Merge pull request #23 from alex-vg/lsm6dso

Add LSM6DSO support

.gitmodules

@@ -0,0 +1,9 @@
+[submodule "lib/bmi160-api"]
+	path = lib/bmi160-api
+	url = https://github.com/boschsensortec/BMI160_SensorAPI.git
+[submodule "lib/lsm6dso-api"]
+	path = lib/lsm6dso-api
+	url = https://github.com/STMicroelectronics/stm32-lsm6dso.git
+[submodule "lib/lsm6ds3tr-api"]
+	path = lib/lsm6ds3tr-api
+	url = https://github.com/STMicroelectronics/lsm6ds3tr-c-pid.git

README.md

@@ -27,6 +27,11 @@ Using it is really simple:
 
 See early prototype [in action](https://www.youtube.com/watch?v=DdxAmmsYfMA).
 
+## How?
+
+ * Clone this repository with `git clone --recurse-submodules` to include the driver implementations.
+ * Build the project using `ufbt`
+
 ## Hardware
 
 The custom module is using Bosch BMI160 accelerometer/gyroscope chip connected via I2C.

application.fam

@@ -6,7 +6,26 @@ App(
     stack_size=10 * 1024,
     fap_category="GPIO",
     fap_icon="icon.png",
-    fap_version="1.1",
+    fap_version="1.2",
     fap_libs=["ble_profile"],
     sources=["*.c", "*.cc"],
+    fap_private_libs=[
+        Lib(
+            name="bmi160-api",
+            cflags=["-Wno-error"],
+            sources=[
+                "bmi160.c",
+                "bmi160.h",
+                "bmi160_defs.h",
+            ],
+        ),
+        Lib(
+            name="lsm6ds3tr-api",
+            cflags=["-Wno-error"],
+        ),
+        Lib(
+            name="lsm6dso-api",
+            cflags=["-Wno-error"],
+        ),
+    ],
 )

build.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+ufbt

lib/bmi160-api

@@ -0,0 +1 @@
+Subproject commit a15536688c2ee246975673bd3067e3d00f68410b

lib/lsm6ds3tr-api

@@ -0,0 +1 @@
+Subproject commit 6344d2a64dfcbfbe6aec3037b6e232d641f211ad

lib/lsm6dso-api

@@ -0,0 +1 @@
+Subproject commit 24788033c89e3148989e8d99d7e417edde0ae477

tracking/imu/bmi160.c

@@ -1,5988 +1,93 @@
-/**
-* Copyright (c) 2021 Bosch Sensortec GmbH. All rights reserved.
-*
-* BSD-3-Clause
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-* 1. Redistributions of source code must retain the above copyright
-*    notice, this list of conditions and the following disclaimer.
-*
-* 2. Redistributions in binary form must reproduce the above copyright
-*    notice, this list of conditions and the following disclaimer in the
-*    documentation and/or other materials provided with the distribution.
-*
-* 3. Neither the name of the copyright holder nor the names of its
-*    contributors may be used to endorse or promote products derived from
-*    this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
-* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
-* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
-* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* @file       bmi160.c
-* @date       2021-10-05
-* @version    v3.9.2
-*
-*/
-
 #include "bmi160.h"
 
