ST
iNEMO inertial module: 3D accelerometer and 3D gyroscope.
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
lsm6dsox_reg.h
- Committer:
- cparata
- Date:
- 2021-04-15
- Revision:
- 5:97fea56292cd
- Parent:
- 4:88054adaed8d
File content as of revision 5:97fea56292cd:
/*
******************************************************************************
* @file lsm6dsox_reg.h
* @author Sensors Software Solution Team
* @brief This file contains all the functions prototypes for the
* lsm6dsox_reg.c driver.
******************************************************************************
* @attention
*
* <h2><center>© Copyright (c) 2019 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef LSM6DSOX_REGS_H
#define LSM6DSOX_REGS_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include <stdint.h>
#include <stddef.h>
#include <math.h>
/** @addtogroup LSM6DSOX
* @{
*
*/
/** @defgroup STMicroelectronics sensors common types
* @{
*
*/
#ifndef MEMS_SHARED_TYPES
#define MEMS_SHARED_TYPES
/**
* @defgroup axisXbitXX_t
* @brief These unions are useful to represent different sensors data type.
* These unions are not need by the driver.
*
* REMOVING the unions you are compliant with:
* MISRA-C 2012 [Rule 19.2] -> " Union are not allowed "
*
* @{
*
*/
typedef union {
int16_t i16bit[3];
uint8_t u8bit[6];
} axis3bit16_t;
typedef union {
int16_t i16bit;
uint8_t u8bit[2];
} axis1bit16_t;
typedef union {
int32_t i32bit[3];
uint8_t u8bit[12];
} axis3bit32_t;
typedef union {
int32_t i32bit;
uint8_t u8bit[4];
} axis1bit32_t;
/**
* @}
*
*/
typedef struct {
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;
} bitwise_t;
#define PROPERTY_DISABLE (0U)
#define PROPERTY_ENABLE (1U)
#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 */
/**
* @}
*
*/
/** @addtogroup LSM6DSOX_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 (*lsm6dsox_write_ptr)(void *, uint8_t, uint8_t *, uint16_t);
typedef int32_t (*lsm6dsox_read_ptr)(void *, uint8_t, uint8_t *, uint16_t);
typedef struct {
/** Component mandatory fields **/
lsm6dsox_write_ptr write_reg;
lsm6dsox_read_ptr read_reg;
/** Customizable optional pointer **/
void *handle;
} lsm6dsox_ctx_t;
/**
* @}
*
*/
/** @defgroup LSM6DSOX_Infos
* @{
*
*/
/** I2C Device Address 8 bit format if SA0=0 -> D5 if SA0=1 -> D7 **/
#define LSM6DSOX_I2C_ADD_L 0xD5U
#define LSM6DSOX_I2C_ADD_H 0xD7U
/** Device Identification (Who am I) **/
#define LSM6DSOX_ID 0x6CU
/**
* @}
*
*/
#define LSM6DSOX_FUNC_CFG_ACCESS 0x01U
typedef struct {
uint8_t ois_ctrl_from_ui : 1;
uint8_t not_used_01 : 5;
uint8_t reg_access : 2; /* shub_reg_access + func_cfg_access */
} lsm6dsox_func_cfg_access_t;
#define LSM6DSOX_PIN_CTRL 0x02U
typedef struct {
uint8_t not_used_01 : 6;
uint8_t sdo_pu_en : 1;
uint8_t ois_pu_dis : 1;
} lsm6dsox_pin_ctrl_t;
#define LSM6DSOX_S4S_TPH_L 0x04U
typedef struct {
uint8_t tph_l : 7;
uint8_t tph_h_sel : 1;
} lsm6dsox_s4s_tph_l_t;
#define LSM6DSOX_S4S_TPH_H 0x05U
typedef struct {
uint8_t tph_h : 8;
} lsm6dsox_s4s_tph_h_t;
#define LSM6DSOX_S4S_RR 0x06U
typedef struct {
uint8_t rr : 2;
uint8_t not_used_01 : 6;
} lsm6dsox_s4s_rr_t;
#define LSM6DSOX_FIFO_CTRL1 0x07U
typedef struct {
uint8_t wtm : 8;
} lsm6dsox_fifo_ctrl1_t;
#define LSM6DSOX_FIFO_CTRL2 0x08U
typedef struct {
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;
} lsm6dsox_fifo_ctrl2_t;
#define LSM6DSOX_FIFO_CTRL3 0x09U
typedef struct {
uint8_t bdr_xl : 4;
uint8_t bdr_gy : 4;
} lsm6dsox_fifo_ctrl3_t;
#define LSM6DSOX_FIFO_CTRL4 0x0AU
typedef struct {
uint8_t fifo_mode : 3;
uint8_t not_used_01 : 1;
uint8_t odr_t_batch : 2;
uint8_t odr_ts_batch : 2;
} lsm6dsox_fifo_ctrl4_t;
#define LSM6DSOX_COUNTER_BDR_REG1 0x0BU
typedef struct {
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;
} lsm6dsox_counter_bdr_reg1_t;
#define LSM6DSOX_COUNTER_BDR_REG2 0x0CU
typedef struct {
uint8_t cnt_bdr_th : 8;
} lsm6dsox_counter_bdr_reg2_t;
#define LSM6DSOX_INT1_CTRL 0x0D
typedef struct {
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;
} lsm6dsox_int1_ctrl_t;
#define LSM6DSOX_INT2_CTRL 0x0EU
typedef struct {
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;
} lsm6dsox_int2_ctrl_t;
#define LSM6DSOX_WHO_AM_I 0x0FU
#define LSM6DSOX_CTRL1_XL 0x10U
typedef struct {
uint8_t not_used_01 : 1;
uint8_t lpf2_xl_en : 1;
uint8_t fs_xl : 2;
uint8_t odr_xl : 4;
} lsm6dsox_ctrl1_xl_t;
#define LSM6DSOX_CTRL2_G 0x11U
typedef struct {
uint8_t not_used_01 : 1;
uint8_t fs_g : 3; /* fs_125 + fs_g */
uint8_t odr_g : 4;
} lsm6dsox_ctrl2_g_t;
#define LSM6DSOX_CTRL3_C 0x12U
typedef struct {
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;
} lsm6dsox_ctrl3_c_t;
#define LSM6DSOX_CTRL4_C 0x13U
typedef struct {
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;
} lsm6dsox_ctrl4_c_t;
#define LSM6DSOX_CTRL5_C 0x14U
typedef struct {
uint8_t st_xl : 2;
uint8_t st_g : 2;
uint8_t rounding_status : 1;
uint8_t rounding : 2;
uint8_t xl_ulp_en : 1;
} lsm6dsox_ctrl5_c_t;
#define LSM6DSOX_CTRL6_C 0x15U
typedef struct {
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 */
} lsm6dsox_ctrl6_c_t;
#define LSM6DSOX_CTRL7_G 0x16U
typedef struct {
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;
} lsm6dsox_ctrl7_g_t;
#define LSM6DSOX_CTRL8_XL 0x17U
typedef struct {
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;
} lsm6dsox_ctrl8_xl_t;
#define LSM6DSOX_CTRL9_XL 0x18U
typedef struct {
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;
} lsm6dsox_ctrl9_xl_t;
#define LSM6DSOX_CTRL10_C 0x19U
typedef struct {
uint8_t not_used_01 : 5;
uint8_t timestamp_en : 1;
uint8_t not_used_02 : 2;
} lsm6dsox_ctrl10_c_t;
#define LSM6DSOX_ALL_INT_SRC 0x1AU
typedef struct {
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;
} lsm6dsox_all_int_src_t;
#define LSM6DSOX_WAKE_UP_SRC 0x1BU
typedef struct {
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 : 2;
} lsm6dsox_wake_up_src_t;
#define LSM6DSOX_TAP_SRC 0x1CU
typedef struct {
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;
} lsm6dsox_tap_src_t;
#define LSM6DSOX_D6D_SRC 0x1DU
typedef struct {
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;
} lsm6dsox_d6d_src_t;
#define LSM6DSOX_STATUS_REG 0x1EU
typedef struct {
uint8_t xlda : 1;
uint8_t gda : 1;
uint8_t tda : 1;
uint8_t not_used_01 : 5;
} lsm6dsox_status_reg_t;
#define LSM6DSOX_OUT_TEMP_L 0x20U
#define LSM6DSOX_OUT_TEMP_H 0x21U
#define LSM6DSOX_OUTX_L_G 0x22U
#define LSM6DSOX_OUTX_H_G 0x23U
#define LSM6DSOX_OUTY_L_G 0x24U
#define LSM6DSOX_OUTY_H_G 0x25U
#define LSM6DSOX_OUTZ_L_G 0x26U
#define LSM6DSOX_OUTZ_H_G 0x27U
#define LSM6DSOX_OUTX_L_A 0x28U
#define LSM6DSOX_OUTX_H_A 0x29U
#define LSM6DSOX_OUTY_L_A 0x2AU
#define LSM6DSOX_OUTY_H_A 0x2BU
#define LSM6DSOX_OUTZ_L_A 0x2CU
#define LSM6DSOX_OUTZ_H_A 0x2DU
#define LSM6DSOX_EMB_FUNC_STATUS_MAINPAGE 0x35U
typedef struct {
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;
} lsm6dsox_emb_func_status_mainpage_t;
#define LSM6DSOX_FSM_STATUS_A_MAINPAGE 0x36U
typedef struct {
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;
} lsm6dsox_fsm_status_a_mainpage_t;
#define LSM6DSOX_FSM_STATUS_B_MAINPAGE 0x37U
typedef struct {
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;
} lsm6dsox_fsm_status_b_mainpage_t;
#define LSM6DSOX_MLC_STATUS_MAINPAGE 0x38U
typedef struct {
uint8_t is_mlc1 : 1;
uint8_t is_mlc2 : 1;
uint8_t is_mlc3 : 1;
uint8_t is_mlc4 : 1;
uint8_t is_mlc5 : 1;
uint8_t is_mlc6 : 1;
uint8_t is_mlc7 : 1;
uint8_t is_mlc8 : 1;
} lsm6dsox_mlc_status_mainpage_t;
#define LSM6DSOX_STATUS_MASTER_MAINPAGE 0x39U
typedef struct {
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;
} lsm6dsox_status_master_mainpage_t;
#define LSM6DSOX_FIFO_STATUS1 0x3AU
typedef struct {
uint8_t diff_fifo : 8;
} lsm6dsox_fifo_status1_t;
#define LSM6DSOX_FIFO_STATUS2 0x3B
typedef struct {
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;
} lsm6dsox_fifo_status2_t;
#define LSM6DSOX_TIMESTAMP0 0x40U
#define LSM6DSOX_TIMESTAMP1 0x41U
#define LSM6DSOX_TIMESTAMP2 0x42U
#define LSM6DSOX_TIMESTAMP3 0x43U
#define LSM6DSOX_UI_STATUS_REG_OIS 0x49U
typedef struct {
uint8_t xlda : 1;
uint8_t gda : 1;
uint8_t gyro_settling : 1;
uint8_t not_used_01 : 5;
} lsm6dsox_ui_status_reg_ois_t;
#define LSM6DSOX_UI_OUTX_L_G_OIS 0x4AU
#define LSM6DSOX_UI_OUTX_H_G_OIS 0x4BU
#define LSM6DSOX_UI_OUTY_L_G_OIS 0x4CU
#define LSM6DSOX_UI_OUTY_H_G_OIS 0x4DU
#define LSM6DSOX_UI_OUTZ_L_G_OIS 0x4EU
#define LSM6DSOX_UI_OUTZ_H_G_OIS 0x4FU
#define LSM6DSOX_UI_OUTX_L_A_OIS 0x50U
#define LSM6DSOX_UI_OUTX_H_A_OIS 0x51U
#define LSM6DSOX_UI_OUTY_L_A_OIS 0x52U
#define LSM6DSOX_UI_OUTY_H_A_OIS 0x53U
#define LSM6DSOX_UI_OUTZ_L_A_OIS 0x54U
#define LSM6DSOX_UI_OUTZ_H_A_OIS 0x55U
#define LSM6DSOX_TAP_CFG0 0x56U
typedef struct {
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;
} lsm6dsox_tap_cfg0_t;
#define LSM6DSOX_TAP_CFG1 0x57U
typedef struct {
uint8_t tap_ths_x : 5;
uint8_t tap_priority : 3;
} lsm6dsox_tap_cfg1_t;
#define LSM6DSOX_TAP_CFG2 0x58U
typedef struct {
uint8_t tap_ths_y : 5;
uint8_t inact_en : 2;
uint8_t interrupts_enable : 1;
} lsm6dsox_tap_cfg2_t;
#define LSM6DSOX_TAP_THS_6D 0x59U
typedef struct {
uint8_t tap_ths_z : 5;
uint8_t sixd_ths : 2;
uint8_t d4d_en : 1;
} lsm6dsox_tap_ths_6d_t;
#define LSM6DSOX_INT_DUR2 0x5AU
typedef struct {
uint8_t shock : 2;
uint8_t quiet : 2;
uint8_t dur : 4;
} lsm6dsox_int_dur2_t;
#define LSM6DSOX_WAKE_UP_THS 0x5BU
typedef struct {
uint8_t wk_ths : 6;
uint8_t usr_off_on_wu : 1;
uint8_t single_double_tap : 1;
} lsm6dsox_wake_up_ths_t;
#define LSM6DSOX_WAKE_UP_DUR 0x5CU
typedef struct {
uint8_t sleep_dur : 4;
uint8_t wake_ths_w : 1;
uint8_t wake_dur : 2;
uint8_t ff_dur : 1;
} lsm6dsox_wake_up_dur_t;
#define LSM6DSOX_FREE_FALL 0x5DU
typedef struct {
uint8_t ff_ths : 3;
uint8_t ff_dur : 5;
} lsm6dsox_free_fall_t;
#define LSM6DSOX_MD1_CFG 0x5EU
typedef struct {
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;
} lsm6dsox_md1_cfg_t;
#define LSM6DSOX_MD2_CFG 0x5FU
typedef struct {
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;
} lsm6dsox_md2_cfg_t;
#define LSM6DSOX_S4S_ST_CMD_CODE 0x60U
typedef struct {
uint8_t s4s_st_cmd_code : 8;
} lsm6dsox_s4s_st_cmd_code_t;
#define LSM6DSOX_S4S_DT_REG 0x61U
typedef struct {
uint8_t dt : 8;
