t *data, uint8_t reg);
+
+/**
+ * @brief reads multiple LSM6DSO memory registers
+ * 
+ * @param data
+ * @param reg
+ * @param length
+ * @return 0 if HAL_OK, 1 if HAL_ERROR
+ */
+uint8_t lsm6dso_read_mult_reg(uint8_t *data, uint8_t reg, uint8_t length);
+
+/**
+ * @brief wrties to LSM6DSO memory register
+ * 
+ * @param data
+ * @param reg
+ * @return 0 if HAL_OK, 1 if HAL_ERROR
+ */
+uint8_t lsm6dso_write_reg(uint8_t *data, uint8_t reg);
+
 /* IMU Setting Configuration */
 /**
  * @brief Configures the accelerometer of the LSM6DSO IMU

general/src/lsm6dso.c

@@ -13,28 +13,45 @@
 	4 /* The range of values in g's returned from accelerometer */
 #define GYRO_RANGE 1000 /* The range of values from the gyro in dps */
 
-static inline HAL_StatusTypeDef lsm6dso_read_reg(lsm6dso_t *imu, uint8_t *data,
-						 uint8_t reg)
+lsm6dso_t *imu;
+
+static inline HAL_StatusTypeDef hal_lsm6dso_read_reg(lsm6dso_t *imu,
+						     uint8_t *data, uint8_t reg)
 {
 	return HAL_I2C_Mem_Read(imu->i2c_handle, LSM6DSO_I2C_ADDRESS, reg,
 				I2C_MEMADD_SIZE_8BIT, data, 1, HAL_MAX_DELAY);
 }
 
-static inline HAL_StatusTypeDef lsm6dso_read_mult_reg(lsm6dso_t *imu,
-						      uint8_t *data,
-						      uint8_t reg,
-						      uint8_t length)
+static inline HAL_StatusTypeDef hal_lsm6dso_read_mult_reg(lsm6dso_t *imu,
+							  uint8_t *data,
+							  uint8_t reg,
+							  uint8_t length)
 {
 	return HAL_I2C_Mem_Read(imu->i2c_handle, LSM6DSO_I2C_ADDRESS, reg,
 				I2C_MEMADD_SIZE_8BIT, data, length,
 				HAL_MAX_DELAY);
 }
 
-static inline HAL_StatusTypeDef lsm6dso_write_reg(lsm6dso_t *imu, uint8_t reg,
-						  uint8_t *data)
+static inline HAL_StatusTypeDef
+hal_lsm6dso_write_reg(lsm6dso_t *imu, uint8_t reg, uint8_t *data)
+{
+	return (imu->i2c_handle, LSM6DSO_I2C_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT,
+		data, 1, HAL_MAX_DELAY);
+}
+
+uint8_t lsm6dso_read_reg(uint8_t *data, uint8_t reg)
+{
+	return hal_lsm6dso_read_reg(imu, data, reg);
+}
+
+uint8_t lsm6dso_read_mult_reg(uint8_t *data, uint8_t reg, uint8_t length)
+{
+	return hal_lsm6dso_read_mult_reg(imu, data, reg, length);
+}
+
+uint8_t lsm6dso_write_reg(uint8_t *data, uint8_t reg)
 {
-	return HAL_I2C_Mem_Write(imu->i2c_handle, LSM6DSO_I2C_ADDRESS, reg,
-				 I2C_MEMADD_SIZE_8BIT, data, 1, HAL_MAX_DELAY);
+	return hal_lsm6dso_write_reg(imu, data, reg);
 }
 
 static int16_t accel_data_convert(int16_t raw_accel)