-/* Below look up table follows the enum bmi160_int_types.
- * Hence any change should match to the enum bmi160_int_types
- */
-const uint8_t int_mask_lookup_table[13] = {
-    BMI160_INT1_SLOPE_MASK,
-    BMI160_INT1_SLOPE_MASK,
-    BMI160_INT2_LOW_STEP_DETECT_MASK,
-    BMI160_INT1_DOUBLE_TAP_MASK,
-    BMI160_INT1_SINGLE_TAP_MASK,
-    BMI160_INT1_ORIENT_MASK,
-    BMI160_INT1_FLAT_MASK,
-    BMI160_INT1_HIGH_G_MASK,
-    BMI160_INT1_LOW_G_MASK,
-    BMI160_INT1_NO_MOTION_MASK,
-    BMI160_INT2_DATA_READY_MASK,
-    BMI160_INT2_FIFO_FULL_MASK,
-    BMI160_INT2_FIFO_WM_MASK};
-
-/*********************************************************************/
-/* Static function declarations */
-
-/*!
- * @brief This API configures the pins to fire the
- * interrupt signal when it occurs
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t
-    set_intr_pin_config(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the any-motion interrupt of the sensor.
- * This interrupt occurs when accel values exceeds preset threshold
- * for a certain period of time.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t
-    set_accel_any_motion_int(struct bmi160_int_settg* int_config, struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets tap interrupts.Interrupt is fired when
- * tap movements happen.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_accel_tap_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the data ready interrupt for both accel and gyro.
- * This interrupt occurs when new accel and gyro data come.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_accel_gyro_data_ready_int(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the significant motion interrupt of the sensor.This
- * interrupt occurs when there is change in user location.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t
-    set_accel_sig_motion_int(struct bmi160_int_settg* int_config, struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the no motion/slow motion interrupt of the sensor.
- * Slow motion is similar to any motion interrupt.No motion interrupt
- * occurs when slope bet. two accel values falls below preset threshold
- * for preset duration.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t
-    set_accel_no_motion_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the step detection interrupt.This interrupt
- * occurs when the single step causes accel values to go above
- * preset threshold.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t
-    set_accel_step_detect_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the orientation interrupt of the sensor.This
- * interrupt occurs when there is orientation change in the sensor
- * with respect to gravitational field vector g.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t
-    set_accel_orientation_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the flat interrupt of the sensor.This interrupt
- * occurs in case of flat orientation
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t
-    set_accel_flat_detect_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the low-g interrupt of the sensor.This interrupt
- * occurs during free-fall.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t
-    set_accel_low_g_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the high-g interrupt of the sensor.The interrupt
- * occurs if the absolute value of acceleration data of any enabled axis
- * exceeds the programmed threshold and the sign of the value does not
- * change for a preset duration.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t
-    set_accel_high_g_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the default configuration parameters of accel & gyro.
- * Also maintain the previous state of configurations.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static void default_param_settg(struct bmi160_dev* dev);
-
-/*!
- * @brief This API is used to validate the device structure pointer for
- * null conditions.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t null_ptr_check(const struct bmi160_dev* dev);
-
-/*!
- * @brief This API set the accel configuration.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_accel_conf(struct bmi160_dev* dev);
-
-/*!
- * @brief This API gets the accel configuration.
- *
- * @param[out] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t get_accel_conf(struct bmi160_dev* dev);
-
-/*!
- * @brief This API check the accel configuration.
- *
- * @param[in] data        : Pointer to store the updated accel config.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t check_accel_config(uint8_t* data, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API process the accel odr.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t process_accel_odr(uint8_t* data, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API process the accel bandwidth.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t process_accel_bw(uint8_t* data, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API process the accel range.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t process_accel_range(uint8_t* data, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API checks the invalid settings for ODR & Bw for Accel and Gyro.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t check_invalid_settg(const struct bmi160_dev* dev);
-
-/*!
- * @brief This API set the gyro configuration.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_gyro_conf(struct bmi160_dev* dev);
-
-/*!
- * @brief This API get the gyro configuration.
- *
- * @param[out] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t get_gyro_conf(struct bmi160_dev* dev);
-
-/*!
- * @brief This API check the gyro configuration.
- *
- * @param[in] data        : Pointer to store the updated gyro config.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t check_gyro_config(uint8_t* data, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API process the gyro odr.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t process_gyro_odr(uint8_t* data, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API process the gyro bandwidth.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t process_gyro_bw(uint8_t* data, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API process the gyro range.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t process_gyro_range(uint8_t* data, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the accel power mode.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_accel_pwr(struct bmi160_dev* dev);
-
-/*!
- * @brief This API process the undersampling setting of Accel.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t process_under_sampling(uint8_t* data, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the gyro power mode.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_gyro_pwr(struct bmi160_dev* dev);
-
-/*!
- * @brief This API reads accel data along with sensor time if time is requested
- * by user. Kindly refer the user guide(README.md) for more info.
- *
- * @param[in] len    : len to read no of bytes
- * @param[out] accel    : Structure pointer to store accel data
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t
-    get_accel_data(uint8_t len, struct bmi160_sensor_data* accel, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API reads accel data along with sensor time if time is requested
- * by user. Kindly refer the user guide(README.md) for more info.
- *
- * @param[in] len    : len to read no of bytes
- * @param[out] gyro    : Structure pointer to store accel data
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t
-    get_gyro_data(uint8_t len, struct bmi160_sensor_data* gyro, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API reads accel and gyro data along with sensor time
- * if time is requested by user.
- * Kindly refer the user guide(README.md) for more info.
- *
- * @param[in] len    : len to read no of bytes
- * @param[out] accel    : Structure pointer to store accel data
- * @param[out] gyro    : Structure pointer to store accel data
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t get_accel_gyro_data(
-    uint8_t len,
-    struct bmi160_sensor_data* accel,
-    struct bmi160_sensor_data* gyro,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enables the any-motion interrupt for accel.
- *
- * @param[in] any_motion_int_cfg   : Structure instance of
- *                   bmi160_acc_any_mot_int_cfg.
- * @param[in] dev          : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_accel_any_motion_int(
-    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
-    struct bmi160_dev* dev);
-
-/*!
- * @brief This API disable the sig-motion interrupt.
- *
- * @param[in] dev   : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t disable_sig_motion_int(const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for any-motion interrupt.
- *
- * @param[in] any_motion_int_cfg  : Structure instance of
- *                  bmi160_acc_any_mot_int_cfg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_any_motion_src(
-    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the duration and threshold of
- * any-motion interrupt.
- *
- * @param[in] any_motion_int_cfg  : Structure instance of
- *                  bmi160_acc_any_mot_int_cfg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_any_dur_threshold(
