File content as of revision 0:dff8803aace7:

/**
 ******************************************************************************
 * @file    LIS2DW12Sensor.cpp
 * @author  CLab
 * @version V1.0.0
 * @date    15 November 2018
 * @brief   Implementation of an LIS2DW12 Inertial Measurement Unit (IMU) 3 axes
 *          sensor.
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; COPYRIGHT(c) 2018 STMicroelectronics</center></h2>
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *   1. Redistributions of source code must retain the above copyright notice,
 *      this list of conditions and the following disclaimer.
 *   2. Redistributions in binary form must reproduce the above copyright notice,
 *      this list of conditions and the following disclaimer in the documentation
 *      and/or other materials provided with the distribution.
 *   3. Neither the name of STMicroelectronics nor the names of its contributors
 *      may be used to endorse or promote products derived from this software
 *      without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 ******************************************************************************
 */


/* Includes ------------------------------------------------------------------*/

#include "LIS2DW12Sensor.h"


/* Class Implementation ------------------------------------------------------*/

/** Constructor
 * @param i2c object of an helper class which handles the I2C peripheral
 * @param address the address of the component's instance
 * @param int1_pin the interrupt 1 pin
 * @param int2_pin the interrupt 2 pin
 */
LIS2DW12Sensor::LIS2DW12Sensor(DevI2C *i2c, uint8_t address, PinName int1_pin, PinName int2_pin) :
                             _dev_i2c(i2c), _address(address), _cs_pin(NC), _int1_irq(int1_pin), _int2_irq(int2_pin)
{
  assert (i2c);
  _dev_spi = NULL;
  _reg_ctx.write_reg = LIS2DW12_io_write;
  _reg_ctx.read_reg = LIS2DW12_io_read;
  _reg_ctx.handle = (void *)this;
}

/** Constructor
 * @param spi object of an helper class which handles the SPI peripheral
 * @param cs_pin the chip select pin
 * @param int1_pin the interrupt 1 pin
 * @param int2_pin the interrupt 2 pin
 * @param spi_type the SPI type (4-Wires or 3-Wires)
 */
LIS2DW12Sensor::LIS2DW12Sensor(SPI *spi, PinName cs_pin, PinName int1_pin, PinName int2_pin, SPI_type_t spi_type ) : 
                             _dev_spi(spi), _cs_pin(cs_pin), _int1_irq(int1_pin), _int2_irq(int2_pin), _spi_type(spi_type)
{
  assert (spi);
  if (cs_pin == NC) 
  {
    printf ("ERROR LPS22HBSensor CS MUST NOT BE NC\n\r");       
    _dev_spi = NULL;
    _dev_i2c = NULL;
    return;
  }
  _reg_ctx.write_reg = LIS2DW12_io_write;
  _reg_ctx.read_reg = LIS2DW12_io_read;
  _reg_ctx.handle = (void *)this;
  _cs_pin = 1;    
  _dev_i2c = NULL;
  _address = 0;
    
  if (_spi_type == SPI3W)
  {
    /* Enable SPI 3-Wires on the component */
    uint8_t data = 0x05;
    lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL2, &data, 1);
  }

  /* Disable I2C on the component */
  lis2dw12_i2c_interface_set(&_reg_ctx, LIS2DW12_I2C_DISABLE);    
}

/**
 * @brief     Initializing the component.
 * @param[in] init pointer to device specific initalization structure.
 * @retval    "0" in case of success, an error code otherwise.
 */
int LIS2DW12Sensor::init(void *init)
{
  /* Enable register address automatically incremented during a multiple byte
  access with a serial interface. */
  if (lis2dw12_auto_increment_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
  {
    return 1;
  }

  /* Enable BDU */
  if (lis2dw12_block_data_update_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
  {
    return 1;
  }

  /* FIFO mode selection */
  if (lis2dw12_fifo_mode_set(&_reg_ctx, LIS2DW12_BYPASS_MODE) != 0)
  {
    return 1;
  }

  /* Power mode selection */
  if (lis2dw12_power_mode_set(&_reg_ctx, LIS2DW12_HIGH_PERFORMANCE) != 0)
  {
    return 1;
  }

  /* Output data rate selection - power down. */
  if (lis2dw12_data_rate_set(&_reg_ctx, LIS2DW12_XL_ODR_OFF) != 0)
  {
    return 1;
  }

  /* Full scale selection. */
  if (lis2dw12_full_scale_set(&_reg_ctx, LIS2DW12_2g) != 0)
  {
    return 1;
  }

  /* Select default output data rate. */
  _x_last_odr = 100.0f;

  _x_last_operating_mode = LIS2DW12_HIGH_PERFORMANCE_MODE;

  _x_last_noise = LIS2DW12_LOW_NOISE_DISABLE;