} lsm6dsox_s4s_dt_reg_t;
#define LSM6DSOX_I3C_BUS_AVB 0x62U
typedef struct {
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;
} lsm6dsox_i3c_bus_avb_t;
#define LSM6DSOX_INTERNAL_FREQ_FINE 0x63U
typedef struct {
uint8_t freq_fine : 8;
} lsm6dsox_internal_freq_fine_t;
#define LSM6DSOX_UI_INT_OIS 0x6F
typedef struct {
uint8_t not_used_01 : 3;
uint8_t spi2_read_en : 1;
uint8_t not_used_02 : 1;
uint8_t den_lh_ois : 1;
uint8_t lvl2_ois : 1;
uint8_t int2_drdy_ois : 1;
} lsm6dsox_ui_int_ois_t;
#define LSM6DSOX_UI_CTRL1_OIS 0x70U
typedef struct {
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;
} lsm6dsox_ui_ctrl1_ois_t;
#define LSM6DSOX_UI_CTRL2_OIS 0x71U
typedef struct {
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;
} lsm6dsox_ui_ctrl2_ois_t;
#define LSM6DSOX_UI_CTRL3_OIS 0x72U
typedef struct {
uint8_t st_ois_clampdis : 1;
uint8_t not_used_01 : 2;
uint8_t filter_xl_conf_ois : 3;
uint8_t fs_xl_ois : 2;
} lsm6dsox_ui_ctrl3_ois_t;
#define LSM6DSOX_X_OFS_USR 0x73U
#define LSM6DSOX_Y_OFS_USR 0x74U
#define LSM6DSOX_Z_OFS_USR 0x75U
#define LSM6DSOX_FIFO_DATA_OUT_TAG 0x78U
typedef struct {
uint8_t tag_parity : 1;
uint8_t tag_cnt : 2;
uint8_t tag_sensor : 5;
} lsm6dsox_fifo_data_out_tag_t;
#define LSM6DSOX_FIFO_DATA_OUT_X_L 0x79
#define LSM6DSOX_FIFO_DATA_OUT_X_H 0x7A
#define LSM6DSOX_FIFO_DATA_OUT_Y_L 0x7B
#define LSM6DSOX_FIFO_DATA_OUT_Y_H 0x7C
#define LSM6DSOX_FIFO_DATA_OUT_Z_L 0x7D
#define LSM6DSOX_FIFO_DATA_OUT_Z_H 0x7E
#define LSM6DSOX_SPI2_WHO_AM_I 0x0F
#define LSM6DSOX_SPI2_STATUS_REG_OIS 0x1E
typedef struct {
uint8_t xlda : 1;
uint8_t gda : 1;
uint8_t gyro_settling : 1;
uint8_t not_used_01 : 5;
} lsm6dsox_spi2_status_reg_ois_t;
#define LSM6DSOX_SPI2_OUT_TEMP_L 0x20
#define LSM6DSOX_SPI2_OUT_TEMP_H 0x21
#define LSM6DSOX_SPI2_OUTX_L_G_OIS 0x22
#define LSM6DSOX_SPI2_OUTX_H_G_OIS 0x23
#define LSM6DSOX_SPI2_OUTY_L_G_OIS 0x24
#define LSM6DSOX_SPI2_OUTY_H_G_OIS 0x25
#define LSM6DSOX_SPI2_OUTZ_L_G_OIS 0x26
#define LSM6DSOX_SPI2_OUTZ_H_G_OIS 0x27
#define LSM6DSOX_SPI2_OUTX_L_A_OIS 0x28
#define LSM6DSOX_SPI2_OUTX_H_A_OIS 0x29
#define LSM6DSOX_SPI2_OUTY_L_A_OIS 0x2A
#define LSM6DSOX_SPI2_OUTY_H_A_OIS 0x2B
#define LSM6DSOX_SPI2_OUTZ_L_A_OIS 0x2C
#define LSM6DSOX_SPI2_OUTZ_H_A_OIS 0x2D
#define LSM6DSOX_SPI2_INT_OIS 0x6F
typedef struct {
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;
} lsm6dsox_spi2_int_ois_t;
#define LSM6DSOX_SPI2_CTRL1_OIS 0x70U
typedef struct {
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;
} lsm6dsox_spi2_ctrl1_ois_t;
#define LSM6DSOX_SPI2_CTRL2_OIS 0x71U
typedef struct {
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;
} lsm6dsox_spi2_ctrl2_ois_t;
#define LSM6DSOX_SPI2_CTRL3_OIS 0x72U
typedef struct {
uint8_t st_ois_clampdis : 1;
uint8_t st_ois : 2;
uint8_t filter_xl_conf_ois : 3;
uint8_t fs_xl_ois : 2;
} lsm6dsox_spi2_ctrl3_ois_t;
#define LSM6DSOX_PAGE_SEL 0x02U
typedef struct {
uint8_t not_used_01 : 4;
uint8_t page_sel : 4;
} lsm6dsox_page_sel_t;
#define LSM6DSOX_EMB_FUNC_EN_A 0x04U
typedef struct {
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;
} lsm6dsox_emb_func_en_a_t;
#define LSM6DSOX_EMB_FUNC_EN_B 0x05U
typedef struct {
uint8_t fsm_en : 1;
uint8_t not_used_01 : 2;
uint8_t fifo_compr_en : 1;
uint8_t mlc_en : 1;
uint8_t not_used_02 : 3;
} lsm6dsox_emb_func_en_b_t;
#define LSM6DSOX_PAGE_ADDRESS 0x08U
typedef struct {
uint8_t page_addr : 8;
} lsm6dsox_page_address_t;
#define LSM6DSOX_PAGE_VALUE 0x09U
typedef struct {
uint8_t page_value : 8;
} lsm6dsox_page_value_t;
#define LSM6DSOX_EMB_FUNC_INT1 0x0AU
typedef struct {
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;
} lsm6dsox_emb_func_int1_t;
#define LSM6DSOX_FSM_INT1_A 0x0BU
typedef struct {
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;
} lsm6dsox_fsm_int1_a_t;
#define LSM6DSOX_FSM_INT1_B 0x0CU
typedef struct {
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;
} lsm6dsox_fsm_int1_b_t;
#define LSM6DSOX_MLC_INT1 0x0DU
typedef struct {
uint8_t int1_mlc1 : 1;
uint8_t int1_mlc2 : 1;
uint8_t int1_mlc3 : 1;
uint8_t int1_mlc4 : 1;
uint8_t int1_mlc5 : 1;
uint8_t int1_mlc6 : 1;
uint8_t int1_mlc7 : 1;
uint8_t int1_mlc8 : 1;
} lsm6dsox_mlc_int1_t;
#define LSM6DSOX_EMB_FUNC_INT2 0x0EU
typedef struct {
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;
} lsm6dsox_emb_func_int2_t;
#define LSM6DSOX_FSM_INT2_A 0x0FU
typedef struct {
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;
} lsm6dsox_fsm_int2_a_t;
#define LSM6DSOX_FSM_INT2_B 0x10U
typedef struct {
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;
} lsm6dsox_fsm_int2_b_t;
#define LSM6DSOX_MLC_INT2 0x11U
typedef struct {
uint8_t int2_mlc1 : 1;
uint8_t int2_mlc2 : 1;
uint8_t int2_mlc3 : 1;
uint8_t int2_mlc4 : 1;
uint8_t int2_mlc5 : 1;
uint8_t int2_mlc6 : 1;
uint8_t int2_mlc7 : 1;
uint8_t int2_mlc8 : 1;
} lsm6dsox_mlc_int2_t;
#define LSM6DSOX_EMB_FUNC_STATUS 0x12U
typedef struct {
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;
} lsm6dsox_emb_func_status_t;
#define LSM6DSOX_FSM_STATUS_A 0x13U
typedef struct {
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;
} lsm6dsox_fsm_status_a_t;
#define LSM6DSOX_FSM_STATUS_B 0x14U
typedef struct {
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;
} lsm6dsox_fsm_status_b_t;
#define LSM6DSOX_MLC_STATUS 0x15U
typedef struct {
uint8_t is_mlc1 : 1;
uint8_t is_mlc2 : 1;
uint8_t is_mlc3 : 1;
uint8_t is_mlc4 : 1;
uint8_t is_mlc5 : 1;
uint8_t is_mlc6 : 1;
uint8_t is_mlc7 : 1;
uint8_t is_mlc8 : 1;
} lsm6dsox_mlc_status_t;
#define LSM6DSOX_PAGE_RW 0x17U
typedef struct {
uint8_t not_used_01 : 5;
uint8_t page_rw : 2; /* page_write + page_read */
uint8_t emb_func_lir : 1;
} lsm6dsox_page_rw_t;
#define LSM6DSOX_EMB_FUNC_FIFO_CFG 0x44U
typedef struct {
uint8_t not_used_00 : 6;
uint8_t pedo_fifo_en : 1;
uint8_t not_used_01 : 1;
} lsm6dsox_emb_func_fifo_cfg_t;
#define LSM6DSOX_FSM_ENABLE_A 0x46U
typedef struct {
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;
} lsm6dsox_fsm_enable_a_t;
#define LSM6DSOX_FSM_ENABLE_B 0x47U
typedef struct {
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;
} lsm6dsox_fsm_enable_b_t;
#define LSM6DSOX_FSM_LONG_COUNTER_L 0x48U
#define LSM6DSOX_FSM_LONG_COUNTER_H 0x49U
#define LSM6DSOX_FSM_LONG_COUNTER_CLEAR 0x4AU
typedef struct {
uint8_t fsm_lc_clr : 2; /* fsm_lc_cleared + fsm_lc_clear */
uint8_t not_used_01 : 6;
} lsm6dsox_fsm_long_counter_clear_t;
#define LSM6DSOX_FSM_OUTS1 0x4CU
typedef struct {
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;
} lsm6dsox_fsm_outs1_t;
#define LSM6DSOX_FSM_OUTS2 0x4DU
typedef struct {
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;
} lsm6dsox_fsm_outs2_t;
#define LSM6DSOX_FSM_OUTS3 0x4EU
typedef struct {
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;
} lsm6dsox_fsm_outs3_t;
#define LSM6DSOX_FSM_OUTS4 0x4FU
typedef struct {
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;
} lsm6dsox_fsm_outs4_t;
#define LSM6DSOX_FSM_OUTS5 0x50U
typedef struct {
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;
} lsm6dsox_fsm_outs5_t;
#define LSM6DSOX_FSM_OUTS6 0x51U
typedef struct {
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;
} lsm6dsox_fsm_outs6_t;
#define LSM6DSOX_FSM_OUTS7 0x52U
typedef struct {
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;
} lsm6dsox_fsm_outs7_t;
#define LSM6DSOX_FSM_OUTS8 0x53U
typedef struct {
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;
} lsm6dsox_fsm_outs8_t;
#define LSM6DSOX_FSM_OUTS9 0x54U
typedef struct {
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;
} lsm6dsox_fsm_outs9_t;
#define LSM6DSOX_FSM_OUTS10 0x55U
typedef struct {
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;
} lsm6dsox_fsm_outs10_t;
#define LSM6DSOX_FSM_OUTS11 0x56U
typedef struct {
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;
} lsm6dsox_fsm_outs11_t;
#define LSM6DSOX_FSM_OUTS12 0x57U
typedef struct {
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;
} lsm6dsox_fsm_outs12_t;
#define LSM6DSOX_FSM_OUTS13 0x58U
typedef struct {
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;
} lsm6dsox_fsm_outs13_t;
#define LSM6DSOX_FSM_OUTS14 0x59U
typedef struct {
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;
} lsm6dsox_fsm_outs14_t;
#define LSM6DSOX_FSM_OUTS15 0x5AU
typedef struct {
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;
} lsm6dsox_fsm_outs15_t;
#define LSM6DSOX_FSM_OUTS16 0x5BU
typedef struct {
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;
} lsm6dsox_fsm_outs16_t;
#define LSM6DSOX_EMB_FUNC_ODR_CFG_B 0x5FU
typedef struct {
uint8_t not_used_01 : 3;
uint8_t fsm_odr : 2;
uint8_t not_used_02 : 3;
} lsm6dsox_emb_func_odr_cfg_b_t;
#define LSM6DSOX_EMB_FUNC_ODR_CFG_C 0x60U
typedef struct {
uint8_t not_used_01 : 4;
uint8_t mlc_odr : 2;
uint8_t not_used_02 : 2;
} lsm6dsox_emb_func_odr_cfg_c_t;
#define LSM6DSOX_STEP_COUNTER_L 0x62U
#define LSM6DSOX_STEP_COUNTER_H 0x63U
#define LSM6DSOX_EMB_FUNC_SRC 0x64U
typedef struct {
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;
} lsm6dsox_emb_func_src_t;
#define LSM6DSOX_EMB_FUNC_INIT_A 0x66U
typedef struct {
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;
} lsm6dsox_emb_func_init_a_t;
#define LSM6DSOX_EMB_FUNC_INIT_B 0x67U
typedef struct {
uint8_t fsm_init : 1;
uint8_t not_used_01 : 2;
uint8_t fifo_compr_init : 1;
uint8_t mlc_init : 1;
uint8_t not_used_02 : 3;
} lsm6dsox_emb_func_init_b_t;
#define LSM6DSOX_MLC0_SRC 0x70U
#define LSM6DSOX_MLC1_SRC 0x71U
#define LSM6DSOX_MLC2_SRC 0x72U
#define LSM6DSOX_MLC3_SRC 0x73U
#define LSM6DSOX_MLC4_SRC 0x74U
#define LSM6DSOX_MLC5_SRC 0x75U
#define LSM6DSOX_MLC6_SRC 0x76U
#define LSM6DSOX_MLC7_SRC 0x77U
#define LSM6DSOX_MAG_SENSITIVITY_L 0xBAU
#define LSM6DSOX_MAG_SENSITIVITY_H 0xBBU
#define LSM6DSOX_MAG_OFFX_L 0xC0U
#define LSM6DSOX_MAG_OFFX_H 0xC1U
#define LSM6DSOX_MAG_OFFY_L 0xC2U
#define LSM6DSOX_MAG_OFFY_H 0xC3U
#define LSM6DSOX_MAG_OFFZ_L 0xC4U
#define LSM6DSOX_MAG_OFFZ_H 0xC5U
#define LSM6DSOX_MAG_SI_XX_L 0xC6U
#define LSM6DSOX_MAG_SI_XX_H 0xC7U
#define LSM6DSOX_MAG_SI_XY_L 0xC8U
#define LSM6DSOX_MAG_SI_XY_H 0xC9U
#define LSM6DSOX_MAG_SI_XZ_L 0xCAU
#define LSM6DSOX_MAG_SI_XZ_H 0xCBU
#define LSM6DSOX_MAG_SI_YY_L 0xCCU
#define LSM6DSOX_MAG_SI_YY_H 0xCDU