-    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure necessary setting of any-motion interrupt.
- *
- * @param[in] int_config       : Structure instance of bmi160_int_settg.
- * @param[in] any_motion_int_cfg   : Structure instance of
- *                   bmi160_acc_any_mot_int_cfg.
- * @param[in] dev          : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_any_motion_int_settg(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enable the data ready interrupt.
- *
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_data_ready_int(const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enables the no motion/slow motion interrupt.
- *
- * @param[in] no_mot_int_cfg    : Structure instance of
- *                bmi160_acc_no_motion_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_no_motion_int(
-    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the interrupt PIN setting for
- * no motion/slow motion interrupt.
- *
- * @param[in] int_config    : structure instance of bmi160_int_settg.
- * @param[in] no_mot_int_cfg    : Structure instance of
- *                bmi160_acc_no_motion_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_no_motion_int_settg(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the source of interrupt for no motion.
- *
- * @param[in] no_mot_int_cfg    : Structure instance of
- *                bmi160_acc_no_motion_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_no_motion_data_src(
-    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the duration and threshold of
- * no motion/slow motion interrupt along with selection of no/slow motion.
- *
- * @param[in] no_mot_int_cfg    : Structure instance of
- *                bmi160_acc_no_motion_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_no_motion_dur_thr(
-    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enables the sig-motion motion interrupt.
- *
- * @param[in] sig_mot_int_cfg   : Structure instance of
- *                bmi160_acc_sig_mot_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_sig_motion_int(
-    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
-    struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the interrupt PIN setting for
- * significant motion interrupt.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] sig_mot_int_cfg   : Structure instance of
- *                bmi160_acc_sig_mot_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_sig_motion_int_settg(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for sig motion interrupt.
- *
- * @param[in] sig_mot_int_cfg   : Structure instance of
- *                bmi160_acc_sig_mot_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_sig_motion_data_src(
-    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the threshold, skip and proof time of
- * sig motion interrupt.
- *
- * @param[in] sig_mot_int_cfg   : Structure instance of
- *                bmi160_acc_sig_mot_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_sig_dur_threshold(
-    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enables the step detector interrupt.
- *
- * @param[in] step_detect_int_cfg   : Structure instance of
- *                    bmi160_acc_step_detect_int_cfg.
- * @param[in] dev           : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_step_detect_int(
-    const struct bmi160_acc_step_detect_int_cfg* step_detect_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the step detector parameter.
- *
- * @param[in] step_detect_int_cfg   : Structure instance of
- *                    bmi160_acc_step_detect_int_cfg.
- * @param[in] dev           : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_step_detect(
-    const struct bmi160_acc_step_detect_int_cfg* step_detect_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enables the single/double tap interrupt.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_tap_int(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the interrupt PIN setting for
- * tap interrupt.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] tap_int_cfg   : Structure instance of bmi160_acc_tap_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_tap_int_settg(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for tap interrupt.
- *
- * @param[in] tap_int_cfg   : Structure instance of bmi160_acc_tap_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_tap_data_src(
-    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the  parameters of tap interrupt.
- * Threshold, quite, shock, and duration.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] tap_int_cfg   : Structure instance of bmi160_acc_tap_int_cfg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_tap_param(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enable the external mode configuration.
- *
- * @param[in] dev   : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_sec_if(const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the ODR of the auxiliary sensor.
- *
- * @param[in] dev   : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_aux_odr(const struct bmi160_dev* dev);
-
-/*!
- * @brief This API maps the actual burst read length set by user.
- *
- * @param[in] len   : Pointer to store the read length.
- * @param[in] dev   : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t map_read_len(uint16_t* len, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the settings of auxiliary sensor.
- *
- * @param[in] dev   : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_aux_settg(const struct bmi160_dev* dev);
-
-/*!
- * @brief This API extract the read data from auxiliary sensor.
- *
- * @param[in] map_len     : burst read value.
- * @param[in] reg_addr    : Address of register to read.
- * @param[in] aux_data    : Pointer to store the read data.
- * @param[in] len     : length to read the data.
- * @param[in] dev         : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error
- */
-static int8_t extract_aux_read(
-    uint16_t map_len,
-    uint8_t reg_addr,
-    uint8_t* aux_data,
-    uint16_t len,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enables the orient interrupt.
- *
- * @param[in] orient_int_cfg : Structure instance of bmi160_acc_orient_int_cfg.
- * @param[in] dev        : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_orient_int(
-    const struct bmi160_acc_orient_int_cfg* orient_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the necessary setting of orientation interrupt.
- *
- * @param[in] orient_int_cfg : Structure instance of bmi160_acc_orient_int_cfg.
- * @param[in] dev        : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_orient_int_settg(
-    const struct bmi160_acc_orient_int_cfg* orient_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enables the flat interrupt.
- *
- * @param[in] flat_int  : Structure instance of bmi160_acc_flat_detect_int_cfg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_flat_int(
-    const struct bmi160_acc_flat_detect_int_cfg* flat_int,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the necessary setting of flat interrupt.
- *
- * @param[in] flat_int  : Structure instance of bmi160_acc_flat_detect_int_cfg.
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_flat_int_settg(
-    const struct bmi160_acc_flat_detect_int_cfg* flat_int,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enables the Low-g interrupt.
- *
- * @param[in] low_g_int : Structure instance of bmi160_acc_low_g_int_cfg.
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_low_g_int(
-    const struct bmi160_acc_low_g_int_cfg* low_g_int,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter) for low-g interrupt.
- *
- * @param[in] low_g_int : Structure instance of bmi160_acc_low_g_int_cfg.
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_low_g_data_src(
-    const struct bmi160_acc_low_g_int_cfg* low_g_int,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the necessary setting of low-g interrupt.
- *
- * @param[in] low_g_int : Structure instance of bmi160_acc_low_g_int_cfg.
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_low_g_int_settg(
-    const struct bmi160_acc_low_g_int_cfg* low_g_int,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enables the high-g interrupt.
- *
- * @param[in] high_g_int_cfg : Structure instance of bmi160_acc_high_g_int_cfg.
- * @param[in] dev        : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_high_g_int(
-    const struct bmi160_acc_high_g_int_cfg* high_g_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for high-g interrupt.
- *
- * @param[in] high_g_int_cfg : Structure instance of bmi160_acc_high_g_int_cfg.
- * @param[in] dev        : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_high_g_data_src(
-    const struct bmi160_acc_high_g_int_cfg* high_g_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the necessary setting of high-g interrupt.
- *
- * @param[in] high_g_int_cfg : Structure instance of bmi160_acc_high_g_int_cfg.
- * @param[in] dev        : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_high_g_int_settg(
-    const struct bmi160_acc_high_g_int_cfg* high_g_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the behavioural setting of interrupt pin.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t