  _x_is_enabled = 0;

  return 0;
}

/**
 * @brief  Enable LIS2DW12 Accelerator
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::enable_x(void)
{ 
  /* Check if the component is already enabled */
  if ( _x_is_enabled == 1 )
  {
    return 0;
  }
  
  /* Output data rate selection. */
  if ( set_x_odr_when_enabled( _x_last_odr, _x_last_operating_mode, _x_last_noise ) == 1 )
  {
    return 1;
  }
  
  _x_is_enabled = 1;
  
  return 0;
}

/**
 * @brief  Disable LIS2DW12 Accelerator
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::disable_x(void)
{ 
  /* Check if the component is already disabled */
  if ( _x_is_enabled == 0 )
  {
    return 0;
  }

  /* Output data rate selection - power down. */
  if (lis2dw12_data_rate_set(&_reg_ctx, LIS2DW12_XL_ODR_OFF) != 0)
  {
    return 1;
  }
  
  _x_is_enabled = 0;
  
  return 0;
}

/**
 * @brief  Read ID of LIS2DW12 Accelerometer and Gyroscope
 * @param  p_id the pointer where the ID of the device is stored
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::read_id(uint8_t *id)
{
  if(!id)
  { 
    return 1;
  }

  /* Read WHO AM I register */
  if (lis2dw12_device_id_get(&_reg_ctx, id) != 0)
  {
    return 1;
  }

  return 0;
}

/**
 * @brief  Read data from LIS2DW12 Accelerometer
 * @param  acceleration the pointer where the accelerometer data are stored
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::get_x_axes(int32_t *acceleration)
{
  int16_t data_raw[3];
  float sensitivity = 0;
  
  /* Read raw data from LIS2DW12 output register. */
  if ( get_x_axes_raw( data_raw ) == 1 )
  {
    return 1;
  }
  
  /* Get LIS2DW12 actual sensitivity. */
  if ( get_x_sensitivity( &sensitivity ) == 1 )
  {
    return 1;
  }
  
  /* Calculate the data. */
  acceleration[0] = ( int32_t )( data_raw[0] * sensitivity );
  acceleration[1] = ( int32_t )( data_raw[1] * sensitivity );
  acceleration[2] = ( int32_t )( data_raw[2] * sensitivity );
  
  return 0;
}

/**
 * @brief  Read Accelerometer Sensitivity
 * @param  sensitivity the pointer where the accelerometer sensitivity is stored
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::get_x_sensitivity(float *sensitivity)
{
  int32_t ret = 0;
  lis2dw12_fs_t full_scale;
  lis2dw12_mode_t mode;

  /* Read actual full scale selection from sensor. */
  if (lis2dw12_full_scale_get(&_reg_ctx, &full_scale) != 0)
  {
    return 1;
  }

  /* Read actual power mode selection from sensor. */
  if (lis2dw12_power_mode_get(&_reg_ctx, &mode) != 0)
  {
    return 1;
  }

  switch(mode)
  {
    case LIS2DW12_CONT_LOW_PWR_12bit:
    case LIS2DW12_SINGLE_LOW_PWR_12bit:
    case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
    case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
      switch (full_scale)
      {
        case LIS2DW12_2g:
          *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_2G_LOPOW1_MODE;
           break;

        case LIS2DW12_4g:
          *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_4G_LOPOW1_MODE;
          break;

        case LIS2DW12_8g:
          *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_8G_LOPOW1_MODE;
           break;

        case LIS2DW12_16g:
          *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_16G_LOPOW1_MODE;
          break;

        default:
          *sensitivity = -1.0f;
          ret = 1;
          break;
      }
      break;

    case LIS2DW12_HIGH_PERFORMANCE:
    case LIS2DW12_CONT_LOW_PWR_4:
    case LIS2DW12_CONT_LOW_PWR_3:
    case LIS2DW12_CONT_LOW_PWR_2:
    case LIS2DW12_SINGLE_LOW_PWR_4:
    case LIS2DW12_SINGLE_LOW_PWR_3:
    case LIS2DW12_SINGLE_LOW_PWR_2:
    case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
    case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
    case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
    case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
    case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
    case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
    case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
      switch (full_scale)
      {
        case LIS2DW12_2g:
          *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_2G_OTHER_MODES;
           break;

        case LIS2DW12_4g:
          *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_4G_OTHER_MODES;
          break;

        case LIS2DW12_8g:
          *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_8G_OTHER_MODES;
           break;

        case LIS2DW12_16g:
          *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_16G_OTHER_MODES;
          break;

        default:
          *sensitivity = -1.0f;
          ret = 1;
          break;
      }
      break;

    default:
      *sensitivity = -1.0f;
      ret = 1;
      break;
  }

  return ret;
}

/**
 * @brief  Read raw data from LIS2DW12 Accelerometer
 * @param  value the pointer where the accelerometer raw data are stored
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::get_x_axes_raw(int16_t *value)
{
  axis3bit16_t data_raw;
  lis2dw12_mode_t mode;
  int32_t ret = 0;