#define LSM6DSOX_MAG_SI_YZ_L 0xCEU
#define LSM6DSOX_MAG_SI_YZ_H 0xCFU
#define LSM6DSOX_MAG_SI_ZZ_L 0xD0U
#define LSM6DSOX_MAG_SI_ZZ_H 0xD1U
#define LSM6DSOX_MAG_CFG_A 0xD4U
typedef struct {
uint8_t mag_z_axis : 3;
uint8_t not_used_01 : 1;
uint8_t mag_y_axis : 3;
uint8_t not_used_02 : 1;
} lsm6dsox_mag_cfg_a_t;
#define LSM6DSOX_MAG_CFG_B 0xD5U
typedef struct {
uint8_t mag_x_axis : 3;
uint8_t not_used_01 : 5;
} lsm6dsox_mag_cfg_b_t;
#define LSM6DSOX_FSM_LC_TIMEOUT_L 0x17AU
#define LSM6DSOX_FSM_LC_TIMEOUT_H 0x17BU
#define LSM6DSOX_FSM_PROGRAMS 0x17CU
#define LSM6DSOX_FSM_START_ADD_L 0x17EU
#define LSM6DSOX_FSM_START_ADD_H 0x17FU
#define LSM6DSOX_PEDO_CMD_REG 0x183U
typedef struct {
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;
} lsm6dsox_pedo_cmd_reg_t;
#define LSM6DSOX_PEDO_DEB_STEPS_CONF 0x184U
#define LSM6DSOX_PEDO_SC_DELTAT_L 0x1D0U
#define LSM6DSOX_PEDO_SC_DELTAT_H 0x1D1U
#define LSM6DSOX_MLC_MAG_SENSITIVITY_L 0x1E8U
#define LSM6DSOX_MLC_MAG_SENSITIVITY_H 0x1E9U
#define LSM6DSOX_SENSOR_HUB_1 0x02U
typedef struct {
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;
} lsm6dsox_sensor_hub_1_t;
#define LSM6DSOX_SENSOR_HUB_2 0x03U
typedef struct {
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;
} lsm6dsox_sensor_hub_2_t;
#define LSM6DSOX_SENSOR_HUB_3 0x04U
typedef struct {
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;
} lsm6dsox_sensor_hub_3_t;
#define LSM6DSOX_SENSOR_HUB_4 0x05U
typedef struct {
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;
} lsm6dsox_sensor_hub_4_t;
#define LSM6DSOX_SENSOR_HUB_5 0x06U
typedef struct {
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;
} lsm6dsox_sensor_hub_5_t;
#define LSM6DSOX_SENSOR_HUB_6 0x07U
typedef struct {
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;
} lsm6dsox_sensor_hub_6_t;
#define LSM6DSOX_SENSOR_HUB_7 0x08U
typedef struct {
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;
} lsm6dsox_sensor_hub_7_t;
#define LSM6DSOX_SENSOR_HUB_8 0x09U
typedef struct {
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;
} lsm6dsox_sensor_hub_8_t;
#define LSM6DSOX_SENSOR_HUB_9 0x0AU
typedef struct {
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;
} lsm6dsox_sensor_hub_9_t;
#define LSM6DSOX_SENSOR_HUB_10 0x0BU
typedef struct {
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;
} lsm6dsox_sensor_hub_10_t;
#define LSM6DSOX_SENSOR_HUB_11 0x0CU
typedef struct {
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;
} lsm6dsox_sensor_hub_11_t;
#define LSM6DSOX_SENSOR_HUB_12 0x0DU
typedef struct {
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;
} lsm6dsox_sensor_hub_12_t;
#define LSM6DSOX_SENSOR_HUB_13 0x0EU
typedef struct {
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;
} lsm6dsox_sensor_hub_13_t;
#define LSM6DSOX_SENSOR_HUB_14 0x0FU
typedef struct {
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;
} lsm6dsox_sensor_hub_14_t;
#define LSM6DSOX_SENSOR_HUB_15 0x10U
typedef struct {
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;
} lsm6dsox_sensor_hub_15_t;
#define LSM6DSOX_SENSOR_HUB_16 0x11U
typedef struct {
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;
} lsm6dsox_sensor_hub_16_t;
#define LSM6DSOX_SENSOR_HUB_17 0x12U
typedef struct {
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;
} lsm6dsox_sensor_hub_17_t;
#define LSM6DSOX_SENSOR_HUB_18 0x13U
typedef struct {
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;
} lsm6dsox_sensor_hub_18_t;
#define LSM6DSOX_MASTER_CONFIG 0x14U
typedef struct {
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;
} lsm6dsox_master_config_t;
#define LSM6DSOX_SLV0_ADD 0x15U
typedef struct {
uint8_t rw_0 : 1;
uint8_t slave0 : 7;
} lsm6dsox_slv0_add_t;
#define LSM6DSOX_SLV0_SUBADD 0x16U
typedef struct {
uint8_t slave0_reg : 8;
} lsm6dsox_slv0_subadd_t;
#define LSM6DSOX_SLV0_CONFIG 0x17U
typedef struct {
uint8_t slave0_numop : 3;
uint8_t batch_ext_sens_0_en : 1;
uint8_t not_used_01 : 2;
uint8_t shub_odr : 2;
} lsm6dsox_slv0_config_t;
#define LSM6DSOX_SLV1_ADD 0x18U
typedef struct {
uint8_t r_1 : 1;
uint8_t slave1_add : 7;
} lsm6dsox_slv1_add_t;
#define LSM6DSOX_SLV1_SUBADD 0x19U
typedef struct {
uint8_t slave1_reg : 8;
} lsm6dsox_slv1_subadd_t;
#define LSM6DSOX_SLV1_CONFIG 0x1AU
typedef struct {
uint8_t slave1_numop : 3;
uint8_t batch_ext_sens_1_en : 1;
uint8_t not_used_01 : 4;
} lsm6dsox_slv1_config_t;
#define LSM6DSOX_SLV2_ADD 0x1BU
typedef struct {
uint8_t r_2 : 1;
uint8_t slave2_add : 7;
} lsm6dsox_slv2_add_t;
#define LSM6DSOX_SLV2_SUBADD 0x1CU
typedef struct {
uint8_t slave2_reg : 8;
} lsm6dsox_slv2_subadd_t;
#define LSM6DSOX_SLV2_CONFIG 0x1DU
typedef struct {
uint8_t slave2_numop : 3;
uint8_t batch_ext_sens_2_en : 1;
uint8_t not_used_01 : 4;
} lsm6dsox_slv2_config_t;
#define LSM6DSOX_SLV3_ADD 0x1EU
typedef struct {
uint8_t r_3 : 1;
uint8_t slave3_add : 7;
} lsm6dsox_slv3_add_t;
#define LSM6DSOX_SLV3_SUBADD 0x1FU
typedef struct {
uint8_t slave3_reg : 8;
} lsm6dsox_slv3_subadd_t;
#define LSM6DSOX_SLV3_CONFIG 0x20U
typedef struct {
uint8_t slave3_numop : 3;
uint8_t batch_ext_sens_3_en : 1;
uint8_t not_used_01 : 4;
} lsm6dsox_slv3_config_t;
#define LSM6DSOX_DATAWRITE_SLV0 0x21U
typedef struct {
uint8_t slave0_dataw : 8;
} lsm6dsox_datawrite_slv0_t;
#define LSM6DSOX_STATUS_MASTER 0x22U
typedef struct {
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;
} lsm6dsox_status_master_t;
#define LSM6DSOX_START_FSM_ADD 0x0400U
/**
* @defgroup LSM6DSOX_Register_Union
* @brief This union group all the registers that has a bitfield
* description.
* This union is useful but not need by the driver.
*
* REMOVING this union you are compliant with:
* MISRA-C 2012 [Rule 19.2] -> " Union are not allowed "
*
* @{
*
*/
typedef union{
lsm6dsox_func_cfg_access_t func_cfg_access;
lsm6dsox_pin_ctrl_t pin_ctrl;
lsm6dsox_s4s_tph_l_t s4s_tph_l;
lsm6dsox_s4s_tph_h_t s4s_tph_h;
lsm6dsox_s4s_rr_t s4s_rr;
lsm6dsox_fifo_ctrl1_t fifo_ctrl1;
lsm6dsox_fifo_ctrl2_t fifo_ctrl2;
lsm6dsox_fifo_ctrl3_t fifo_ctrl3;
lsm6dsox_fifo_ctrl4_t fifo_ctrl4;
lsm6dsox_counter_bdr_reg1_t counter_bdr_reg1;
lsm6dsox_counter_bdr_reg2_t counter_bdr_reg2;
lsm6dsox_int1_ctrl_t int1_ctrl;
lsm6dsox_int2_ctrl_t int2_ctrl;
lsm6dsox_ctrl1_xl_t ctrl1_xl;
lsm6dsox_ctrl2_g_t ctrl2_g;
lsm6dsox_ctrl3_c_t ctrl3_c;
lsm6dsox_ctrl4_c_t ctrl4_c;
lsm6dsox_ctrl5_c_t ctrl5_c;
lsm6dsox_ctrl6_c_t ctrl6_c;
lsm6dsox_ctrl7_g_t ctrl7_g;
lsm6dsox_ctrl8_xl_t ctrl8_xl;
lsm6dsox_ctrl9_xl_t ctrl9_xl;
lsm6dsox_ctrl10_c_t ctrl10_c;
lsm6dsox_all_int_src_t all_int_src;
lsm6dsox_wake_up_src_t wake_up_src;
lsm6dsox_tap_src_t tap_src;
lsm6dsox_d6d_src_t d6d_src;
lsm6dsox_status_reg_t status_reg;
lsm6dsox_fifo_status1_t fifo_status1;
lsm6dsox_fifo_status2_t fifo_status2;
lsm6dsox_ui_status_reg_ois_t ui_status_reg_ois;
lsm6dsox_tap_cfg0_t tap_cfg0;
lsm6dsox_tap_cfg1_t tap_cfg1;
lsm6dsox_tap_cfg2_t tap_cfg2;
lsm6dsox_tap_ths_6d_t tap_ths_6d;
lsm6dsox_int_dur2_t int_dur2;
lsm6dsox_wake_up_ths_t wake_up_ths;
lsm6dsox_wake_up_dur_t wake_up_dur;
lsm6dsox_free_fall_t free_fall;
lsm6dsox_md1_cfg_t md1_cfg;
lsm6dsox_md2_cfg_t md2_cfg;
lsm6dsox_s4s_st_cmd_code_t s4s_st_cmd_code;
lsm6dsox_s4s_dt_reg_t s4s_dt_reg;
lsm6dsox_i3c_bus_avb_t i3c_bus_avb;
lsm6dsox_internal_freq_fine_t internal_freq_fine;
lsm6dsox_ui_int_ois_t ui_int_ois;
lsm6dsox_ui_ctrl1_ois_t ui_ctrl1_ois;
lsm6dsox_ui_ctrl2_ois_t ui_ctrl2_ois;
lsm6dsox_ui_ctrl3_ois_t ui_ctrl3_ois;
lsm6dsox_fifo_data_out_tag_t fifo_data_out_tag;
lsm6dsox_spi2_status_reg_ois_t spi2_status_reg_ois;
lsm6dsox_spi2_int_ois_t spi2_int_ois;
lsm6dsox_spi2_ctrl1_ois_t spi2_ctrl1_ois;
lsm6dsox_spi2_ctrl2_ois_t spi2_ctrl2_ois;
lsm6dsox_spi2_ctrl3_ois_t spi2_ctrl3_ois;
lsm6dsox_page_sel_t page_sel;
lsm6dsox_emb_func_en_a_t emb_func_en_a;
lsm6dsox_emb_func_en_b_t emb_func_en_b;
lsm6dsox_page_address_t page_address;
lsm6dsox_page_value_t page_value;
lsm6dsox_emb_func_int1_t emb_func_int1;
lsm6dsox_fsm_int1_a_t fsm_int1_a;
lsm6dsox_fsm_int1_b_t fsm_int1_b;
lsm6dsox_emb_func_int2_t emb_func_int2;
lsm6dsox_fsm_int2_a_t fsm_int2_a;
lsm6dsox_fsm_int2_b_t fsm_int2_b;
lsm6dsox_emb_func_status_t emb_func_status;
lsm6dsox_fsm_status_a_t fsm_status_a;
lsm6dsox_fsm_status_b_t fsm_status_b;
lsm6dsox_page_rw_t page_rw;
lsm6dsox_emb_func_fifo_cfg_t emb_func_fifo_cfg;
lsm6dsox_fsm_enable_a_t fsm_enable_a;
lsm6dsox_fsm_enable_b_t fsm_enable_b;
lsm6dsox_fsm_long_counter_clear_t fsm_long_counter_clear;
lsm6dsox_fsm_outs1_t fsm_outs1;
lsm6dsox_fsm_outs2_t fsm_outs2;
lsm6dsox_fsm_outs3_t fsm_outs3;
lsm6dsox_fsm_outs4_t fsm_outs4;
lsm6dsox_fsm_outs5_t fsm_outs5;
lsm6dsox_fsm_outs6_t fsm_outs6;
lsm6dsox_fsm_outs7_t fsm_outs7;
lsm6dsox_fsm_outs8_t fsm_outs8;
lsm6dsox_fsm_outs9_t fsm_outs9;
lsm6dsox_fsm_outs10_t fsm_outs10;
lsm6dsox_fsm_outs11_t fsm_outs11;
lsm6dsox_fsm_outs12_t fsm_outs12;
lsm6dsox_fsm_outs13_t fsm_outs13;
lsm6dsox_fsm_outs14_t fsm_outs14;
lsm6dsox_fsm_outs15_t fsm_outs15;
lsm6dsox_fsm_outs16_t fsm_outs16;
lsm6dsox_emb_func_odr_cfg_b_t emb_func_odr_cfg_b;
lsm6dsox_emb_func_odr_cfg_c_t emb_func_odr_cfg_c;
lsm6dsox_emb_func_src_t emb_func_src;
lsm6dsox_emb_func_init_a_t emb_func_init_a;
lsm6dsox_emb_func_init_b_t emb_func_init_b;
lsm6dsox_mag_cfg_a_t mag_cfg_a;
lsm6dsox_mag_cfg_b_t mag_cfg_b;
lsm6dsox_pedo_cmd_reg_t pedo_cmd_reg;
lsm6dsox_sensor_hub_1_t sensor_hub_1;
lsm6dsox_sensor_hub_2_t sensor_hub_2;
lsm6dsox_sensor_hub_3_t sensor_hub_3;
lsm6dsox_sensor_hub_4_t sensor_hub_4;
lsm6dsox_sensor_hub_5_t sensor_hub_5;
lsm6dsox_sensor_hub_6_t sensor_hub_6;
lsm6dsox_sensor_hub_7_t sensor_hub_7;
lsm6dsox_sensor_hub_8_t sensor_hub_8;
lsm6dsox_sensor_hub_9_t sensor_hub_9;
lsm6dsox_sensor_hub_10_t sensor_hub_10;
lsm6dsox_sensor_hub_11_t sensor_hub_11;
lsm6dsox_sensor_hub_12_t sensor_hub_12;
lsm6dsox_sensor_hub_13_t sensor_hub_13;
lsm6dsox_sensor_hub_14_t sensor_hub_14;
lsm6dsox_sensor_hub_15_t sensor_hub_15;
lsm6dsox_sensor_hub_16_t sensor_hub_16;
lsm6dsox_sensor_hub_17_t sensor_hub_17;
lsm6dsox_sensor_hub_18_t sensor_hub_18;
lsm6dsox_master_config_t master_config;
lsm6dsox_slv0_add_t slv0_add;
lsm6dsox_slv0_subadd_t slv0_subadd;
lsm6dsox_slv0_config_t slv0_config;
lsm6dsox_slv1_add_t slv1_add;
lsm6dsox_slv1_subadd_t slv1_subadd;
lsm6dsox_slv1_config_t slv1_config;