-    config_int_out_ctrl(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the mode(input enable, latch or non-latch) of interrupt pin.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t
-    config_int_latch(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API performs the self test for accelerometer of BMI160
- *
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t perform_accel_self_test(struct bmi160_dev* dev);
-
-/*!
- * @brief This API enables to perform the accel self test by setting proper
- * configurations to facilitate accel self test
- *
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_accel_self_test(struct bmi160_dev* dev);
-
-/*!
- * @brief This API performs accel self test with positive excitation
- *
- * @param[in] accel_pos : Structure pointer to store accel data
- *                        for positive excitation
- * @param[in] dev   : structure instance of bmi160_dev
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t accel_self_test_positive_excitation(
-    struct bmi160_sensor_data* accel_pos,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API performs accel self test with negative excitation
- *
- * @param[in] accel_neg : Structure pointer to store accel data
- *                        for negative excitation
- * @param[in] dev   : structure instance of bmi160_dev
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t accel_self_test_negative_excitation(
-    struct bmi160_sensor_data* accel_neg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API validates the accel self test results
- *
- * @param[in] accel_pos : Structure pointer to store accel data
- *                        for positive excitation
- * @param[in] accel_neg : Structure pointer to store accel data
- *                        for negative excitation
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error / +ve value -> Self test fail
- */
-static int8_t validate_accel_self_test(
-    const struct bmi160_sensor_data* accel_pos,
-    const struct bmi160_sensor_data* accel_neg);
-
-/*!
- * @brief This API performs the self test for gyroscope of BMI160
- *
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t perform_gyro_self_test(const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enables the self test bit to trigger self test for gyro
- *
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_gyro_self_test(const struct bmi160_dev* dev);
-
-/*!
- * @brief This API validates the self test results of gyro
- *
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t validate_gyro_self_test(const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API sets FIFO full interrupt of the sensor.This interrupt
- *  occurs when the FIFO is full and the next full data sample would cause
- *  a FIFO overflow, which may delete the old samples.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t
-    set_fifo_full_int(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This enable the FIFO full interrupt engine.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t
-    enable_fifo_full_int(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API sets FIFO watermark interrupt of the sensor.The FIFO
- *  watermark interrupt is fired, when the FIFO fill level is above a fifo
- *  watermark.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t
-    set_fifo_watermark_int(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This enable the FIFO watermark interrupt engine.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t
-    enable_fifo_wtm_int(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API is used to reset the FIFO related configurations
- *  in the fifo_frame structure.
- *
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static void reset_fifo_data_structure(const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to read number of bytes filled
- *  currently in FIFO buffer.
- *
- *  @param[in] bytes_to_read  : Number of bytes available in FIFO at the
- *                              instant which is obtained from FIFO counter.
- *  @param[in] dev            : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success / -ve value -> Error.
- *  @retval Any non zero value -> Fail
- *
- */
-static int8_t get_fifo_byte_counter(uint16_t* bytes_to_read, struct bmi160_dev const* dev);
-
-/*!
- *  @brief This API is used to compute the number of bytes of accel FIFO data
- *  which is to be parsed in header-less mode
- *
- *  @param[out] data_index        : The start index for parsing data
- *  @param[out] data_read_length  : Number of bytes to be parsed
- *  @param[in]  acc_frame_count   : Number of accelerometer frames to be read
- *  @param[in]  dev               : Structure instance of bmi160_dev.
- *
- */
-static void get_accel_len_to_parse(
-    uint16_t* data_index,
-    uint16_t* data_read_length,
-    const uint8_t* acc_frame_count,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to parse the accelerometer data from the
- *  FIFO data in both header mode and header-less mode.
- *  It updates the idx value which is used to store the index of
- *  the current data byte which is parsed.
- *
- *  @param[in,out] acc      : structure instance of sensor data
- *  @param[in,out] idx      : Index value of number of bytes parsed
- *  @param[in,out] acc_idx  : Index value of accelerometer data
- *                                (x,y,z axes) frames parsed
- *  @param[in] frame_info       : It consists of either fifo_data_enable
- *                                parameter in header-less mode or
- *                                frame header data in header mode
- *  @param[in] dev      : structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_accel_frame(
-    struct bmi160_sensor_data* acc,
-    uint16_t* idx,
-    uint8_t* acc_idx,
-    uint8_t frame_info,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to parse the accelerometer data from the
- *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
- *
- * @param[in,out] accel_data        : structure instance of sensor data
- * @param[in,out] data_start_index  : Index value of number of bytes parsed
- * @param[in] dev           : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_accel_data(
-    struct bmi160_sensor_data* accel_data,
-    uint16_t data_start_index,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to parse the accelerometer data from the
- *  FIFO data in header mode.
- *
- *  @param[in,out] accel_data    : Structure instance of sensor data
- *  @param[in,out] accel_length  : Number of accelerometer frames
- *  @param[in] dev               : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void extract_accel_header_mode(
-    struct bmi160_sensor_data* accel_data,
-    uint8_t* accel_length,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API computes the number of bytes of gyro FIFO data
- *  which is to be parsed in header-less mode
- *
- *  @param[out] data_index       : The start index for parsing data
- *  @param[out] data_read_length : No of bytes to be parsed from FIFO buffer
- *  @param[in] gyro_frame_count  : Number of Gyro data frames to be read
- *  @param[in] dev               : Structure instance of bmi160_dev.
- */
-static void get_gyro_len_to_parse(
-    uint16_t* data_index,
-    uint16_t* data_read_length,
-    const uint8_t* gyro_frame_count,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to parse the gyroscope's data from the
- *  FIFO data in both header mode and header-less mode.
- *  It updates the idx value which is used to store the index of
- *  the current data byte which is parsed.
- *
- *  @param[in,out] gyro     : structure instance of sensor data
- *  @param[in,out] idx      : Index value of number of bytes parsed
- *  @param[in,out] gyro_idx : Index value of gyro data
- *                                (x,y,z axes) frames parsed
- *  @param[in] frame_info       : It consists of either fifo_data_enable
- *                                parameter in header-less mode or
- *                                frame header data in header mode
- *  @param[in] dev      : structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_gyro_frame(
-    struct bmi160_sensor_data* gyro,
-    uint16_t* idx,
-    uint8_t* gyro_idx,
-    uint8_t frame_info,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to parse the gyro data from the
- *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
- *
- *  @param[in,out] gyro_data         : structure instance of sensor data
- *  @param[in,out] data_start_index  : Index value of number of bytes parsed
- *  @param[in] dev           : structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_gyro_data(
-    struct bmi160_sensor_data* gyro_data,
-    uint16_t data_start_index,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to parse the gyro data from the
- *  FIFO data in header mode.
- *
- *  @param[in,out] gyro_data     : Structure instance of sensor data
- *  @param[in,out] gyro_length   : Number of gyro frames
- *  @param[in] dev               : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void extract_gyro_header_mode(
-    struct bmi160_sensor_data* gyro_data,
-    uint8_t* gyro_length,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API computes the number of bytes of aux FIFO data
- *  which is to be parsed in header-less mode