  /* Read actual power mode selection from sensor. */
  if (lis2dw12_power_mode_get(&_reg_ctx, &mode) != 0)
  {
    return 1;
  }

  /* Read raw data values. */
  if (lis2dw12_acceleration_raw_get(&_reg_ctx, data_raw.u8bit) != 0)
  {
    return 1;
  }

  switch(mode)
  {
    case LIS2DW12_CONT_LOW_PWR_12bit:
    case LIS2DW12_SINGLE_LOW_PWR_12bit:
    case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
    case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
      /* Data format 12 bits. */
      value[0] = (data_raw.i16bit[0] / 16);
      value[1] = (data_raw.i16bit[1] / 16);
      value[2] = (data_raw.i16bit[2] / 16);
      break;

    case LIS2DW12_HIGH_PERFORMANCE:
    case LIS2DW12_CONT_LOW_PWR_4:
    case LIS2DW12_CONT_LOW_PWR_3:
    case LIS2DW12_CONT_LOW_PWR_2:
    case LIS2DW12_SINGLE_LOW_PWR_4:
    case LIS2DW12_SINGLE_LOW_PWR_3:
    case LIS2DW12_SINGLE_LOW_PWR_2:
    case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
    case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
    case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
    case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
    case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
    case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
    case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
      /* Data format 14 bits. */
      value[0] = (data_raw.i16bit[0] / 4);
      value[1] = (data_raw.i16bit[1] / 4);
      value[2] = (data_raw.i16bit[2] / 4);
      break;

    default:
      ret = 1;
      break;
  }

  return ret;
}

/**
 * @brief  Read LIS2DW12 Accelerometer output data rate
 * @param  odr the pointer to the output data rate
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::get_x_odr(float* odr)
{
  int32_t ret = 0;
  lis2dw12_odr_t odr_low_level;
  lis2dw12_mode_t mode;

  /* Get current output data rate. */
  if (lis2dw12_data_rate_get(&_reg_ctx, &odr_low_level) != 0)
  {
    return 1;
  }

  /* Read actual power mode selection from sensor. */
  if (lis2dw12_power_mode_get(&_reg_ctx, &mode) != 0)
  {
    return 1;
  }

  switch (odr_low_level)
  {
    case LIS2DW12_XL_ODR_OFF:
    case LIS2DW12_XL_SET_SW_TRIG:
    case LIS2DW12_XL_SET_PIN_TRIG:
      *odr = 0.0f;
      break;

    case LIS2DW12_XL_ODR_1Hz6_LP_ONLY:
      switch (mode)
      {
        case LIS2DW12_HIGH_PERFORMANCE:
        case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
          *odr = 12.5f;
           break;

        case LIS2DW12_CONT_LOW_PWR_4:
        case LIS2DW12_CONT_LOW_PWR_3:
        case LIS2DW12_CONT_LOW_PWR_2:
        case LIS2DW12_CONT_LOW_PWR_12bit:
        case LIS2DW12_SINGLE_LOW_PWR_4:
        case LIS2DW12_SINGLE_LOW_PWR_3:
        case LIS2DW12_SINGLE_LOW_PWR_2:
        case LIS2DW12_SINGLE_LOW_PWR_12bit:
        case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
        case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
        case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
        case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
        case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
        case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
        case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
        case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
          *odr = 1.6f;
          break;

        default:
          *odr = -1.0f;
          ret = 1;
          break;
      }
      break;

    case LIS2DW12_XL_ODR_12Hz5:
      *odr = 12.5f;
      break;

    case LIS2DW12_XL_ODR_25Hz:
      *odr = 25.0f;
      break;

    case LIS2DW12_XL_ODR_50Hz:
      *odr = 50.0f;
      break;

    case LIS2DW12_XL_ODR_100Hz:
      *odr = 100.0f;
      break;

    case LIS2DW12_XL_ODR_200Hz:
      *odr = 200.0f;
      break;

    case LIS2DW12_XL_ODR_400Hz:
      switch (mode)
      {
        case LIS2DW12_HIGH_PERFORMANCE:
        case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
          *odr = 400.0f;
           break;

        case LIS2DW12_CONT_LOW_PWR_4:
        case LIS2DW12_CONT_LOW_PWR_3:
        case LIS2DW12_CONT_LOW_PWR_2:
        case LIS2DW12_CONT_LOW_PWR_12bit:
        case LIS2DW12_SINGLE_LOW_PWR_4:
        case LIS2DW12_SINGLE_LOW_PWR_3:
        case LIS2DW12_SINGLE_LOW_PWR_2:
        case LIS2DW12_SINGLE_LOW_PWR_12bit:
        case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
        case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
        case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
        case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
        case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
        case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
        case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
        case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
          *odr = 200.0f;
          break;

        default:
          *odr = -1.0f;
          ret = 1;
          break;
      }
      break;