lsm6dsox_slv2_add_t slv2_add;
lsm6dsox_slv2_subadd_t slv2_subadd;
lsm6dsox_slv2_config_t slv2_config;
lsm6dsox_slv3_add_t slv3_add;
lsm6dsox_slv3_subadd_t slv3_subadd;
lsm6dsox_slv3_config_t slv3_config;
lsm6dsox_datawrite_slv0_t datawrite_slv0;
lsm6dsox_status_master_t status_master;
bitwise_t bitwise;
uint8_t byte;
} lsm6dsox_reg_t;
/**
* @}
*
*/
int32_t lsm6dsox_read_reg(lsm6dsox_ctx_t *ctx, uint8_t reg, uint8_t* data,
uint16_t len);
int32_t lsm6dsox_write_reg(lsm6dsox_ctx_t *ctx, uint8_t reg, uint8_t* data,
uint16_t len);
extern float_t lsm6dsox_from_fs2_to_mg(int16_t lsb);
extern float_t lsm6dsox_from_fs4_to_mg(int16_t lsb);
extern float_t lsm6dsox_from_fs8_to_mg(int16_t lsb);
extern float_t lsm6dsox_from_fs16_to_mg(int16_t lsb);
extern float_t lsm6dsox_from_fs125_to_mdps(int16_t lsb);
extern float_t lsm6dsox_from_fs500_to_mdps(int16_t lsb);
extern float_t lsm6dsox_from_fs250_to_mdps(int16_t lsb);
extern float_t lsm6dsox_from_fs1000_to_mdps(int16_t lsb);
extern float_t lsm6dsox_from_fs2000_to_mdps(int16_t lsb);
extern float_t lsm6dsox_from_lsb_to_celsius(int16_t lsb);
extern float_t lsm6dsox_from_lsb_to_nsec(int16_t lsb);
typedef enum {
LSM6DSOX_2g = 0,
LSM6DSOX_16g = 1, /* if XL_FS_MODE = ‘1’ -> LSM6DSOX_2g */
LSM6DSOX_4g = 2,
LSM6DSOX_8g = 3,
} lsm6dsox_fs_xl_t;
int32_t lsm6dsox_xl_full_scale_set(lsm6dsox_ctx_t *ctx, lsm6dsox_fs_xl_t val);
int32_t lsm6dsox_xl_full_scale_get(lsm6dsox_ctx_t *ctx, lsm6dsox_fs_xl_t *val);
typedef enum {
LSM6DSOX_XL_ODR_OFF = 0,
LSM6DSOX_XL_ODR_12Hz5 = 1,
LSM6DSOX_XL_ODR_26Hz = 2,
LSM6DSOX_XL_ODR_52Hz = 3,
LSM6DSOX_XL_ODR_104Hz = 4,
LSM6DSOX_XL_ODR_208Hz = 5,
LSM6DSOX_XL_ODR_417Hz = 6,
LSM6DSOX_XL_ODR_833Hz = 7,
LSM6DSOX_XL_ODR_1667Hz = 8,
LSM6DSOX_XL_ODR_3333Hz = 9,
LSM6DSOX_XL_ODR_6667Hz = 10,
LSM6DSOX_XL_ODR_1Hz6 = 11, /* (low power only) */
} lsm6dsox_odr_xl_t;
int32_t lsm6dsox_xl_data_rate_set(lsm6dsox_ctx_t *ctx, lsm6dsox_odr_xl_t val);
int32_t lsm6dsox_xl_data_rate_get(lsm6dsox_ctx_t *ctx, lsm6dsox_odr_xl_t *val);
typedef enum {
LSM6DSOX_250dps = 0,
LSM6DSOX_125dps = 1,
LSM6DSOX_500dps = 2,
LSM6DSOX_1000dps = 4,
LSM6DSOX_2000dps = 6,
} lsm6dsox_fs_g_t;
int32_t lsm6dsox_gy_full_scale_set(lsm6dsox_ctx_t *ctx, lsm6dsox_fs_g_t val);
int32_t lsm6dsox_gy_full_scale_get(lsm6dsox_ctx_t *ctx, lsm6dsox_fs_g_t *val);
typedef enum {
LSM6DSOX_GY_ODR_OFF = 0,
LSM6DSOX_GY_ODR_12Hz5 = 1,
LSM6DSOX_GY_ODR_26Hz = 2,
LSM6DSOX_GY_ODR_52Hz = 3,
LSM6DSOX_GY_ODR_104Hz = 4,
LSM6DSOX_GY_ODR_208Hz = 5,
LSM6DSOX_GY_ODR_417Hz = 6,
LSM6DSOX_GY_ODR_833Hz = 7,
LSM6DSOX_GY_ODR_1667Hz = 8,
LSM6DSOX_GY_ODR_3333Hz = 9,
LSM6DSOX_GY_ODR_6667Hz = 10,
} lsm6dsox_odr_g_t;
int32_t lsm6dsox_gy_data_rate_set(lsm6dsox_ctx_t *ctx, lsm6dsox_odr_g_t val);
int32_t lsm6dsox_gy_data_rate_get(lsm6dsox_ctx_t *ctx, lsm6dsox_odr_g_t *val);
int32_t lsm6dsox_block_data_update_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_block_data_update_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
typedef enum {
LSM6DSOX_LSb_1mg = 0,
LSM6DSOX_LSb_16mg = 1,
} lsm6dsox_usr_off_w_t;
int32_t lsm6dsox_xl_offset_weight_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_usr_off_w_t val);
int32_t lsm6dsox_xl_offset_weight_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_usr_off_w_t *val);
typedef enum {
LSM6DSOX_HIGH_PERFORMANCE_MD = 0,
LSM6DSOX_LOW_NORMAL_POWER_MD = 1,
LSM6DSOX_ULTRA_LOW_POWER_MD = 2,
} lsm6dsox_xl_hm_mode_t;
int32_t lsm6dsox_xl_power_mode_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_xl_hm_mode_t val);
int32_t lsm6dsox_xl_power_mode_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_xl_hm_mode_t *val);
typedef enum {
LSM6DSOX_GY_HIGH_PERFORMANCE = 0,
LSM6DSOX_GY_NORMAL = 1,
} lsm6dsox_g_hm_mode_t;
int32_t lsm6dsox_gy_power_mode_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_g_hm_mode_t val);
int32_t lsm6dsox_gy_power_mode_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_g_hm_mode_t *val);
int32_t lsm6dsox_status_reg_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_status_reg_t *val);
int32_t lsm6dsox_xl_flag_data_ready_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_gy_flag_data_ready_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_temp_flag_data_ready_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_xl_usr_offset_x_set(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_xl_usr_offset_x_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_xl_usr_offset_y_set(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_xl_usr_offset_y_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_xl_usr_offset_z_set(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_xl_usr_offset_z_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_xl_usr_offset_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_xl_usr_offset_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_timestamp_rst(lsm6dsox_ctx_t *ctx);
int32_t lsm6dsox_timestamp_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_timestamp_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_timestamp_raw_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
typedef enum {
LSM6DSOX_NO_ROUND = 0,
LSM6DSOX_ROUND_XL = 1,
LSM6DSOX_ROUND_GY = 2,
LSM6DSOX_ROUND_GY_XL = 3,
} lsm6dsox_rounding_t;
int32_t lsm6dsox_rounding_mode_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_rounding_t val);
int32_t lsm6dsox_rounding_mode_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_rounding_t *val);
typedef enum {
LSM6DSOX_STAT_RND_DISABLE = 0,
LSM6DSOX_STAT_RND_ENABLE = 1,
} lsm6dsox_rounding_status_t;
int32_t lsm6dsox_rounding_on_status_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_rounding_status_t val);
int32_t lsm6dsox_rounding_on_status_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_rounding_status_t *val);
int32_t lsm6dsox_temperature_raw_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_angular_rate_raw_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_acceleration_raw_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_fifo_out_raw_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_ois_angular_rate_raw_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_ois_acceleration_raw_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_aux_temperature_raw_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_aux_ois_angular_rate_raw_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_aux_ois_acceleration_raw_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_number_of_steps_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_steps_reset(lsm6dsox_ctx_t *ctx);
int32_t lsm6dsox_mlc_out_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_odr_cal_reg_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_odr_cal_reg_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
typedef enum {
LSM6DSOX_USER_BANK = 0,
LSM6DSOX_SENSOR_HUB_BANK = 1,
LSM6DSOX_EMBEDDED_FUNC_BANK = 2,
} lsm6dsox_reg_access_t;
int32_t lsm6dsox_mem_bank_set(lsm6dsox_ctx_t *ctx, lsm6dsox_reg_access_t val);
int32_t lsm6dsox_mem_bank_get(lsm6dsox_ctx_t *ctx, lsm6dsox_reg_access_t *val);
int32_t lsm6dsox_ln_pg_write_byte(lsm6dsox_ctx_t *ctx, uint16_t address,
uint8_t *val);
int32_t lsm6dsox_ln_pg_read_byte(lsm6dsox_ctx_t *ctx, uint16_t address,
uint8_t *val);
int32_t lsm6dsox_ln_pg_write(lsm6dsox_ctx_t *ctx, uint16_t address,
uint8_t *buf, uint8_t len);
int32_t lsm6dsox_ln_pg_read(lsm6dsox_ctx_t *ctx, uint16_t address,
uint8_t *val);
typedef enum {
LSM6DSOX_DRDY_LATCHED = 0,
LSM6DSOX_DRDY_PULSED = 1,
} lsm6dsox_dataready_pulsed_t;
int32_t lsm6dsox_data_ready_mode_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_dataready_pulsed_t val);
int32_t lsm6dsox_data_ready_mode_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_dataready_pulsed_t *val);
int32_t lsm6dsox_device_id_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_reset_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_reset_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_auto_increment_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_auto_increment_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_boot_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_boot_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
typedef enum {
LSM6DSOX_XL_ST_DISABLE = 0,
LSM6DSOX_XL_ST_POSITIVE = 1,
LSM6DSOX_XL_ST_NEGATIVE = 2,
} lsm6dsox_st_xl_t;
int32_t lsm6dsox_xl_self_test_set(lsm6dsox_ctx_t *ctx, lsm6dsox_st_xl_t val);
int32_t lsm6dsox_xl_self_test_get(lsm6dsox_ctx_t *ctx, lsm6dsox_st_xl_t *val);
typedef enum {
LSM6DSOX_GY_ST_DISABLE = 0,
LSM6DSOX_GY_ST_POSITIVE = 1,
LSM6DSOX_GY_ST_NEGATIVE = 3,
} lsm6dsox_st_g_t;
int32_t lsm6dsox_gy_self_test_set(lsm6dsox_ctx_t *ctx, lsm6dsox_st_g_t val);
int32_t lsm6dsox_gy_self_test_get(lsm6dsox_ctx_t *ctx, lsm6dsox_st_g_t *val);
int32_t lsm6dsox_xl_filter_lp2_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_xl_filter_lp2_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_gy_filter_lp1_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_gy_filter_lp1_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_filter_settling_mask_set(lsm6dsox_ctx_t *ctx,
uint8_t val);
int32_t lsm6dsox_filter_settling_mask_get(lsm6dsox_ctx_t *ctx,
uint8_t *val);
typedef enum {
LSM6DSOX_ULTRA_LIGHT = 0,
LSM6DSOX_VERY_LIGHT = 1,
LSM6DSOX_LIGHT = 2,
LSM6DSOX_MEDIUM = 3,
LSM6DSOX_STRONG = 4,
LSM6DSOX_VERY_STRONG = 5,
LSM6DSOX_AGGRESSIVE = 6,
LSM6DSOX_XTREME = 7,
} lsm6dsox_ftype_t;
int32_t lsm6dsox_gy_lp1_bandwidth_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_ftype_t val);
int32_t lsm6dsox_gy_lp1_bandwidth_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_ftype_t *val);
int32_t lsm6dsox_xl_lp2_on_6d_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_xl_lp2_on_6d_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
typedef enum {
LSM6DSOX_HP_PATH_DISABLE_ON_OUT = 0x00,
LSM6DSOX_SLOPE_ODR_DIV_4 = 0x10,
LSM6DSOX_HP_ODR_DIV_10 = 0x11,
LSM6DSOX_HP_ODR_DIV_20 = 0x12,
LSM6DSOX_HP_ODR_DIV_45 = 0x13,
LSM6DSOX_HP_ODR_DIV_100 = 0x14,
LSM6DSOX_HP_ODR_DIV_200 = 0x15,
LSM6DSOX_HP_ODR_DIV_400 = 0x16,
LSM6DSOX_HP_ODR_DIV_800 = 0x17,
LSM6DSOX_HP_REF_MD_ODR_DIV_10 = 0x31,
LSM6DSOX_HP_REF_MD_ODR_DIV_20 = 0x32,
LSM6DSOX_HP_REF_MD_ODR_DIV_45 = 0x33,