- *
- *  @param[out] data_index       : The start index for parsing data
- *  @param[out] data_read_length : No of bytes to be parsed from FIFO buffer
- *  @param[in] aux_frame_count   : Number of Aux data frames to be read
- *  @param[in] dev               : Structure instance of bmi160_dev.
- */
-static void get_aux_len_to_parse(
-    uint16_t* data_index,
-    uint16_t* data_read_length,
-    const uint8_t* aux_frame_count,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to parse the aux's data from the
- *  FIFO data in both header mode and header-less mode.
- *  It updates the idx value which is used to store the index of
- *  the current data byte which is parsed
- *
- *  @param[in,out] aux_data : structure instance of sensor data
- *  @param[in,out] idx      : Index value of number of bytes parsed
- *  @param[in,out] aux_index    : Index value of gyro data
- *                                (x,y,z axes) frames parsed
- *  @param[in] frame_info       : It consists of either fifo_data_enable
- *                                parameter in header-less mode or
- *                                frame header data in header mode
- *  @param[in] dev      : structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_aux_frame(
-    struct bmi160_aux_data* aux_data,
-    uint16_t* idx,
-    uint8_t* aux_index,
-    uint8_t frame_info,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to parse the aux data from the
- *  FIFO data and store it in the instance of the structure bmi160_aux_data.
- *
- * @param[in,out] aux_data      : structure instance of sensor data
- * @param[in,out] data_start_index  : Index value of number of bytes parsed
- * @param[in] dev           : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_aux_data(
-    struct bmi160_aux_data* aux_data,
-    uint16_t data_start_index,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to parse the aux data from the
- *  FIFO data in header mode.
- *
- *  @param[in,out] aux_data     : Structure instance of sensor data
- *  @param[in,out] aux_length   : Number of aux frames
- *  @param[in] dev              : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void extract_aux_header_mode(
-    struct bmi160_aux_data* aux_data,
-    uint8_t* aux_length,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API checks the presence of non-valid frames in the read fifo data.
- *
- *  @param[in,out] data_index    : The index of the current data to
- *                                be parsed from fifo data
- *  @param[in] dev               : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void check_frame_validity(uint16_t* data_index, const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to move the data index ahead of the
- *  current_frame_length parameter when unnecessary FIFO data appears while
- *  extracting the user specified data.
- *
- *  @param[in,out] data_index       : Index of the FIFO data which
- *                                  is to be moved ahead of the
- *                                  current_frame_length
- *  @param[in] current_frame_length : Number of bytes in a particular frame
- *  @param[in] dev                  : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void move_next_frame(
-    uint16_t* data_index,
-    uint8_t current_frame_length,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to parse and store the sensor time from the
- *  FIFO data in the structure instance dev.
- *
- *  @param[in,out] data_index : Index of the FIFO data which
- *                              has the sensor time.
- *  @param[in] dev            : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_sensortime_frame(uint16_t* data_index, const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to parse and store the skipped_frame_count from
- *  the FIFO data in the structure instance dev.
- *
- *  @param[in,out] data_index   : Index of the FIFO data which
- *                                    has the skipped frame count.
- *  @param[in] dev              : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_skipped_frame(uint16_t* data_index, const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to get the FOC status from the sensor
- *
- *  @param[in,out] foc_status   : Result of FOC status.
- *  @param[in] dev              : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static int8_t get_foc_status(uint8_t* foc_status, struct bmi160_dev const* dev);
-
-/*!
- *  @brief This API is used to configure the offset enable bits in the sensor
- *
- *  @param[in,out] foc_conf   : Structure instance of bmi160_foc_conf which
- *                                   has the FOC and offset configurations
- *  @param[in] dev            : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static int8_t
-    configure_offset_enable(const struct bmi160_foc_conf* foc_conf, struct bmi160_dev const* dev);
-
-/*!
- *  @brief This API is used to trigger the FOC in the sensor
- *
- *  @param[in,out] offset     : Structure instance of bmi160_offsets which
- *                              reads and stores the offset values after FOC
- *  @param[in] dev            : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static int8_t trigger_foc(struct bmi160_offsets* offset, struct bmi160_dev const* dev);
-
-/*!
- *  @brief This API is used to map/unmap the Dataready(Accel & Gyro), FIFO full
- *  and FIFO watermark interrupt
- *
- *  @param[in] int_config     : Structure instance of bmi160_int_settg which
- *                              stores the interrupt type and interrupt channel
- *              configurations to map/unmap the interrupt pins
- *  @param[in] dev            : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static int8_t
-    map_hardware_interrupt(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to map/unmap the Any/Sig motion, Step det/Low-g,
- *  Double tap, Single tap, Orientation, Flat, High-G, Nomotion interrupt pins.
- *
- *  @param[in] int_config     : Structure instance of bmi160_int_settg which
- *                              stores the interrupt type and interrupt channel
- *              configurations to map/unmap the interrupt pins
- *  @param[in] dev            : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static int8_t
-    map_feature_interrupt(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*********************** User function definitions ****************************/
-
-/*!
- * @brief This API reads the data from the given register address
- * of sensor.
- */
-int8_t
-    bmi160_get_regs(uint8_t reg_addr, uint8_t* data, uint16_t len, const struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-
-    /* Null-pointer check */
-    if((dev == NULL) || (dev->read == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else if(len == 0) {
-        rslt = BMI160_E_READ_WRITE_LENGTH_INVALID;
-    } else {
-        /* Configuring reg_addr for SPI Interface */
-        if(dev->intf == BMI160_SPI_INTF) {
-            reg_addr = (reg_addr | BMI160_SPI_RD_MASK);
-        }
-
-        rslt = dev->read(dev->id, reg_addr, data, len);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API writes the given data to the register address
- * of sensor.
- */
-int8_t
-    bmi160_set_regs(uint8_t reg_addr, uint8_t* data, uint16_t len, const struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-    uint8_t count = 0;
-
-    /* Null-pointer check */
-    if((dev == NULL) || (dev->write == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else if(len == 0) {
-        rslt = BMI160_E_READ_WRITE_LENGTH_INVALID;
-    } else {
-        /* Configuring reg_addr for SPI Interface */
-        if(dev->intf == BMI160_SPI_INTF) {
-            reg_addr = (reg_addr & BMI160_SPI_WR_MASK);
-        }
-
-        if((dev->prev_accel_cfg.power == BMI160_ACCEL_NORMAL_MODE) ||
-           (dev->prev_gyro_cfg.power == BMI160_GYRO_NORMAL_MODE)) {
-            rslt = dev->write(dev->id, reg_addr, data, len);
-
-            /* Kindly refer bmi160 data sheet section 3.2.4 */
-            dev->delay_ms(1);
-
-        } else {
-            /*Burst write is not allowed in
-             * suspend & low power mode */
-            for(; count < len; count++) {
-                rslt = dev->write(dev->id, reg_addr, &data[count], 1);
-                reg_addr++;
-
-                /* Kindly refer bmi160 data sheet section 3.2.4 */
-                dev->delay_ms(1);
-            }
-        }
-
-        if(rslt != BMI160_OK) {
-            rslt = BMI160_E_COM_FAIL;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API is the entry point for sensor.It performs
- *  the selection of I2C/SPI read mechanism according to the
- *  selected interface and reads the chip-id of bmi160 sensor.
- */
-int8_t bmi160_init(struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data;
-    uint8_t try = 3;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-
-    /* Dummy read of 0x7F register to enable SPI Interface
-     * if SPI is used */
-    if((rslt == BMI160_OK) && (dev->intf == BMI160_SPI_INTF)) {
-        rslt = bmi160_get_regs(BMI160_SPI_COMM_TEST_ADDR, &data, 1, dev);
-    }
-
-    if(rslt == BMI160_OK) {
-        /* Assign chip id as zero */
-        dev->chip_id = 0;
+#define BMI160_TAG "BMI160"
+#define BMI160_DEV_ADDR (0x69 << 1)
 