    case LIS2DW12_XL_ODR_800Hz:
      switch (mode)
      {
        case LIS2DW12_HIGH_PERFORMANCE:
        case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
          *odr = 800.0f;
           break;

        case LIS2DW12_CONT_LOW_PWR_4:
        case LIS2DW12_CONT_LOW_PWR_3:
        case LIS2DW12_CONT_LOW_PWR_2:
        case LIS2DW12_CONT_LOW_PWR_12bit:
        case LIS2DW12_SINGLE_LOW_PWR_4:
        case LIS2DW12_SINGLE_LOW_PWR_3:
        case LIS2DW12_SINGLE_LOW_PWR_2:
        case LIS2DW12_SINGLE_LOW_PWR_12bit:
        case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
        case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
        case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
        case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
        case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
        case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
        case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
        case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
          *odr = 200.0f;
          break;

        default:
          *odr = -1.0f;
          ret = 1;
          break;
      }
      break;

    case LIS2DW12_XL_ODR_1k6Hz:
      switch (mode)
      {
        case LIS2DW12_HIGH_PERFORMANCE:
        case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
          *odr = 1600.0f;
           break;

        case LIS2DW12_CONT_LOW_PWR_4:
        case LIS2DW12_CONT_LOW_PWR_3:
        case LIS2DW12_CONT_LOW_PWR_2:
        case LIS2DW12_CONT_LOW_PWR_12bit:
        case LIS2DW12_SINGLE_LOW_PWR_4:
        case LIS2DW12_SINGLE_LOW_PWR_3:
        case LIS2DW12_SINGLE_LOW_PWR_2:
        case LIS2DW12_SINGLE_LOW_PWR_12bit:
        case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
        case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
        case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
        case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
        case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
        case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
        case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
        case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
          *odr = 200.0f;
          break;

        default:
          *odr = -1.0f;
          ret = 1;
          break;
      }
      break;

    default:
      *odr = -1.0f;
      ret = 1;
      break;
  }

  return ret;
}

/**
 * @brief  Set LIS2DW12 Accelerometer output data rate
 * @param  odr the output data rate to be set
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::set_x_odr(float odr)
{ 
  return set_x_odr_with_mode(odr, LIS2DW12_HIGH_PERFORMANCE_MODE, LIS2DW12_LOW_NOISE_DISABLE);
}

/**
 * @brief  Set LIS2DW12 Accelerometer output data rate
 * @param  odr the output data rate to be set
 * @param  mode the operating mode to be used
 * @param  noise the low noise option
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::set_x_odr_with_mode(float odr, LIS2DW12_Operating_Mode_t mode, LIS2DW12_Low_Noise_t noise)
{
  if(_x_is_enabled == 1)
  {
    if(set_x_odr_when_enabled(odr, mode, noise) != 0)
    {
      return 1;
    }
  }
  else
  {
    if(set_x_odr_when_disabled(odr, mode, noise) != 0)
    {
      return 1;
    }
  }
  
  return 0;
}

/**
 * @brief  Set LIS2DW12 Accelerometer output data rate when enabled
 * @param  odr the output data rate to be set
 * @param  mode the operating mode to be used
 * @param  noise the low noise option
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::set_x_odr_when_enabled(float odr, LIS2DW12_Operating_Mode_t mode, LIS2DW12_Low_Noise_t noise)
{
  lis2dw12_odr_t new_odr;
  lis2dw12_mode_t new_power_mode;

  switch (mode)
  {
    case LIS2DW12_HIGH_PERFORMANCE_MODE:
    default:
      switch (noise)
      {
        case LIS2DW12_LOW_NOISE_DISABLE:
        default:
          new_power_mode = LIS2DW12_HIGH_PERFORMANCE; 
          break;
        case LIS2DW12_LOW_NOISE_ENABLE:
          new_power_mode = LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE;
          break;
      }

      /* If High Performance mode minimum ODR is 12.5Hz */
      if(odr < 12.5f)
      {
        odr = 12.5f;
      }
      break;
    case LIS2DW12_LOW_POWER_MODE4:
      switch (noise)
      {
        case LIS2DW12_LOW_NOISE_DISABLE:
        default:
          new_power_mode = LIS2DW12_CONT_LOW_PWR_4; 
          break;
        case LIS2DW12_LOW_NOISE_ENABLE:
          new_power_mode = LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4;
          break;
      }

      /* If Low Power mode maximum ODR is 200Hz */
      if(odr > 200.0f)
      {
        odr = 200.0f;
      }
      break;
    case LIS2DW12_LOW_POWER_MODE3:
      switch (noise)
      {
        case LIS2DW12_LOW_NOISE_DISABLE:
        default:
          new_power_mode = LIS2DW12_CONT_LOW_PWR_3; 
          break;
        case LIS2DW12_LOW_NOISE_ENABLE:
          new_power_mode = LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3;
          break;
      }