LSM6DSOX_HP_REF_MD_ODR_DIV_100 = 0x34,
LSM6DSOX_HP_REF_MD_ODR_DIV_200 = 0x35,
LSM6DSOX_HP_REF_MD_ODR_DIV_400 = 0x36,
LSM6DSOX_HP_REF_MD_ODR_DIV_800 = 0x37,
LSM6DSOX_LP_ODR_DIV_10 = 0x01,
LSM6DSOX_LP_ODR_DIV_20 = 0x02,
LSM6DSOX_LP_ODR_DIV_45 = 0x03,
LSM6DSOX_LP_ODR_DIV_100 = 0x04,
LSM6DSOX_LP_ODR_DIV_200 = 0x05,
LSM6DSOX_LP_ODR_DIV_400 = 0x06,
LSM6DSOX_LP_ODR_DIV_800 = 0x07,
} lsm6dsox_hp_slope_xl_en_t;
int32_t lsm6dsox_xl_hp_path_on_out_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_hp_slope_xl_en_t val);
int32_t lsm6dsox_xl_hp_path_on_out_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_hp_slope_xl_en_t *val);
int32_t lsm6dsox_xl_fast_settling_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_xl_fast_settling_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
typedef enum {
LSM6DSOX_USE_SLOPE = 0,
LSM6DSOX_USE_HPF = 1,
} lsm6dsox_slope_fds_t;
int32_t lsm6dsox_xl_hp_path_internal_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_slope_fds_t val);
int32_t lsm6dsox_xl_hp_path_internal_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_slope_fds_t *val);
typedef enum {
LSM6DSOX_HP_FILTER_NONE = 0x00,
LSM6DSOX_HP_FILTER_16mHz = 0x80,
LSM6DSOX_HP_FILTER_65mHz = 0x81,
LSM6DSOX_HP_FILTER_260mHz = 0x82,
LSM6DSOX_HP_FILTER_1Hz04 = 0x83,
} lsm6dsox_hpm_g_t;
int32_t lsm6dsox_gy_hp_path_internal_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_hpm_g_t val);
int32_t lsm6dsox_gy_hp_path_internal_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_hpm_g_t *val);
typedef enum {
LSM6DSOX_OIS_CTRL_AUX_DATA_UI = 0x00,
LSM6DSOX_OIS_CTRL_AUX_DATA_UI_AUX = 0x01,
LSM6DSOX_OIS_CTRL_UI_AUX_DATA_UI = 0x02,
LSM6DSOX_OIS_CTRL_UI_AUX_DATA_UI_AUX = 0x03,
} lsm6dsox_spi2_read_en_t;
int32_t lsm6dsox_ois_mode_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_spi2_read_en_t val);
int32_t lsm6dsox_ois_mode_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_spi2_read_en_t *val);
typedef enum {
LSM6DSOX_AUX_PULL_UP_DISC = 0,
LSM6DSOX_AUX_PULL_UP_CONNECT = 1,
} lsm6dsox_ois_pu_dis_t;
int32_t lsm6dsox_aux_sdo_ocs_mode_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_ois_pu_dis_t val);
int32_t lsm6dsox_aux_sdo_ocs_mode_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_ois_pu_dis_t *val);
typedef enum {
LSM6DSOX_AUX_ON = 1,
LSM6DSOX_AUX_ON_BY_AUX_INTERFACE = 0,
} lsm6dsox_ois_on_t;
int32_t lsm6dsox_aux_pw_on_ctrl_set(lsm6dsox_ctx_t *ctx, lsm6dsox_ois_on_t val);
int32_t lsm6dsox_aux_pw_on_ctrl_get(lsm6dsox_ctx_t *ctx, lsm6dsox_ois_on_t *val);
typedef enum {
LSM6DSOX_USE_SAME_XL_FS = 0,
LSM6DSOX_USE_DIFFERENT_XL_FS = 1,
} lsm6dsox_xl_fs_mode_t;
int32_t lsm6dsox_aux_xl_fs_mode_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_xl_fs_mode_t val);
int32_t lsm6dsox_aux_xl_fs_mode_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_xl_fs_mode_t *val);
int32_t lsm6dsox_aux_status_reg_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_spi2_status_reg_ois_t *val);
int32_t lsm6dsox_aux_xl_flag_data_ready_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_aux_gy_flag_data_ready_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_aux_gy_flag_settling_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
typedef enum {
LSM6DSOX_AUX_DEN_ACTIVE_LOW = 0,
LSM6DSOX_AUX_DEN_ACTIVE_HIGH = 1,
} lsm6dsox_den_lh_ois_t;
int32_t lsm6dsox_aux_den_polarity_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_den_lh_ois_t val);
int32_t lsm6dsox_aux_den_polarity_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_den_lh_ois_t *val);
typedef enum {
LSM6DSOX_AUX_DEN_DISABLE = 0,
LSM6DSOX_AUX_DEN_LEVEL_LATCH = 3,
LSM6DSOX_AUX_DEN_LEVEL_TRIG = 2,
} lsm6dsox_lvl2_ois_t;
int32_t lsm6dsox_aux_den_mode_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_lvl2_ois_t val);
int32_t lsm6dsox_aux_den_mode_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_lvl2_ois_t *val);
int32_t lsm6dsox_aux_drdy_on_int2_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_aux_drdy_on_int2_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
typedef enum {
LSM6DSOX_AUX_DISABLE = 0,
LSM6DSOX_MODE_3_GY = 1,
LSM6DSOX_MODE_4_GY_XL = 3,
} lsm6dsox_ois_en_spi2_t;
int32_t lsm6dsox_aux_mode_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_ois_en_spi2_t val);
int32_t lsm6dsox_aux_mode_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_ois_en_spi2_t *val);
typedef enum {
LSM6DSOX_250dps_AUX = 0,
LSM6DSOX_125dps_AUX = 1,
LSM6DSOX_500dps_AUX = 2,
LSM6DSOX_1000dps_AUX = 4,
LSM6DSOX_2000dps_AUX = 6,
} lsm6dsox_fs_g_ois_t;
int32_t lsm6dsox_aux_gy_full_scale_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_fs_g_ois_t val);
int32_t lsm6dsox_aux_gy_full_scale_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_fs_g_ois_t *val);
typedef enum {
LSM6DSOX_AUX_SPI_4_WIRE = 0,
LSM6DSOX_AUX_SPI_3_WIRE = 1,
} lsm6dsox_sim_ois_t;
int32_t lsm6dsox_aux_spi_mode_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_sim_ois_t val);
int32_t lsm6dsox_aux_spi_mode_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_sim_ois_t *val);
typedef enum {
LSM6DSOX_351Hz39 = 0,
LSM6DSOX_236Hz63 = 1,
LSM6DSOX_172Hz70 = 2,
LSM6DSOX_937Hz91 = 3,
} lsm6dsox_ftype_ois_t;
int32_t lsm6dsox_aux_gy_lp1_bandwidth_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_ftype_ois_t val);
int32_t lsm6dsox_aux_gy_lp1_bandwidth_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_ftype_ois_t *val);
typedef enum {
LSM6DSOX_AUX_HP_DISABLE = 0x00,
LSM6DSOX_AUX_HP_Hz016 = 0x10,
LSM6DSOX_AUX_HP_Hz065 = 0x11,
LSM6DSOX_AUX_HP_Hz260 = 0x12,
LSM6DSOX_AUX_HP_1Hz040 = 0x13,
} lsm6dsox_hpm_ois_t;
int32_t lsm6dsox_aux_gy_hp_bandwidth_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_hpm_ois_t val);
int32_t lsm6dsox_aux_gy_hp_bandwidth_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_hpm_ois_t *val);
typedef enum {
LSM6DSOX_ENABLE_CLAMP = 0,
LSM6DSOX_DISABLE_CLAMP = 1,
} lsm6dsox_st_ois_clampdis_t;
int32_t lsm6dsox_aux_gy_clamp_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_st_ois_clampdis_t val);
int32_t lsm6dsox_aux_gy_clamp_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_st_ois_clampdis_t *val);
typedef enum {
LSM6DSOX_289Hz = 0,
LSM6DSOX_258Hz = 1,
LSM6DSOX_120Hz = 2,
LSM6DSOX_65Hz2 = 3,
LSM6DSOX_33Hz2 = 4,
LSM6DSOX_16Hz6 = 5,
LSM6DSOX_8Hz30 = 6,
LSM6DSOX_4Hz15 = 7,
} lsm6dsox_filter_xl_conf_ois_t;
int32_t lsm6dsox_aux_xl_bandwidth_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_filter_xl_conf_ois_t val);
int32_t lsm6dsox_aux_xl_bandwidth_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_filter_xl_conf_ois_t *val);
typedef enum {
LSM6DSOX_AUX_2g = 0,
LSM6DSOX_AUX_16g = 1,
LSM6DSOX_AUX_4g = 2,
LSM6DSOX_AUX_8g = 3,
} lsm6dsox_fs_xl_ois_t;
int32_t lsm6dsox_aux_xl_full_scale_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_fs_xl_ois_t val);
int32_t lsm6dsox_aux_xl_full_scale_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_fs_xl_ois_t *val);
typedef enum {
LSM6DSOX_PULL_UP_DISC = 0,
LSM6DSOX_PULL_UP_CONNECT = 1,
} lsm6dsox_sdo_pu_en_t;
int32_t lsm6dsox_sdo_sa0_mode_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_sdo_pu_en_t val);
int32_t lsm6dsox_sdo_sa0_mode_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_sdo_pu_en_t *val);
typedef enum {
LSM6DSOX_SPI_4_WIRE = 0,
LSM6DSOX_SPI_3_WIRE = 1,
} lsm6dsox_sim_t;
int32_t lsm6dsox_spi_mode_set(lsm6dsox_ctx_t *ctx, lsm6dsox_sim_t val);
int32_t lsm6dsox_spi_mode_get(lsm6dsox_ctx_t *ctx, lsm6dsox_sim_t *val);
typedef enum {
LSM6DSOX_I2C_ENABLE = 0,
LSM6DSOX_I2C_DISABLE = 1,
} lsm6dsox_i2c_disable_t;
int32_t lsm6dsox_i2c_interface_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_i2c_disable_t val);
int32_t lsm6dsox_i2c_interface_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_i2c_disable_t *val);
typedef enum {
LSM6DSOX_I3C_DISABLE = 0x80,
LSM6DSOX_I3C_ENABLE_T_50us = 0x00,
LSM6DSOX_I3C_ENABLE_T_2us = 0x01,
LSM6DSOX_I3C_ENABLE_T_1ms = 0x02,
LSM6DSOX_I3C_ENABLE_T_25ms = 0x03,
} lsm6dsox_i3c_disable_t;
int32_t lsm6dsox_i3c_disable_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_i3c_disable_t val);
int32_t lsm6dsox_i3c_disable_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_i3c_disable_t *val);
typedef enum {
LSM6DSOX_PUSH_PULL = 0x00,
LSM6DSOX_OPEN_DRAIN = 0x01,
LSM6DSOX_INT1_NOPULL_DOWN_INT2_PUSH_PULL = 0x02,
LSM6DSOX_INT1_NOPULL_DOWN_INT2_OPEN_DRAIN = 0x03,
} lsm6dsox_pp_od_t;
int32_t lsm6dsox_pin_mode_set(lsm6dsox_ctx_t *ctx, lsm6dsox_pp_od_t val);
int32_t lsm6dsox_pin_mode_get(lsm6dsox_ctx_t *ctx, lsm6dsox_pp_od_t *val);
typedef enum {
LSM6DSOX_ACTIVE_HIGH = 0,
LSM6DSOX_ACTIVE_LOW = 1,
} lsm6dsox_h_lactive_t;
int32_t lsm6dsox_pin_polarity_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_h_lactive_t val);
int32_t lsm6dsox_pin_polarity_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_h_lactive_t *val);
int32_t lsm6dsox_all_on_int1_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_all_on_int1_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
typedef enum {
LSM6DSOX_ALL_INT_PULSED = 0,
LSM6DSOX_BASE_LATCHED_EMB_PULSED = 1,
LSM6DSOX_BASE_PULSED_EMB_LATCHED = 2,
LSM6DSOX_ALL_INT_LATCHED = 3,
} lsm6dsox_lir_t;
int32_t lsm6dsox_int_notification_set(lsm6dsox_ctx_t *ctx, lsm6dsox_lir_t val);
int32_t lsm6dsox_int_notification_get(lsm6dsox_ctx_t *ctx, lsm6dsox_lir_t *val);
typedef enum {
LSM6DSOX_LSb_FS_DIV_64 = 0,
LSM6DSOX_LSb_FS_DIV_256 = 1,
} lsm6dsox_wake_ths_w_t;
int32_t lsm6dsox_wkup_ths_weight_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_wake_ths_w_t val);
int32_t lsm6dsox_wkup_ths_weight_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_wake_ths_w_t *val);
int32_t lsm6dsox_wkup_threshold_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_wkup_threshold_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_xl_usr_offset_on_wkup_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_xl_usr_offset_on_wkup_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_wkup_dur_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_wkup_dur_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_gy_sleep_mode_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_gy_sleep_mode_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
typedef enum {
LSM6DSOX_DRIVE_SLEEP_CHG_EVENT = 0,