-        while((try--) && (dev->chip_id != BMI160_CHIP_ID)) {
-            /* Read chip_id */
-            rslt = bmi160_get_regs(BMI160_CHIP_ID_ADDR, &dev->chip_id, 1, dev);
-        }
+struct bmi160_dev bmi160dev;
+struct bmi160_sensor_data bmi160_accel;
+struct bmi160_sensor_data bmi160_gyro;
 
-        if((rslt == BMI160_OK) && (dev->chip_id == BMI160_CHIP_ID)) {
-            dev->any_sig_sel = BMI160_BOTH_ANY_SIG_MOTION_DISABLED;
-
-            /* Soft reset */
-            rslt = bmi160_soft_reset(dev);
-        } else {
-            rslt = BMI160_E_DEV_NOT_FOUND;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API resets and restarts the device.
- * All register values are overwritten with default parameters.
- */
-int8_t bmi160_soft_reset(struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = BMI160_SOFT_RESET_CMD;
-
-    /* Null-pointer check */
-    if((dev == NULL) || (dev->delay_ms == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* Reset the device */
-        rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &data, 1, dev);
-        dev->delay_ms(BMI160_SOFT_RESET_DELAY_MS);
-        if((rslt == BMI160_OK) && (dev->intf == BMI160_SPI_INTF)) {
-            /* Dummy read of 0x7F register to enable SPI Interface
-             * if SPI is used */
-            rslt = bmi160_get_regs(BMI160_SPI_COMM_TEST_ADDR, &data, 1, dev);
-        }
-
-        if(rslt == BMI160_OK) {
-            /* Update the default parameters */
-            default_param_settg(dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configures the power mode, range and bandwidth
- * of sensor.
- */
-int8_t bmi160_set_sens_conf(struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-
-    /* Null-pointer check */
-    if((dev == NULL) || (dev->delay_ms == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        rslt = set_accel_conf(dev);
-        if(rslt == BMI160_OK) {
-            rslt = set_gyro_conf(dev);
-            if(rslt == BMI160_OK) {
-                /* write power mode for accel and gyro */
-                rslt = bmi160_set_power_mode(dev);
-                if(rslt == BMI160_OK) {
-                    rslt = check_invalid_settg(dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets accel and gyro configurations.
- */
-int8_t bmi160_get_sens_conf(struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-
-    /* Null-pointer check */
-    if((dev == NULL) || (dev->delay_ms == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        rslt = get_accel_conf(dev);
-        if(rslt == BMI160_OK) {
-            rslt = get_gyro_conf(dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the power mode of the sensor.
- */
-int8_t bmi160_set_power_mode(struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-
-    /* Null-pointer check */
-    if((dev == NULL) || (dev->delay_ms == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        rslt = set_accel_pwr(dev);
-        if(rslt == BMI160_OK) {
-            rslt = set_gyro_pwr(dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the power mode of the sensor.
- */
-int8_t bmi160_get_power_mode(struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-    uint8_t power_mode = 0;
-
-    /* Null-pointer check */
-    if((dev == NULL) || (dev->delay_ms == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        rslt = bmi160_get_regs(BMI160_PMU_STATUS_ADDR, &power_mode, 1, dev);
-        if(rslt == BMI160_OK) {
-            /* Power mode of the accel, gyro sensor is obtained */
-            dev->gyro_cfg.power = BMI160_GET_BITS(power_mode, BMI160_GYRO_POWER_MODE);
-            dev->accel_cfg.power = BMI160_GET_BITS(power_mode, BMI160_ACCEL_POWER_MODE);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads sensor data, stores it in
- * the bmi160_sensor_data structure pointer passed by the user.
- */
-int8_t bmi160_get_sensor_data(
-    uint8_t select_sensor,
-    struct bmi160_sensor_data* accel,
-    struct bmi160_sensor_data* gyro,
-    const struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-    uint8_t time_sel;
-    uint8_t sen_sel;
-    uint8_t len = 0;
-
-    /*Extract the sensor  and time select information*/
-    sen_sel = select_sensor & BMI160_SEN_SEL_MASK;
-    time_sel = ((sen_sel & BMI160_TIME_SEL) >> 2);
-    sen_sel = sen_sel & (BMI160_ACCEL_SEL | BMI160_GYRO_SEL);
-    if(time_sel == 1) {
-        len = 3;
-    }
-
-    /* Null-pointer check */
-    if(dev != NULL) {
-        switch(sen_sel) {
-        case BMI160_ACCEL_ONLY:
-
-            /* Null-pointer check */
-            if(accel == NULL) {
-                rslt = BMI160_E_NULL_PTR;
-            } else {
-                rslt = get_accel_data(len, accel, dev);
-            }
-
-            break;
-        case BMI160_GYRO_ONLY:
-
-            /* Null-pointer check */
-            if(gyro == NULL) {
-                rslt = BMI160_E_NULL_PTR;
-            } else {
-                rslt = get_gyro_data(len, gyro, dev);
-            }
-
-            break;
-        case BMI160_BOTH_ACCEL_AND_GYRO:
-
-            /* Null-pointer check */
-            if((gyro == NULL) || (accel == NULL)) {
-                rslt = BMI160_E_NULL_PTR;
-            } else {
-                rslt = get_accel_gyro_data(len, accel, gyro, dev);
-            }
-
-            break;
-        default:
-            rslt = BMI160_E_INVALID_INPUT;
-            break;
-        }
-    } else {
-        rslt = BMI160_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configures the necessary interrupt based on
- *  the user settings in the bmi160_int_settg structure instance.
- */
-int8_t bmi160_set_int_config(struct bmi160_int_settg* int_config, struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-
-    switch(int_config->int_type) {
-    case BMI160_ACC_ANY_MOTION_INT:
-
-        /*Any-motion  interrupt*/
-        rslt = set_accel_any_motion_int(int_config, dev);
-        break;
-    case BMI160_ACC_SIG_MOTION_INT:
-
-        /* Significant motion interrupt */
-        rslt = set_accel_sig_motion_int(int_config, dev);
-        break;
-    case BMI160_ACC_SLOW_NO_MOTION_INT:
-
-        /* Slow or no motion interrupt */
-        rslt = set_accel_no_motion_int(int_config, dev);
-        break;
-    case BMI160_ACC_DOUBLE_TAP_INT:
-    case BMI160_ACC_SINGLE_TAP_INT:
-
-        /* Double tap and single tap Interrupt */
-        rslt = set_accel_tap_int(int_config, dev);
-        break;
-    case BMI160_STEP_DETECT_INT:
-
-        /* Step detector interrupt */
