Make Lsm6dso platform agnostic

general/include/lsm6dso.h

@@ -14,72 +14,78 @@
 #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_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_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_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 {
-  LSM6DSO_X_AXIS = 0,
-  LSM6DSO_Y_AXIS = 1,
-  LSM6DSO_Z_AXIS = 2
+
+	LSM6DSO_X_AXIS = 0,
+	LSM6DSO_Y_AXIS = 1,
+	LSM6DSO_Z_AXIS = 2
+
 };
 
 /**
  * @brief Struct containing data relevant to the LSM6DSO IMU
  *
  */
 typedef struct {
-  I2C_HandleTypeDef *i2c_handle;
+	uint8_t accel_config; // TODO: We should make these cfg packed unions with
+		// bitfield structs
 
-  uint8_t accel_config; // TODO: We should make these cfg packed unions with
-                        // bitfield structs
+	uint8_t gyro_config;
 
-  uint8_t gyro_config;
+	int16_t accel_data[3];
 
-  int16_t accel_data[3];
+	int16_t gyro_data[3];
 
-  int16_t gyro_data[3];
+	I2C_Read read_reg;
+
+	I2C_Write write_reg;
 
 } lsm6dso_t;
 
 /**
  * @brief Initializes the LSM6DSO IMU
  *
- * @param imu
- * @param i2c_handle
- * @return HAL_StatusTypeDef
+ * @return 0 if OK, other if ERROR
  */
-HAL_StatusTypeDef lsm6dso_init(lsm6dso_t *imu, I2C_HandleTypeDef *i2c_handle);
+int lsm6dso_init(lsm6dso_t *imu, I2C_Read read_func, I2C_Write write_func);
 
 /* IMU Setting Configuration */
 /**
@@ -89,38 +95,35 @@ HAL_StatusTypeDef lsm6dso_init(lsm6dso_t *imu, I2C_HandleTypeDef *i2c_handle);
  * @param odr_sel
  * @param fs_sel
  * @param lp_f2_enable
- * @return HAL_StatusTypeDef
+ * @return 0 if OK, other if ERROR
  */
-HAL_StatusTypeDef lsm6dso_set_accel_cfg(lsm6dso_t *imu, int8_t odr_sel,
-                                        int8_t fs_sel, int8_t lp_f2_enable);
+
+int lsm6dso_set_accel_cfg(lsm6dso_t *imu, int8_t odr_sel, int8_t fs_sel,
+			  int8_t lp_f2_enable);
 
 /**
  * @brief Configures the accelerometer of the LSM6DSO IMU
  *
- * @param imu
  * @param odr_sel
  * @param fs_sel
  * @param fs_125
- * @return HAL_StatusTypeDef
+ * @return 0 if OK, other if ERROR
  */
-HAL_StatusTypeDef lsm6dso_set_gyro_cfg(lsm6dso_t *imu, int8_t odr_sel,
-                                       int8_t fs_sel, int8_t fs_125);
+
+int lsm6dso_set_gyro_cfg(lsm6dso_t *imu, int8_t odr_sel, int8_t fs_sel,
+			 int8_t fs_125);
 
 /* Data Aquisition */
 /**
  * @brief Retrieves accelerometer data from the LSM6DSO IMU
- *
- * @param imu
- * @return HAL_StatusTypeDef
+ * @return 0 if OK, other if ERROR
  */
-HAL_StatusTypeDef lsm6dso_read_accel(lsm6dso_t *imu);
+int lsm6dso_read_accel(lsm6dso_t *imu);
 
 /**
  * @brief Retreives the gyroscope data from the LSM6DSO IMU
- *
- * @param imu
- * @return HAL_StatusTypeDef
+ * @return 0 if OK, other if ERROR
  */
-HAL_StatusTypeDef lsm6dso_read_gyro(lsm6dso_t *imu);
+int lsm6dso_read_gyro(lsm6dso_t *imu);
 
 #endif // LSM6DSO_H