LSM6DSOX_DRIVE_SLEEP_STATUS = 1,
} lsm6dsox_sleep_status_on_int_t;
int32_t lsm6dsox_act_pin_notification_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_sleep_status_on_int_t val);
int32_t lsm6dsox_act_pin_notification_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_sleep_status_on_int_t *val);
typedef enum {
LSM6DSOX_XL_AND_GY_NOT_AFFECTED = 0,
LSM6DSOX_XL_12Hz5_GY_NOT_AFFECTED = 1,
LSM6DSOX_XL_12Hz5_GY_SLEEP = 2,
LSM6DSOX_XL_12Hz5_GY_PD = 3,
} lsm6dsox_inact_en_t;
int32_t lsm6dsox_act_mode_set(lsm6dsox_ctx_t *ctx, lsm6dsox_inact_en_t val);
int32_t lsm6dsox_act_mode_get(lsm6dsox_ctx_t *ctx, lsm6dsox_inact_en_t *val);
int32_t lsm6dsox_act_sleep_dur_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_act_sleep_dur_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_tap_detection_on_z_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_tap_detection_on_z_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_tap_detection_on_y_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_tap_detection_on_y_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_tap_detection_on_x_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_tap_detection_on_x_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_tap_threshold_x_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_tap_threshold_x_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
typedef enum {
LSM6DSOX_XYZ = 0,
LSM6DSOX_YXZ = 1,
LSM6DSOX_XZY = 2,
LSM6DSOX_ZYX = 3,
LSM6DSOX_YZX = 5,
LSM6DSOX_ZXY = 6,
} lsm6dsox_tap_priority_t;
int32_t lsm6dsox_tap_axis_priority_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_tap_priority_t val);
int32_t lsm6dsox_tap_axis_priority_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_tap_priority_t *val);
int32_t lsm6dsox_tap_threshold_y_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_tap_threshold_y_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_tap_threshold_z_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_tap_threshold_z_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_tap_shock_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_tap_shock_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_tap_quiet_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_tap_quiet_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_tap_dur_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_tap_dur_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
typedef enum {
LSM6DSOX_ONLY_SINGLE = 0,
LSM6DSOX_BOTH_SINGLE_DOUBLE = 1,
} lsm6dsox_single_double_tap_t;
int32_t lsm6dsox_tap_mode_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_single_double_tap_t val);
int32_t lsm6dsox_tap_mode_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_single_double_tap_t *val);
typedef enum {
LSM6DSOX_DEG_80 = 0,
LSM6DSOX_DEG_70 = 1,
LSM6DSOX_DEG_60 = 2,
LSM6DSOX_DEG_50 = 3,
} lsm6dsox_sixd_ths_t;
int32_t lsm6dsox_6d_threshold_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_sixd_ths_t val);
int32_t lsm6dsox_6d_threshold_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_sixd_ths_t *val);
int32_t lsm6dsox_4d_mode_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_4d_mode_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
typedef enum {
LSM6DSOX_FF_TSH_156mg = 0,
LSM6DSOX_FF_TSH_219mg = 1,
LSM6DSOX_FF_TSH_250mg = 2,
LSM6DSOX_FF_TSH_312mg = 3,
LSM6DSOX_FF_TSH_344mg = 4,
LSM6DSOX_FF_TSH_406mg = 5,
LSM6DSOX_FF_TSH_469mg = 6,
LSM6DSOX_FF_TSH_500mg = 7,
} lsm6dsox_ff_ths_t;
int32_t lsm6dsox_ff_threshold_set(lsm6dsox_ctx_t *ctx, lsm6dsox_ff_ths_t val);
int32_t lsm6dsox_ff_threshold_get(lsm6dsox_ctx_t *ctx, lsm6dsox_ff_ths_t *val);
int32_t lsm6dsox_ff_dur_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_ff_dur_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_fifo_watermark_set(lsm6dsox_ctx_t *ctx, uint16_t val);
int32_t lsm6dsox_fifo_watermark_get(lsm6dsox_ctx_t *ctx, uint16_t *val);
int32_t lsm6dsox_compression_algo_init_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_compression_algo_init_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
typedef enum {
LSM6DSOX_CMP_DISABLE = 0x00,
LSM6DSOX_CMP_ALWAYS = 0x04,
LSM6DSOX_CMP_8_TO_1 = 0x05,
LSM6DSOX_CMP_16_TO_1 = 0x06,
LSM6DSOX_CMP_32_TO_1 = 0x07,
} lsm6dsox_uncoptr_rate_t;
int32_t lsm6dsox_compression_algo_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_uncoptr_rate_t val);
int32_t lsm6dsox_compression_algo_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_uncoptr_rate_t *val);
int32_t lsm6dsox_fifo_virtual_sens_odr_chg_set(lsm6dsox_ctx_t *ctx,
uint8_t val);
int32_t lsm6dsox_fifo_virtual_sens_odr_chg_get(lsm6dsox_ctx_t *ctx,
uint8_t *val);
int32_t lsm6dsox_compression_algo_real_time_set(lsm6dsox_ctx_t *ctx,
uint8_t val);
int32_t lsm6dsox_compression_algo_real_time_get(lsm6dsox_ctx_t *ctx,
uint8_t *val);
int32_t lsm6dsox_fifo_stop_on_wtm_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_fifo_stop_on_wtm_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
typedef enum {
LSM6DSOX_XL_NOT_BATCHED = 0,
LSM6DSOX_XL_BATCHED_AT_12Hz5 = 1,
LSM6DSOX_XL_BATCHED_AT_26Hz = 2,
LSM6DSOX_XL_BATCHED_AT_52Hz = 3,
LSM6DSOX_XL_BATCHED_AT_104Hz = 4,
LSM6DSOX_XL_BATCHED_AT_208Hz = 5,
LSM6DSOX_XL_BATCHED_AT_417Hz = 6,
LSM6DSOX_XL_BATCHED_AT_833Hz = 7,
LSM6DSOX_XL_BATCHED_AT_1667Hz = 8,
LSM6DSOX_XL_BATCHED_AT_3333Hz = 9,
LSM6DSOX_XL_BATCHED_AT_6667Hz = 10,
LSM6DSOX_XL_BATCHED_AT_6Hz5 = 11,
} lsm6dsox_bdr_xl_t;
int32_t lsm6dsox_fifo_xl_batch_set(lsm6dsox_ctx_t *ctx, lsm6dsox_bdr_xl_t val);
int32_t lsm6dsox_fifo_xl_batch_get(lsm6dsox_ctx_t *ctx, lsm6dsox_bdr_xl_t *val);
typedef enum {
LSM6DSOX_GY_NOT_BATCHED = 0,
LSM6DSOX_GY_BATCHED_AT_12Hz5 = 1,
LSM6DSOX_GY_BATCHED_AT_26Hz = 2,
LSM6DSOX_GY_BATCHED_AT_52Hz = 3,
LSM6DSOX_GY_BATCHED_AT_104Hz = 4,
LSM6DSOX_GY_BATCHED_AT_208Hz = 5,
LSM6DSOX_GY_BATCHED_AT_417Hz = 6,
LSM6DSOX_GY_BATCHED_AT_833Hz = 7,
LSM6DSOX_GY_BATCHED_AT_1667Hz = 8,
LSM6DSOX_GY_BATCHED_AT_3333Hz = 9,
LSM6DSOX_GY_BATCHED_AT_6667Hz = 10,
LSM6DSOX_GY_BATCHED_AT_6Hz5 = 11,
} lsm6dsox_bdr_gy_t;
int32_t lsm6dsox_fifo_gy_batch_set(lsm6dsox_ctx_t *ctx, lsm6dsox_bdr_gy_t val);
int32_t lsm6dsox_fifo_gy_batch_get(lsm6dsox_ctx_t *ctx, lsm6dsox_bdr_gy_t *val);
typedef enum {
LSM6DSOX_BYPASS_MODE = 0,
LSM6DSOX_FIFO_MODE = 1,
LSM6DSOX_STREAM_TO_FIFO_MODE = 3,
LSM6DSOX_BYPASS_TO_STREAM_MODE = 4,
LSM6DSOX_STREAM_MODE = 6,
LSM6DSOX_BYPASS_TO_FIFO_MODE = 7,
} lsm6dsox_fifo_mode_t;
int32_t lsm6dsox_fifo_mode_set(lsm6dsox_ctx_t *ctx, lsm6dsox_fifo_mode_t val);
int32_t lsm6dsox_fifo_mode_get(lsm6dsox_ctx_t *ctx, lsm6dsox_fifo_mode_t *val);
typedef enum {
LSM6DSOX_TEMP_NOT_BATCHED = 0,
LSM6DSOX_TEMP_BATCHED_AT_1Hz6 = 1,
LSM6DSOX_TEMP_BATCHED_AT_12Hz5 = 2,
LSM6DSOX_TEMP_BATCHED_AT_52Hz = 3,
} lsm6dsox_odr_t_batch_t;
int32_t lsm6dsox_fifo_temp_batch_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_odr_t_batch_t val);
int32_t lsm6dsox_fifo_temp_batch_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_odr_t_batch_t *val);
typedef enum {
LSM6DSOX_NO_DECIMATION = 0,
LSM6DSOX_DEC_1 = 1,
LSM6DSOX_DEC_8 = 2,
LSM6DSOX_DEC_32 = 3,
} lsm6dsox_odr_ts_batch_t;
int32_t lsm6dsox_fifo_timestamp_decimation_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_odr_ts_batch_t val);
int32_t lsm6dsox_fifo_timestamp_decimation_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_odr_ts_batch_t *val);
typedef enum {
LSM6DSOX_XL_BATCH_EVENT = 0,
LSM6DSOX_GYRO_BATCH_EVENT = 1,
} lsm6dsox_trig_counter_bdr_t;
typedef enum {
LSM6DSOX_GYRO_NC_TAG = 1,
LSM6DSOX_XL_NC_TAG,
LSM6DSOX_TEMPERATURE_TAG,
LSM6DSOX_TIMESTAMP_TAG,
LSM6DSOX_CFG_CHANGE_TAG,
LSM6DSOX_XL_NC_T_2_TAG,
LSM6DSOX_XL_NC_T_1_TAG,
LSM6DSOX_XL_2XC_TAG,
LSM6DSOX_XL_3XC_TAG,
LSM6DSOX_GYRO_NC_T_2_TAG,
LSM6DSOX_GYRO_NC_T_1_TAG,
LSM6DSOX_GYRO_2XC_TAG,
LSM6DSOX_GYRO_3XC_TAG,
LSM6DSOX_SENSORHUB_SLAVE0_TAG,
LSM6DSOX_SENSORHUB_SLAVE1_TAG,
LSM6DSOX_SENSORHUB_SLAVE2_TAG,
LSM6DSOX_SENSORHUB_SLAVE3_TAG,
LSM6DSOX_STEP_CPUNTER_TAG,
LSM6DSOX_GAME_ROTATION_TAG,
LSM6DSOX_GEOMAG_ROTATION_TAG,
LSM6DSOX_ROTATION_TAG,
LSM6DSOX_SENSORHUB_NACK_TAG = 0x19,
} lsm6dsox_fifo_tag_t;
int32_t lsm6dsox_fifo_cnt_event_batch_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_trig_counter_bdr_t val);
int32_t lsm6dsox_fifo_cnt_event_batch_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_trig_counter_bdr_t *val);
int32_t lsm6dsox_rst_batch_counter_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_rst_batch_counter_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_batch_counter_threshold_set(lsm6dsox_ctx_t *ctx,
uint16_t val);
int32_t lsm6dsox_batch_counter_threshold_get(lsm6dsox_ctx_t *ctx,
uint16_t *val);
int32_t lsm6dsox_fifo_data_level_get(lsm6dsox_ctx_t *ctx, uint16_t *val);
int32_t lsm6dsox_fifo_status_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_fifo_status2_t *val);
int32_t lsm6dsox_fifo_full_flag_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_fifo_ovr_flag_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_fifo_wtm_flag_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_fifo_sensor_tag_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_fifo_tag_t *val);
int32_t lsm6dsox_fifo_pedo_batch_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_fifo_pedo_batch_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_sh_batch_slave_0_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_sh_batch_slave_0_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_sh_batch_slave_1_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_sh_batch_slave_1_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_sh_batch_slave_2_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_sh_batch_slave_2_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_sh_batch_slave_3_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_sh_batch_slave_3_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
typedef enum {
LSM6DSOX_DEN_DISABLE = 0,
LSM6DSOX_LEVEL_FIFO = 6,
LSM6DSOX_LEVEL_LETCHED = 3,
LSM6DSOX_LEVEL_TRIGGER = 2,
LSM6DSOX_EDGE_TRIGGER = 4,
} lsm6dsox_den_mode_t;
int32_t lsm6dsox_den_mode_set(lsm6dsox_ctx_t *ctx, lsm6dsox_den_mode_t val);
int32_t lsm6dsox_den_mode_get(lsm6dsox_ctx_t *ctx, lsm6dsox_den_mode_t *val);
typedef enum {