-        rslt = set_accel_step_detect_int(int_config, dev);
-        break;
-    case BMI160_ACC_ORIENT_INT:
-
-        /* Orientation interrupt */
-        rslt = set_accel_orientation_int(int_config, dev);
-        break;
-    case BMI160_ACC_FLAT_INT:
-
-        /* Flat detection interrupt */
-        rslt = set_accel_flat_detect_int(int_config, dev);
-        break;
-    case BMI160_ACC_LOW_G_INT:
-
-        /* Low-g interrupt */
-        rslt = set_accel_low_g_int(int_config, dev);
-        break;
-    case BMI160_ACC_HIGH_G_INT:
-
-        /* High-g interrupt */
-        rslt = set_accel_high_g_int(int_config, dev);
-        break;
-    case BMI160_ACC_GYRO_DATA_RDY_INT:
-
-        /* Data ready interrupt */
-        rslt = set_accel_gyro_data_ready_int(int_config, dev);
-        break;
-    case BMI160_ACC_GYRO_FIFO_FULL_INT:
-
-        /* Fifo full interrupt */
-        rslt = set_fifo_full_int(int_config, dev);
-        break;
-    case BMI160_ACC_GYRO_FIFO_WATERMARK_INT:
-
-        /* Fifo water-mark interrupt */
-        rslt = set_fifo_watermark_int(int_config, dev);
-        break;
-    case BMI160_FIFO_TAG_INT_PIN:
-
-        /* Fifo tagging feature support */
-        /* Configure Interrupt pins */
-        rslt = set_intr_pin_config(int_config, dev);
-        break;
-    default:
-        break;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables or disable the step counter feature.
- * 1 - enable step counter (0 - disable)
- */
-int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if(rslt != BMI160_OK) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        rslt = bmi160_get_regs(BMI160_INT_STEP_CONFIG_1_ADDR, &data, 1, dev);
-        if(rslt == BMI160_OK) {
-            if(step_cnt_enable == BMI160_ENABLE) {
-                data |= (uint8_t)(step_cnt_enable << 3);
-            } else {
-                data &= ~BMI160_STEP_COUNT_EN_BIT_MASK;
-            }
-
-            rslt = bmi160_set_regs(BMI160_INT_STEP_CONFIG_1_ADDR, &data, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads the step counter value.
- */
-int8_t bmi160_read_step_counter(uint16_t* step_val, const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data[2] = {0, 0};
-    uint16_t msb = 0;
-    uint8_t lsb = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if(rslt != BMI160_OK) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        rslt = bmi160_get_regs(BMI160_INT_STEP_CNT_0_ADDR, data, 2, dev);
-        if(rslt == BMI160_OK) {
-            lsb = data[0];
-            msb = data[1] << 8;
-            *step_val = msb | lsb;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads the mention no of byte of data from the given
- * register address of auxiliary sensor.
- */
-int8_t bmi160_aux_read(
-    uint8_t reg_addr,
-    uint8_t* aux_data,
-    uint16_t len,
-    const struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-    uint16_t map_len = 0;
-
-    /* Null-pointer check */
-    if((dev == NULL) || (dev->read == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        if(dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE) {
-            rslt = map_read_len(&map_len, dev);
-            if(rslt == BMI160_OK) {
-                rslt = extract_aux_read(map_len, reg_addr, aux_data, len, dev);
-            }
-        } else {
-            rslt = BMI160_E_INVALID_INPUT;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API writes the mention no of byte of data to the given
- * register address of auxiliary sensor.
- */
-int8_t bmi160_aux_write(
-    uint8_t reg_addr,
-    uint8_t* aux_data,
-    uint16_t len,
-    const struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-    uint8_t count = 0;
-
-    /* Null-pointer check */
-    if((dev == NULL) || (dev->write == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        for(; count < len; count++) {
-            /* set data to write */
-            rslt = bmi160_set_regs(BMI160_AUX_IF_4_ADDR, aux_data, 1, dev);
-            dev->delay_ms(BMI160_AUX_COM_DELAY);
-            if(rslt == BMI160_OK) {
-                /* set address to write */
-                rslt = bmi160_set_regs(BMI160_AUX_IF_3_ADDR, &reg_addr, 1, dev);
-                dev->delay_ms(BMI160_AUX_COM_DELAY);
-                if(rslt == BMI160_OK && (count < len - 1)) {
-                    aux_data++;
-                    reg_addr++;
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API initialize the auxiliary sensor
- * in order to access it.
- */
-int8_t bmi160_aux_init(const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if(rslt != BMI160_OK) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        if(dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE) {
-            /* Configures the auxiliary sensor interface settings */
-            rslt = config_aux_settg(dev);
-        } else {
-            rslt = BMI160_E_INVALID_INPUT;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API is used to setup the auxiliary sensor of bmi160 in auto mode
- * Thus enabling the auto update of 8 bytes of data from auxiliary sensor
- * to BMI160 register address 0x04 to 0x0B
- */
-int8_t bmi160_set_aux_auto_mode(uint8_t* data_addr, struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if(rslt != BMI160_OK) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        if(dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE) {
-            /* Write the aux. address to read in 0x4D of BMI160*/
-            rslt = bmi160_set_regs(BMI160_AUX_IF_2_ADDR, data_addr, 1, dev);
-            dev->delay_ms(BMI160_AUX_COM_DELAY);
-            if(rslt == BMI160_OK) {
-                /* Configure the polling ODR for
-                 * auxiliary sensor */
-                rslt = config_aux_odr(dev);
-                if(rslt == BMI160_OK) {
-                    /* Disable the aux. manual mode, i.e aux.
-                     * sensor is in auto-mode (data-mode) */
-                    dev->aux_cfg.manual_enable = BMI160_DISABLE;
-                    rslt = bmi160_config_aux_mode(dev);
-
-                    /*  Auxiliary sensor data is obtained
-                     * in auto mode from this point */
-                }
-            }
-        } else {
-            rslt = BMI160_E_INVALID_INPUT;
-        }
-    }
-
-    return rslt;
+int8_t bmi160_write_i2c(uint8_t dev_addr, uint8_t reg_addr, uint8_t* data, uint16_t len) {
+    if(furi_hal_i2c_write_mem(&furi_hal_i2c_handle_external, dev_addr, reg_addr, data, len, 50))
+        return BMI160_OK;
+    return BMI160_E_COM_FAIL;
 }
 