      /* If Low Power mode maximum ODR is 200Hz */
      if(odr > 200.0f)
      {
        odr = 200.0f;
      }
      break;
    case LIS2DW12_LOW_POWER_MODE2:
      switch (noise)
      {
        case LIS2DW12_LOW_NOISE_DISABLE:
        default:
          new_power_mode = LIS2DW12_CONT_LOW_PWR_2; 
          break;
        case LIS2DW12_LOW_NOISE_ENABLE:
          new_power_mode = LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2;
          break;
      }

      /* If Low Power mode maximum ODR is 200Hz */
      if(odr > 200.0f)
      {
        odr = 200.0f;
      }
      break;
    case LIS2DW12_LOW_POWER_MODE1:
      switch (noise)
      {
        case LIS2DW12_LOW_NOISE_DISABLE:
        default:
          new_power_mode = LIS2DW12_CONT_LOW_PWR_12bit; 
          break;
        case LIS2DW12_LOW_NOISE_ENABLE:
          new_power_mode = LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit;
          break;
      }

      /* If Low Power mode maximum ODR is 200Hz */
      if(odr > 200.0f)
      {
        odr = 200.0f;
      }
      break;
  }
  

  new_odr = (odr <=    1.6f) ? LIS2DW12_XL_ODR_1Hz6_LP_ONLY
          : (odr <=   12.5f) ? LIS2DW12_XL_ODR_12Hz5
          : (odr <=   25.0f) ? LIS2DW12_XL_ODR_25Hz
          : (odr <=   50.0f) ? LIS2DW12_XL_ODR_50Hz
          : (odr <=  100.0f) ? LIS2DW12_XL_ODR_100Hz
          : (odr <=  200.0f) ? LIS2DW12_XL_ODR_200Hz
          : (odr <=  400.0f) ? LIS2DW12_XL_ODR_400Hz
          : (odr <=  800.0f) ? LIS2DW12_XL_ODR_800Hz
          :                    LIS2DW12_XL_ODR_1k6Hz;

  /* Output data rate selection. */
  if (lis2dw12_data_rate_set(&_reg_ctx, new_odr) != 0)
  {
    return 1;
  }

  /* Power mode selection. */
  if (lis2dw12_power_mode_set(&_reg_ctx, new_power_mode) != 0)
  {
    return 1;
  }

  /* Store actual output data rate, operating mode and low noise. */
  _x_last_odr = odr;
  _x_last_operating_mode = mode;
  _x_last_noise = noise;

  return 0;
}

/**
 * @brief  Set LIS2DW12 Accelerometer output data rate when disabled
 * @param  odr the output data rate to be set
 * @param  mode the operating mode to be used
 * @param  noise the low noise option
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::set_x_odr_when_disabled(float odr, LIS2DW12_Operating_Mode_t mode, LIS2DW12_Low_Noise_t noise)
{
  _x_last_operating_mode = mode;
  _x_last_noise = noise;

  _x_last_odr = (odr <=    1.6f) ?    1.6f
              : (odr <=   12.5f) ?   12.5f
              : (odr <=   25.0f) ?   25.0f
              : (odr <=   50.0f) ?   50.0f
              : (odr <=  100.0f) ?  100.0f
              : (odr <=  200.0f) ?  200.0f
              : (odr <=  400.0f) ?  400.0f
              : (odr <=  800.0f) ?  800.0f
              :                    1600.0f;
                                 
  return 0;
}

/**
 * @brief  Read LIS2DW12 Accelerometer full scale
 * @param  full_scale the pointer to the full scale
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::get_x_fs(float* full_scale)
{
  int32_t ret = 0;
  lis2dw12_fs_t fs_low_level;

  /* Read actual full scale selection from sensor. */
  if (lis2dw12_full_scale_get(&_reg_ctx, &fs_low_level) != 0)
  {
    return 1;
  }

  switch (fs_low_level)
  {
    case LIS2DW12_2g:
      *full_scale =  2;
      break;

    case LIS2DW12_4g:
      *full_scale =  4;
      break;

    case LIS2DW12_8g:
      *full_scale =  8;
      break;

    case LIS2DW12_16g:
      *full_scale = 16;
      break;

    default:
      *full_scale = -1;
      ret = 1;
      break;
  }

  return ret;
}

/**
 * @brief  Set LIS2DW12 Accelerometer full scale
 * @param  full_scale the full scale to be set
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::set_x_fs(float full_scale)
{
  lis2dw12_fs_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 = (full_scale <= 2) ? LIS2DW12_2g
         : (full_scale <= 4) ? LIS2DW12_4g
         : (full_scale <= 8) ? LIS2DW12_8g
         :                    LIS2DW12_16g;

  if (lis2dw12_full_scale_set(&_reg_ctx, new_fs) != 0)
  {
    return 1;
  }

  return 0;
}

/**
 * @brief Enable the wake up detection for LIS2DW12 accelerometer sensor
 * @note  This function sets the LIS2DW12 accelerometer ODR to 200Hz and the LIS2DW12 accelerometer full scale to 2g
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::enable_wake_up_detection(void)
{
  int32_t ret = 0;
  lis2dw12_ctrl4_int1_pad_ctrl_t val;