LSM6DSOX_DEN_ACT_LOW = 0,
LSM6DSOX_DEN_ACT_HIGH = 1,
} lsm6dsox_den_lh_t;
int32_t lsm6dsox_den_polarity_set(lsm6dsox_ctx_t *ctx, lsm6dsox_den_lh_t val);
int32_t lsm6dsox_den_polarity_get(lsm6dsox_ctx_t *ctx, lsm6dsox_den_lh_t *val);
typedef enum {
LSM6DSOX_STAMP_IN_GY_DATA = 0,
LSM6DSOX_STAMP_IN_XL_DATA = 1,
LSM6DSOX_STAMP_IN_GY_XL_DATA = 2,
} lsm6dsox_den_xl_g_t;
int32_t lsm6dsox_den_enable_set(lsm6dsox_ctx_t *ctx, lsm6dsox_den_xl_g_t val);
int32_t lsm6dsox_den_enable_get(lsm6dsox_ctx_t *ctx, lsm6dsox_den_xl_g_t *val);
int32_t lsm6dsox_den_mark_axis_x_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_den_mark_axis_x_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_den_mark_axis_y_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_den_mark_axis_y_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_den_mark_axis_z_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_den_mark_axis_z_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
typedef enum {
LSM6DSOX_PEDO_BASE_MODE = 0x00,
LSM6DSOX_FALSE_STEP_REJ = 0x10,
LSM6DSOX_FALSE_STEP_REJ_ADV_MODE = 0x30,
} lsm6dsox_pedo_md_t;
int32_t lsm6dsox_pedo_sens_set(lsm6dsox_ctx_t *ctx, lsm6dsox_pedo_md_t val);
int32_t lsm6dsox_pedo_sens_get(lsm6dsox_ctx_t *ctx, lsm6dsox_pedo_md_t *val);
int32_t lsm6dsox_pedo_step_detect_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_pedo_debounce_steps_set(lsm6dsox_ctx_t *ctx,
uint8_t *buff);
int32_t lsm6dsox_pedo_debounce_steps_get(lsm6dsox_ctx_t *ctx,
uint8_t *buff);
int32_t lsm6dsox_pedo_steps_period_set(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_pedo_steps_period_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_pedo_adv_detection_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_pedo_adv_detection_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_pedo_false_step_rejection_set(lsm6dsox_ctx_t *ctx,
uint8_t val);
int32_t lsm6dsox_pedo_false_step_rejection_get(lsm6dsox_ctx_t *ctx,
uint8_t *val);
typedef enum {
LSM6DSOX_EVERY_STEP = 0,
LSM6DSOX_COUNT_OVERFLOW = 1,
} lsm6dsox_carry_count_en_t;
int32_t lsm6dsox_pedo_int_mode_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_carry_count_en_t val);
int32_t lsm6dsox_pedo_int_mode_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_carry_count_en_t *val);
int32_t lsm6dsox_motion_flag_data_ready_get(lsm6dsox_ctx_t *ctx,
uint8_t *val);
int32_t lsm6dsox_tilt_flag_data_ready_get(lsm6dsox_ctx_t *ctx,
uint8_t *val);
int32_t lsm6dsox_sh_mag_sensitivity_set(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_sh_mag_sensitivity_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_mlc_mag_sensitivity_set(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_mlc_mag_sensitivity_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_mag_offset_set(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_mag_offset_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_mag_soft_iron_set(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_mag_soft_iron_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
typedef enum {
LSM6DSOX_Z_EQ_Y = 0,
LSM6DSOX_Z_EQ_MIN_Y = 1,
LSM6DSOX_Z_EQ_X = 2,
LSM6DSOX_Z_EQ_MIN_X = 3,
LSM6DSOX_Z_EQ_MIN_Z = 4,
LSM6DSOX_Z_EQ_Z = 5,
} lsm6dsox_mag_z_axis_t;
int32_t lsm6dsox_mag_z_orient_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_mag_z_axis_t val);
int32_t lsm6dsox_mag_z_orient_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_mag_z_axis_t *val);
typedef enum {
LSM6DSOX_Y_EQ_Y = 0,
LSM6DSOX_Y_EQ_MIN_Y = 1,
LSM6DSOX_Y_EQ_X = 2,
LSM6DSOX_Y_EQ_MIN_X = 3,
LSM6DSOX_Y_EQ_MIN_Z = 4,
LSM6DSOX_Y_EQ_Z = 5,
} lsm6dsox_mag_y_axis_t;
int32_t lsm6dsox_mag_y_orient_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_mag_y_axis_t val);
int32_t lsm6dsox_mag_y_orient_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_mag_y_axis_t *val);
typedef enum {
LSM6DSOX_X_EQ_Y = 0,
LSM6DSOX_X_EQ_MIN_Y = 1,
LSM6DSOX_X_EQ_X = 2,
LSM6DSOX_X_EQ_MIN_X = 3,
LSM6DSOX_X_EQ_MIN_Z = 4,
LSM6DSOX_X_EQ_Z = 5,
} lsm6dsox_mag_x_axis_t;
int32_t lsm6dsox_mag_x_orient_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_mag_x_axis_t val);
int32_t lsm6dsox_mag_x_orient_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_mag_x_axis_t *val);
int32_t lsm6dsox_long_cnt_flag_data_ready_get(lsm6dsox_ctx_t *ctx,
uint8_t *val);
typedef struct {
lsm6dsox_fsm_enable_a_t fsm_enable_a;
lsm6dsox_fsm_enable_b_t fsm_enable_b;
} lsm6dsox_emb_fsm_enable_t;
int32_t lsm6dsox_fsm_enable_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_emb_fsm_enable_t *val);
int32_t lsm6dsox_fsm_enable_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_emb_fsm_enable_t *val);
int32_t lsm6dsox_long_cnt_set(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_long_cnt_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
typedef enum {
LSM6DSOX_LC_NORMAL = 0,
LSM6DSOX_LC_CLEAR = 1,
LSM6DSOX_LC_CLEAR_DONE = 2,
} lsm6dsox_fsm_lc_clr_t;
int32_t lsm6dsox_long_clr_set(lsm6dsox_ctx_t *ctx, lsm6dsox_fsm_lc_clr_t val);
int32_t lsm6dsox_long_clr_get(lsm6dsox_ctx_t *ctx, lsm6dsox_fsm_lc_clr_t *val);
typedef struct {
lsm6dsox_fsm_outs1_t fsm_outs1;
lsm6dsox_fsm_outs2_t fsm_outs2;
lsm6dsox_fsm_outs3_t fsm_outs3;
lsm6dsox_fsm_outs4_t fsm_outs4;
lsm6dsox_fsm_outs5_t fsm_outs5;
lsm6dsox_fsm_outs6_t fsm_outs6;
lsm6dsox_fsm_outs7_t fsm_outs7;
lsm6dsox_fsm_outs8_t fsm_outs8;
lsm6dsox_fsm_outs1_t fsm_outs9;
lsm6dsox_fsm_outs2_t fsm_outs10;
lsm6dsox_fsm_outs3_t fsm_outs11;
lsm6dsox_fsm_outs4_t fsm_outs12;
lsm6dsox_fsm_outs5_t fsm_outs13;
lsm6dsox_fsm_outs6_t fsm_outs14;
lsm6dsox_fsm_outs7_t fsm_outs15;
lsm6dsox_fsm_outs8_t fsm_outs16;
} lsm6dsox_fsm_out_t;
int32_t lsm6dsox_fsm_out_get(lsm6dsox_ctx_t *ctx, lsm6dsox_fsm_out_t *val);
typedef enum {
LSM6DSOX_ODR_FSM_12Hz5 = 0,
LSM6DSOX_ODR_FSM_26Hz = 1,
LSM6DSOX_ODR_FSM_52Hz = 2,
LSM6DSOX_ODR_FSM_104Hz = 3,
} lsm6dsox_fsm_odr_t;
int32_t lsm6dsox_fsm_data_rate_set(lsm6dsox_ctx_t *ctx, lsm6dsox_fsm_odr_t val);
int32_t lsm6dsox_fsm_data_rate_get(lsm6dsox_ctx_t *ctx, lsm6dsox_fsm_odr_t *val);
int32_t lsm6dsox_fsm_init_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_fsm_init_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_long_cnt_int_value_set(lsm6dsox_ctx_t *ctx, uint16_t val);
int32_t lsm6dsox_long_cnt_int_value_get(lsm6dsox_ctx_t *ctx, uint16_t *val);
int32_t lsm6dsox_fsm_number_of_programs_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_fsm_number_of_programs_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_fsm_start_address_set(lsm6dsox_ctx_t *ctx, uint16_t val);
int32_t lsm6dsox_fsm_start_address_get(lsm6dsox_ctx_t *ctx, uint16_t *val);
int32_t lsm6dsox_mlc_status_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_mlc_status_mainpage_t *val);
typedef enum {
LSM6DSOX_ODR_PRGS_12Hz5 = 0,
LSM6DSOX_ODR_PRGS_26Hz = 1,
LSM6DSOX_ODR_PRGS_52Hz = 2,
LSM6DSOX_ODR_PRGS_104Hz = 3,
} lsm6dsox_mlc_odr_t;
int32_t lsm6dsox_mlc_data_rate_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_mlc_odr_t val);
int32_t lsm6dsox_mlc_data_rate_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_mlc_odr_t *val);
typedef struct {
lsm6dsox_sensor_hub_1_t sh_byte_1;
lsm6dsox_sensor_hub_2_t sh_byte_2;
lsm6dsox_sensor_hub_3_t sh_byte_3;
lsm6dsox_sensor_hub_4_t sh_byte_4;
lsm6dsox_sensor_hub_5_t sh_byte_5;
lsm6dsox_sensor_hub_6_t sh_byte_6;
lsm6dsox_sensor_hub_7_t sh_byte_7;
lsm6dsox_sensor_hub_8_t sh_byte_8;
lsm6dsox_sensor_hub_9_t sh_byte_9;
lsm6dsox_sensor_hub_10_t sh_byte_10;
lsm6dsox_sensor_hub_11_t sh_byte_11;
lsm6dsox_sensor_hub_12_t sh_byte_12;
lsm6dsox_sensor_hub_13_t sh_byte_13;
lsm6dsox_sensor_hub_14_t sh_byte_14;
lsm6dsox_sensor_hub_15_t sh_byte_15;
lsm6dsox_sensor_hub_16_t sh_byte_16;
lsm6dsox_sensor_hub_17_t sh_byte_17;
lsm6dsox_sensor_hub_18_t sh_byte_18;
} lsm6dsox_emb_sh_read_t;
int32_t lsm6dsox_sh_read_data_raw_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_emb_sh_read_t *val,
uint8_t len);
typedef enum {
LSM6DSOX_SLV_0 = 0,
LSM6DSOX_SLV_0_1 = 1,
LSM6DSOX_SLV_0_1_2 = 2,
LSM6DSOX_SLV_0_1_2_3 = 3,
} lsm6dsox_aux_sens_on_t;
int32_t lsm6dsox_sh_slave_connected_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_aux_sens_on_t val);
int32_t lsm6dsox_sh_slave_connected_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_aux_sens_on_t *val);
int32_t lsm6dsox_sh_master_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_sh_master_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
typedef enum {
LSM6DSOX_EXT_PULL_UP = 0,
LSM6DSOX_INTERNAL_PULL_UP = 1,
} lsm6dsox_shub_pu_en_t;
int32_t lsm6dsox_sh_pin_mode_set(lsm6dsox_ctx_t *ctx, lsm6dsox_shub_pu_en_t val);
int32_t lsm6dsox_sh_pin_mode_get(lsm6dsox_ctx_t *ctx, lsm6dsox_shub_pu_en_t *val);
int32_t lsm6dsox_sh_pass_through_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_sh_pass_through_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
typedef enum {
LSM6DSOX_EXT_ON_INT2_PIN = 1,
LSM6DSOX_XL_GY_DRDY = 0,
} lsm6dsox_start_config_t;
int32_t lsm6dsox_sh_syncro_mode_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_start_config_t val);
int32_t lsm6dsox_sh_syncro_mode_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_start_config_t *val);
typedef enum {
LSM6DSOX_EACH_SH_CYCLE = 0,
LSM6DSOX_ONLY_FIRST_CYCLE = 1,
} lsm6dsox_write_once_t;
int32_t lsm6dsox_sh_write_mode_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_write_once_t val);
int32_t lsm6dsox_sh_write_mode_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_write_once_t *val);
int32_t lsm6dsox_sh_reset_set(lsm6dsox_ctx_t *ctx);
int32_t lsm6dsox_sh_reset_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
typedef enum {
LSM6DSOX_SH_ODR_104Hz = 0,
LSM6DSOX_SH_ODR_52Hz = 1,
LSM6DSOX_SH_ODR_26Hz = 2,
LSM6DSOX_SH_ODR_13Hz = 3,
} lsm6dsox_shub_odr_t;
int32_t lsm6dsox_sh_data_rate_set(lsm6dsox_ctx_t *ctx, lsm6dsox_shub_odr_t val);
int32_t lsm6dsox_sh_data_rate_get(lsm6dsox_ctx_t *ctx, lsm6dsox_shub_odr_t *val);
typedef struct{
uint8_t slv0_add;
uint8_t slv0_subadd;
uint8_t slv0_data;
} lsm6dsox_sh_cfg_write_t;
int32_t lsm6dsox_sh_cfg_write(lsm6dsox_ctx_t *ctx, lsm6dsox_sh_cfg_write_t *val);
typedef struct{
uint8_t slv_add;
uint8_t slv_subadd;
uint8_t slv_len;
} lsm6dsox_sh_cfg_read_t;
int32_t lsm6dsox_sh_slv0_cfg_read(lsm6dsox_ctx_t *ctx,