  /* Output Data Rate selection */
  if (set_x_odr(200.0f) != 0)
  {
    return 1;
  }

  /* Full scale selection */
  if (set_x_fs(2) != 0)
  {
    return 1;
  }

  /* WAKE_DUR setting */
  if (lis2dw12_wkup_dur_set(&_reg_ctx, 0x00) != 0)
  {
    return 1;
  }

  /* Set wake up threshold. */
  if (lis2dw12_wkup_threshold_set(&_reg_ctx, 0x02) != 0)
  {
    return 1;
  }

  if (lis2dw12_pin_int1_route_get(&_reg_ctx, &val) != 0)
  {
    return 1;
  }

  val.int1_wu = PROPERTY_ENABLE;

  if (lis2dw12_pin_int1_route_set(&_reg_ctx, &val) != 0)
  {
    return 1;
  }

  return ret;
}

/**
 * @brief Disable the wake up detection for LIS2DW12 accelerometer sensor
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::disable_wake_up_detection(void)
{
  lis2dw12_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg;
  lis2dw12_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg;
  lis2dw12_ctrl_reg7_t ctrl_reg7;

  /* Disable wake up event on INT1 pin. */
  if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0)
  {
    return 1;
  }

  ctrl4_int1_reg.int1_wu = PROPERTY_DISABLE;

  if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0)
  {
    return 1;
  }

  /* Read INT2 Sleep Change */
  if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0)
  {
    return 1;
  }

  /*Disable Interrupts bit if none event is still enabled */
  if(ctrl5_int2_reg.int2_sleep_chg == 0 && ctrl4_int1_reg.int1_wu == 0 && ctrl4_int1_reg.int1_6d == 0)
  {
    if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0)
    {
      return 1;
    }

    ctrl_reg7.interrupts_enable = PROPERTY_DISABLE;

    if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0)
    {
      return 1;
    }
  }

  /* Reset wake up threshold. */
  if (lis2dw12_wkup_threshold_set(&_reg_ctx, 0x00) != 0)
  {
    return 1;
  }

  /* WAKE_DUR setting */
  if (lis2dw12_wkup_dur_set(&_reg_ctx, 0x00) != 0)
  {
    return 1;
  }

  return 0;
}

/**
 * @brief Set the wake up threshold for LIS2DW12 accelerometer sensor
 * @param thr the threshold to be set
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::set_wake_up_threshold(uint8_t thr)
{
  /* Set wake up threshold. */
  if (lis2dw12_wkup_threshold_set(&_reg_ctx, thr) != 0)
  {
    return 1;
  }

  return 0;
}

/**
 * @brief Set the wake up duration for LIS2DW12 accelerometer sensor
 * @param dur the duration to be set
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::set_wake_up_duration(uint8_t dur)
{
  /* Set wake up duration. */
  if (lis2dw12_wkup_dur_set(&_reg_ctx, dur) != 0)
  {
    return 1;
  }

  return 0;
}

/**
 * @brief Enable the inactivity detection for LIS2DW12 accelerometer sensor
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::enable_inactivity_detection(void)
{
  int32_t ret = 0;
  lis2dw12_ctrl5_int2_pad_ctrl_t val;

  /* Output Data Rate and Full scale must be selected externally */

  /* SLEEP_DUR setting */
  if (lis2dw12_act_sleep_dur_set(&_reg_ctx, 0x01) != 0)
  {
    return 1;
  }

  /* Set wake up threshold. */
  if (lis2dw12_wkup_threshold_set(&_reg_ctx, 0x02) != 0)
  {
    return 1;
  }

  /* Enable inactivity detection. */
  if (lis2dw12_act_mode_set(&_reg_ctx, LIS2DW12_DETECT_ACT_INACT) != 0)
  {
    return 1;
  }

  if (lis2dw12_pin_int2_route_get(&_reg_ctx, &val) != 0)
  {
    return 1;
  }

  val.int2_sleep_chg = PROPERTY_ENABLE;

  if (lis2dw12_pin_int2_route_set(&_reg_ctx, &val) != 0)
  {
    return 1;
  }

  return ret;
}

/**
 * @brief Disable the inactivity detection for LIS2DW12 accelerometer sensor
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::disable_inactivity_detection(void)
{
  lis2dw12_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg;
  lis2dw12_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg;
  lis2dw12_ctrl_reg7_t ctrl_reg7;

  /* Disable inactivity event on INT2 pin */
  if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0)
  {
    return 1;
  }

  ctrl5_int2_reg.int2_sleep_chg = PROPERTY_DISABLE;

  if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0)
  {
    return 1;
  }

  /* Read INT1 Wake Up event and INT1 6D Orientation event */
  if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0)
  {
    return 1;
  }

  /*Disable Interrupts bit if none event is still enabled */
  if(ctrl5_int2_reg.int2_sleep_chg == 0 && ctrl4_int1_reg.int1_wu == 0 && ctrl4_int1_reg.int1_6d == 0)
  {
    if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0)
    {
      return 1;
    }

    ctrl_reg7.interrupts_enable = PROPERTY_DISABLE;

    if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0)
    {
      return 1;
    }
  }

  /* Disable inactivity detection. */
  if (lis2dw12_act_mode_set(&_reg_ctx, LIS2DW12_NO_DETECTION) != 0)
  {
    return 1;
  }

  /* Reset wake up threshold. */
  if (lis2dw12_wkup_threshold_set(&_reg_ctx, 0x00) != 0)
  {
    return 1;
  }

  /* SLEEP_DUR setting */
  if (lis2dw12_act_sleep_dur_set(&_reg_ctx, 0x00) != 0)
  {
    return 1;
  }

  return 0;
}

/**
 * @brief Set the sleep duration for LIS2DW12 accelerometer sensor
 * @param dur the duration to be set
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::set_sleep_duration(uint8_t dur)
{
  /* Set sleep duration. */
  if (lis2dw12_act_sleep_dur_set(&_reg_ctx, dur) != 0)
  {
    return 1;
  }

  return 0;
}

/**
 * @brief Enable the 6D orientation detection for LIS2DW12 accelerometer sensor
 * @note  This function sets the LIS2DW12 accelerometer ODR to 200Hz and the LIS2DW12 accelerometer full scale to 2g
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::enable_6d_orientation(void)
{
  int32_t ret = 0;
  lis2dw12_ctrl4_int1_pad_ctrl_t val;

  /* Output Data Rate selection */
  if(set_x_odr(200.0f) == 1)
  {
    return 1;
  }
  
  /* Full scale selection. */
  if(set_x_fs(2.0f) == 1)
  {
    return 1;
  }

  /* 6D orientation threshold. */
  if (lis2dw12_6d_threshold_set(&_reg_ctx, 2) != 0) /* 60 degrees */
  {
    return 1;
  }

  /* Enable 6D orientation event on INT1 pin */
  if (lis2dw12_pin_int1_route_get(&_reg_ctx, &val) != 0)
  {
    return 1;
  }

  val.int1_6d = PROPERTY_ENABLE;

  if (lis2dw12_pin_int1_route_set(&_reg_ctx, &val) != 0)
  {
    return 1;
  }

  return ret;
}

/**
 * @brief Disable the 6D orientation detection for LIS2DW12 accelerometer sensor
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::disable_6d_orientation(void)
{
  lis2dw12_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg;
  lis2dw12_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg;
  lis2dw12_ctrl_reg7_t ctrl_reg7;

  /* Disable 6D orientation event on INT1 pin */
  if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0)
  {
    return 1;
  }

  ctrl4_int1_reg.int1_6d = PROPERTY_DISABLE;

  if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0)
  {
    return 1;
  }

  /* Read INT2 Sleep Change */
  if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0)
  {
    return 1;
  }

  /*Disable Interrupts bit if none event is still enabled */
  if(ctrl5_int2_reg.int2_sleep_chg == 0 && ctrl4_int1_reg.int1_wu == 0 && ctrl4_int1_reg.int1_6d == 0)
  {
    if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0)
    {
      return 1;
    }

    ctrl_reg7.interrupts_enable = PROPERTY_DISABLE;

    if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0)
    {
      return 1;
    }
  }

  /* Reset 6D orientation threshold. */
  if (lis2dw12_6d_threshold_set(&_reg_ctx, 0) != 0)
  {
    return 1;
  }

  return 0;
}

/**
 * @brief Set the 6D orientation threshold for LIS2DW12 accelerometer sensor
 * @param thr the threshold to be set
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::set_6d_orientation_threshold(uint8_t thr)
{
  if(thr > 3)
  {
    return 1;
  }

  if (lis2dw12_6d_threshold_set(&_reg_ctx, thr) != 0)
  {
    return 1;
  }

  return 0;
}

/**
 * @brief Get the 6D orientation XL axis for LIS2DW12 accelerometer sensor
 * @param xl the pointer to the 6D orientation XL axis
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::get_6d_orientation_xl(uint8_t *xl)
{
  lis2dw12_sixd_src_t data;

  if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
  {
    return 1;
  }

  *xl = data.xl;

  return 0;
}

/**
 * @brief Get the 6D orientation XH axis for LIS2DW12 accelerometer sensor
 * @param xh the pointer to the 6D orientation XH axis
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::get_6d_orientation_xh(uint8_t *xh)
{
  lis2dw12_sixd_src_t data;

  if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
  {
    return 1;
  }

  *xh = data.xh;