lsm6dsox_sh_cfg_read_t *val);
int32_t lsm6dsox_sh_slv1_cfg_read(lsm6dsox_ctx_t *ctx,
lsm6dsox_sh_cfg_read_t *val);
int32_t lsm6dsox_sh_slv2_cfg_read(lsm6dsox_ctx_t *ctx,
lsm6dsox_sh_cfg_read_t *val);
int32_t lsm6dsox_sh_slv3_cfg_read(lsm6dsox_ctx_t *ctx,
lsm6dsox_sh_cfg_read_t *val);
int32_t lsm6dsox_sh_status_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_status_master_t *val);
typedef enum {
LSM6DSOX_S4S_TPH_7bit = 0,
LSM6DSOX_S4S_TPH_15bit = 1,
} lsm6dsox_s4s_tph_res_t;
int32_t lsm6dsox_s4s_tph_res_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_s4s_tph_res_t val);
int32_t lsm6dsox_s4s_tph_res_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_s4s_tph_res_t *val);
int32_t lsm6dsox_s4s_tph_val_set(lsm6dsox_ctx_t *ctx, uint16_t val);
int32_t lsm6dsox_s4s_tph_val_get(lsm6dsox_ctx_t *ctx, uint16_t *val);
typedef enum {
LSM6DSOX_S4S_DT_RES_11 = 0,
LSM6DSOX_S4S_DT_RES_12 = 1,
LSM6DSOX_S4S_DT_RES_13 = 2,
LSM6DSOX_S4S_DT_RES_14 = 3,
} lsm6dsox_s4s_res_ratio_t;
int32_t lsm6dsox_s4s_res_ratio_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_s4s_res_ratio_t val);
int32_t lsm6dsox_s4s_res_ratio_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_s4s_res_ratio_t *val);
int32_t lsm6dsox_s4s_command_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_s4s_command_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_s4s_dt_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_s4s_dt_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
typedef struct {
uint8_t ui;
uint8_t aux;
} lsm6dsox_id_t;
int32_t lsm6dsox_id_get(lsm6dsox_ctx_t *ctx, lsm6dsox_ctx_t *aux_ctx,
lsm6dsox_id_t *val);
typedef struct {
enum {
LSM6DSOX_SEL_BY_HW = 0x00, /* bus mode select by HW (SPI 3W disable) */
LSM6DSOX_SPI_4W = 0x06, /* Only SPI: SDO / SDI separated pins */
LSM6DSOX_SPI_3W = 0x07, /* Only SPI: SDO / SDI share the same pin */
LSM6DSOX_I2C = 0x04, /* Only I2C */
LSM6DSOX_I3C_T_50us = 0x02, /* I3C: available time equal to 50 μs */
LSM6DSOX_I3C_T_2us = 0x12, /* I3C: available time equal to 2 μs */
LSM6DSOX_I3C_T_1ms = 0x22, /* I3C: available time equal to 1 ms */
LSM6DSOX_I3C_T_25ms = 0x32, /* I3C: available time equal to 25 ms */
} ui_bus_md;
enum {
LSM6DSOX_SPI_4W_AUX = 0x00,
LSM6DSOX_SPI_3W_AUX = 0x01,
} aux_bus_md;
} lsm6dsox_bus_mode_t;
int32_t lsm6dsox_bus_mode_set(lsm6dsox_ctx_t *ctx, lsm6dsox_ctx_t *aux_ctx,
lsm6dsox_bus_mode_t val);
int32_t lsm6dsox_bus_mode_get(lsm6dsox_ctx_t *ctx, lsm6dsox_ctx_t *aux_ctx,
lsm6dsox_bus_mode_t *val);
typedef enum {
LSM6DSOX_DRV_RDY = 0x00, /* Initialize the device for driver usage */
LSM6DSOX_BOOT = 0x01, /* Restore calib. param. ( it takes 10ms ) */
LSM6DSOX_RESET = 0x02, /* Reset configuration registers */
LSM6DSOX_FIFO_COMP = 0x04, /* FIFO compression initialization request. */
LSM6DSOX_FSM = 0x08, /* Finite State Machine initialization request */
LSM6DSOX_MLC = 0x10, /* Machine Learning Core initialization request */
LSM6DSOX_PEDO = 0x20, /* Pedometer algo initialization request. */
LSM6DSOX_TILT = 0x40, /* Tilt algo initialization request */
LSM6DSOX_SMOTION = 0x80, /* Significant Motion initialization request */
} lsm6dsox_init_t;
int32_t lsm6dsox_init_set(lsm6dsox_ctx_t *ctx, lsm6dsox_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 */
} lsm6dsox_status_t;
int32_t lsm6dsox_status_get(lsm6dsox_ctx_t *ctx, lsm6dsox_ctx_t *aux_ctx,
lsm6dsox_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) */
} lsm6dsox_pin_conf_t;
int32_t lsm6dsox_pin_conf_set(lsm6dsox_ctx_t *ctx, lsm6dsox_pin_conf_t val);
int32_t lsm6dsox_pin_conf_get(lsm6dsox_ctx_t *ctx, lsm6dsox_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 */
} lsm6dsox_int_mode_t;
int32_t lsm6dsox_interrupt_mode_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_int_mode_t val);
int32_t lsm6dsox_interrupt_mode_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_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 */
} lsm6dsox_pin_int1_route_t;
int32_t lsm6dsox_pin_int1_route_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_pin_int1_route_t val);
int32_t lsm6dsox_pin_int1_route_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_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 */
} lsm6dsox_pin_int2_route_t;
int32_t lsm6dsox_pin_int2_route_set(lsm6dsox_ctx_t *ctx, lsm6dsox_ctx_t *aux_ctx,
lsm6dsox_pin_int2_route_t val);
int32_t lsm6dsox_pin_int2_route_get(lsm6dsox_ctx_t *ctx, lsm6dsox_ctx_t *aux_ctx,
lsm6dsox_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 */
} lsm6dsox_all_sources_t;
int32_t lsm6dsox_all_sources_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_all_sources_t *val);
typedef struct{
uint8_t odr_fine_tune;
} lsm6dsox_dev_cal_t;
int32_t lsm6dsox_calibration_get(lsm6dsox_ctx_t *ctx, lsm6dsox_dev_cal_t *val);
typedef struct {
struct {
struct {
enum {
LSM6DSOX_XL_UI_OFF = 0x00, /* in power down */
LSM6DSOX_XL_UI_1Hz6_LP = 0x1B, /* @1Hz6 (low power) */
LSM6DSOX_XL_UI_1Hz6_ULP = 0x2B, /* @1Hz6 (ultra low/Gy, OIS imu off) */
LSM6DSOX_XL_UI_12Hz5_HP = 0x01, /* @12Hz5 (high performance) */
LSM6DSOX_XL_UI_12Hz5_LP = 0x11, /* @12Hz5 (low power) */
LSM6DSOX_XL_UI_12Hz5_ULP = 0x21, /* @12Hz5 (ultra low/Gy, OIS imu off) */
LSM6DSOX_XL_UI_26Hz_HP = 0x02, /* @26Hz (high performance) */
LSM6DSOX_XL_UI_26Hz_LP = 0x12, /* @26Hz (low power) */
LSM6DSOX_XL_UI_26Hz_ULP = 0x22, /* @26Hz (ultra low/Gy, OIS imu off) */
LSM6DSOX_XL_UI_52Hz_HP = 0x03, /* @52Hz (high performance) */
LSM6DSOX_XL_UI_52Hz_LP = 0x13, /* @52Hz (low power) */
LSM6DSOX_XL_UI_52Hz_ULP = 0x23, /* @52Hz (ultra low/Gy, OIS imu off) */
LSM6DSOX_XL_UI_104Hz_HP = 0x04, /* @104Hz (high performance) */
LSM6DSOX_XL_UI_104Hz_NM = 0x14, /* @104Hz (normal mode) */
LSM6DSOX_XL_UI_104Hz_ULP = 0x24, /* @104Hz (ultra low/Gy, OIS imu off) */
LSM6DSOX_XL_UI_208Hz_HP = 0x05, /* @208Hz (high performance) */
LSM6DSOX_XL_UI_208Hz_NM = 0x15, /* @208Hz (normal mode) */
LSM6DSOX_XL_UI_208Hz_ULP = 0x25, /* @208Hz (ultra low/Gy, OIS imu off) */
LSM6DSOX_XL_UI_416Hz_HP = 0x06, /* @416Hz (high performance) */
LSM6DSOX_XL_UI_833Hz_HP = 0x07, /* @833Hz (high performance) */
LSM6DSOX_XL_UI_1667Hz_HP = 0x08, /* @1kHz66 (high performance) */
LSM6DSOX_XL_UI_3333Hz_HP = 0x09, /* @3kHz33 (high performance) */
LSM6DSOX_XL_UI_6667Hz_HP = 0x0A, /* @6kHz66 (high performance) */
} odr;
enum {
LSM6DSOX_XL_UI_2g = 0,
LSM6DSOX_XL_UI_4g = 2,
LSM6DSOX_XL_UI_8g = 3,
LSM6DSOX_XL_UI_16g = 1, /* OIS full scale is also forced to be 16g */
} fs;
} xl;
struct {
enum {
LSM6DSOX_GY_UI_OFF = 0x00, /* gy in power down */
LSM6DSOX_GY_UI_12Hz5_LP = 0x11, /* gy @12Hz5 (low power) */
LSM6DSOX_GY_UI_12Hz5_HP = 0x01, /* gy @12Hz5 (high performance) */
LSM6DSOX_GY_UI_26Hz_LP = 0x12, /* gy @26Hz (low power) */
LSM6DSOX_GY_UI_26Hz_HP = 0x02, /* gy @26Hz (high performance) */
LSM6DSOX_GY_UI_52Hz_LP = 0x13, /* gy @52Hz (low power) */
LSM6DSOX_GY_UI_52Hz_HP = 0x03, /* gy @52Hz (high performance) */
LSM6DSOX_GY_UI_104Hz_NM = 0x14, /* gy @104Hz (low power) */
LSM6DSOX_GY_UI_104Hz_HP = 0x04, /* gy @104Hz (high performance) */
LSM6DSOX_GY_UI_208Hz_NM = 0x15, /* gy @208Hz (low power) */
LSM6DSOX_GY_UI_208Hz_HP = 0x05, /* gy @208Hz (high performance) */
LSM6DSOX_GY_UI_416Hz_HP = 0x06, /* gy @416Hz (high performance) */
LSM6DSOX_GY_UI_833Hz_HP = 0x07, /* gy @833Hz (high performance) */
LSM6DSOX_GY_UI_1667Hz_HP = 0x08, /* gy @1kHz66 (high performance) */
LSM6DSOX_GY_UI_3333Hz_HP = 0x09, /* gy @3kHz33 (high performance) */
LSM6DSOX_GY_UI_6667Hz_HP = 0x0A, /* gy @6kHz66 (high performance) */
} odr;
enum {
LSM6DSOX_GY_UI_250dps = 0,
LSM6DSOX_GY_UI_125dps = 1,
LSM6DSOX_GY_UI_500dps = 2,
LSM6DSOX_GY_UI_1000dps = 4,
LSM6DSOX_GY_UI_2000dps = 6,
} fs;
}gy;
} ui;
struct {
enum {
LSM6DSOX_OIS_ONLY_AUX = 0x00, /* Auxiliary SPI full control */
LSM6DSOX_OIS_ONLY_UI = 0x02, /* Primary interface full control */
LSM6DSOX_OIS_MIXED = 0x01, /* Enabling by UI / read-config by AUX */
} ctrl_md;
struct {
enum {
LSM6DSOX_XL_OIS_OFF = 0x00, /* in power down */
LSM6DSOX_XL_OIS_6667Hz_HP = 0x01, /* @6kHz OIS imu active/NO ULP on UI */
} odr;
enum {
LSM6DSOX_XL_OIS_2g = 0,
LSM6DSOX_XL_OIS_4g = 2,
LSM6DSOX_XL_OIS_8g = 3,
LSM6DSOX_XL_OIS_16g = 1, /* UI full scale is also forced to be 16g */
} fs;
} xl;
struct {
enum {
LSM6DSOX_GY_OIS_OFF = 0x00, /* in power down */
LSM6DSOX_GY_OIS_6667Hz_HP = 0x01, /* @6kHz No Ultra Low Power*/
} odr;
enum {
LSM6DSOX_GY_OIS_250dps = 0,
LSM6DSOX_GY_OIS_125dps = 1,
LSM6DSOX_GY_OIS_500dps = 2,
LSM6DSOX_GY_OIS_1000dps = 4,
LSM6DSOX_GY_OIS_2000dps = 6,
} fs;
} gy;
} ois;
struct {
enum {
LSM6DSOX_FSM_DISABLE = 0x00,
LSM6DSOX_FSM_XL = 0x01,
LSM6DSOX_FSM_GY = 0x02,
LSM6DSOX_FSM_XL_GY = 0x03,
} sens;
enum {
LSM6DSOX_FSM_12Hz5 = 0x00,
LSM6DSOX_FSM_26Hz = 0x01,
LSM6DSOX_FSM_52Hz = 0x02,
LSM6DSOX_FSM_104Hz = 0x03,
} odr;
} fsm;
struct {
enum {
LSM6DSOX_MLC_DISABLE = 0x00,
LSM6DSOX_MLC_XL = 0x01,
LSM6DSOX_MLC_XL_GY = 0x03,
} sens;
enum {
LSM6DSOX_MLC_12Hz5 = 0x00,
LSM6DSOX_MLC_26Hz = 0x01,
LSM6DSOX_MLC_52Hz = 0x02,
LSM6DSOX_MLC_104Hz = 0x03,
} odr;
} mlc;
} lsm6dsox_md_t;
int32_t lsm6dsox_mode_set(lsm6dsox_ctx_t *ctx, lsm6dsox_ctx_t *aux_ctx,
lsm6dsox_md_t *val);
int32_t lsm6dsox_mode_get(lsm6dsox_ctx_t *ctx, lsm6dsox_ctx_t *aux_ctx,
lsm6dsox_md_t *val);
typedef struct {
struct {
struct {
float mg[3];
int16_t raw[3];
}xl;
struct {
float mdps[3];
int16_t raw[3];
}gy;
struct {
float deg_c;
int16_t raw;
}heat;
} ui;
struct {
struct {
float mg[3];
int16_t raw[3];
}xl;
struct {
float mdps[3];
int16_t raw[3];
}gy;
} ois;
} lsm6dsox_data_t;
int32_t lsm6dsox_data_get(lsm6dsox_ctx_t *ctx, lsm6dsox_ctx_t *aux_ctx,
lsm6dsox_md_t *md, lsm6dsox_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 mlc : 1; /* machine learning core */
uint8_t fsm : 1; /* finite state machine */
uint8_t fifo_compr : 1; /* mlc 8 interrupt event */
} lsm6dsox_emb_sens_t;
int32_t lsm6dsox_embedded_sens_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_emb_sens_t *emb_sens);
int32_t lsm6dsox_embedded_sens_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_emb_sens_t *emb_sens);
int32_t lsm6dsox_embedded_sens_off(lsm6dsox_ctx_t *ctx);
/**
* @}
*
*/
#ifdef __cplusplus
}
#endif
#endif /*LSM6DSOX_DRIVER_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/