  return 0;
}

/**
 * @brief Get the 6D orientation YL axis for LIS2DW12 accelerometer sensor
 * @param yl the pointer to the 6D orientation YL axis
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::get_6d_orientation_yl(uint8_t *yl)
{
  lis2dw12_sixd_src_t data;

  if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
  {
    return 1;
  }

  *yl = data.yl;

  return 0;
}

/**
 * @brief Get the 6D orientation YH axis for LIS2DW12 accelerometer sensor
 * @param yh the pointer to the 6D orientation YH axis
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::get_6d_orientation_yh(uint8_t *yh)
{
  lis2dw12_sixd_src_t data;

  if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
  {
    return 1;
  }

  *yh = data.yh;

  return 0;
}

/**
 * @brief Get the 6D orientation ZL axis for LIS2DW12 accelerometer sensor
 * @param zl the pointer to the 6D orientation ZL axis
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::get_6d_orientation_zl(uint8_t *zl)
{
  lis2dw12_sixd_src_t data;

  if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
  {
    return 1;
  }

  *zl = data.zl;

  return 0;
}

/**
 * @brief Get the 6D orientation ZH axis for LIS2DW12 accelerometer sensor
 * @param zh the pointer to the 6D orientation ZH axis
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::get_6d_orientation_zh(uint8_t *zh)
{
  lis2dw12_sixd_src_t data;

  if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
  {
    return 1;
  }

  *zh = data.zh;

  return 0;
}

/**
 * @brief Get the status of all hardware events for LIS2DW12 accelerometer sensor
 * @param status the pointer to the status of all hardware events
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::get_event_status(LIS2DW12_Event_Status_t *status)
{
  lis2dw12_status_t status_reg;
  lis2dw12_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg;
  lis2dw12_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg;

  (void)memset((void *)status, 0x0, sizeof(LIS2DW12_Event_Status_t));

  if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_STATUS, (uint8_t *)&status_reg, 1) != 0)
  {
    return 1;
  }

  if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0)
  {
    return 1;
  }

  if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0)
  {
    return 1;
  }

  if (ctrl4_int1_reg.int1_wu == 1U)
  {
    if (status_reg.wu_ia == 1U)
    {
      status->WakeUpStatus = 1;
    }
  }

  if (ctrl4_int1_reg.int1_6d == 1U)
  {
    if (status_reg._6d_ia == 1U)
    {
      status->D6DOrientationStatus = 1;
    }
  }

  if (ctrl5_int2_reg.int2_sleep_chg == 1U)
  {
    if (status_reg.sleep_state == 1U)
    {
      status->SleepStatus = 1;
    }
  }

  return 0;
}

/**
 * @brief  Get the number of samples contained into the FIFO
 * @param  num_samples the number of samples contained into the FIFO
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::get_fifo_num_samples(uint16_t *num_samples)
{
  lis2dw12_fifo_samples_t fifo_samples;

  if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_FIFO_SAMPLES, (uint8_t *)&fifo_samples, 1) != 0)
  {
    return 1;
  }

  if(fifo_samples.diff == 0x20)
  {
    *num_samples = 32;
  }
  else
  {
    *num_samples = fifo_samples.diff;
  }

  return 0;
}

/**
 * @brief  Set the FIFO mode
 * @param  mode FIFO mode
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::set_fifo_mode(uint8_t mode)
{
  int32_t ret = 0;

  /* Verify that the passed parameter contains one of the valid values. */
  switch ((lis2dw12_fmode_t)mode)
  {
    case LIS2DW12_BYPASS_MODE:
    case LIS2DW12_FIFO_MODE:
    case LIS2DW12_STREAM_TO_FIFO_MODE:
    case LIS2DW12_BYPASS_TO_STREAM_MODE:
    case LIS2DW12_STREAM_MODE:
      break;

    default:
      ret = 1;
      break;
  }

  if (ret == 1)
  {
    return ret;
  }

  if (lis2dw12_fifo_mode_set(&_reg_ctx, (lis2dw12_fmode_t)mode) != 0)
  {
    return 1;
  }

  return ret;
}

/**
 * @brief Read the data from register
 * @param reg register address
 * @param data register data
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::read_reg(uint8_t reg, uint8_t *data)
{

  if (lis2dw12_read_reg(&_reg_ctx, reg, data, 1) != 0)
  {
    return 1;
  }

  return 0;
}

/**
 * @brief Write the data to register
 * @param reg register address
 * @param data register data
 * @retval 0 in case of success, an error code otherwise
 */
int LIS2DW12Sensor::write_reg(uint8_t reg, uint8_t data)
{

  if (lis2dw12_write_reg(&_reg_ctx, reg, &data, 1) != 0)
  {
    return 1;
  }

  return 0;
}


int32_t LIS2DW12_io_write(void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite)
{
  return ((LIS2DW12Sensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
}

int32_t LIS2DW12_io_read(void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead)
{
  return ((LIS2DW12Sensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
}