-/*!
- * @brief This API configures the 0x4C register and settings like
- * Auxiliary sensor manual enable/ disable and aux burst read length.
- */
-int8_t bmi160_config_aux_mode(const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t aux_if[2] = {(uint8_t)(dev->aux_cfg.aux_i2c_addr * 2), 0};
-
-    rslt = bmi160_get_regs(BMI160_AUX_IF_1_ADDR, &aux_if[1], 1, dev);
-    if(rslt == BMI160_OK) {
-        /* update the Auxiliary interface to manual/auto mode */
-        aux_if[1] = BMI160_SET_BITS(aux_if[1], BMI160_MANUAL_MODE_EN, dev->aux_cfg.manual_enable);
-
-        /* update the burst read length defined by user */
-        aux_if[1] =
-            BMI160_SET_BITS_POS_0(aux_if[1], BMI160_AUX_READ_BURST, dev->aux_cfg.aux_rd_burst_len);
-
-        /* Set the secondary interface address and manual mode
-         * along with burst read length */
-        rslt = bmi160_set_regs(BMI160_AUX_IF_0_ADDR, &aux_if[0], 2, dev);
-        dev->delay_ms(BMI160_AUX_COM_DELAY);
-    }
-
-    return rslt;
+int8_t bmi160_read_i2c(uint8_t dev_addr, uint8_t reg_addr, uint8_t* read_data, uint16_t len) {
+    if(furi_hal_i2c_read_mem(&furi_hal_i2c_handle_external, dev_addr, reg_addr, read_data, len, 50))
+        return BMI160_OK;
+    return BMI160_E_COM_FAIL;
 }
 
-/*!
- * @brief This API is used to read the raw uncompensated auxiliary sensor
- * data of 8 bytes from BMI160 register address 0x04 to 0x0B
- */
-int8_t bmi160_read_aux_data_auto_mode(uint8_t* aux_data, const struct bmi160_dev* dev) {
-    int8_t rslt;
+bool bmi160_begin() {
+    FURI_LOG_I(BMI160_TAG, "Init BMI160");
 
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if(rslt != BMI160_OK) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        if((dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE) &&
-           (dev->aux_cfg.manual_enable == BMI160_DISABLE)) {
-            /* Read the aux. sensor's raw data */
-            rslt = bmi160_get_regs(BMI160_AUX_DATA_ADDR, aux_data, 8, dev);
-        } else {
-            rslt = BMI160_E_INVALID_INPUT;
-        }
+    if(!furi_hal_i2c_is_device_ready(&furi_hal_i2c_handle_external, BMI160_DEV_ADDR, 50)) {
+        FURI_LOG_E(BMI160_TAG, "Device not ready!");
+        return false;
     }
 
-    return rslt;
-}
-
-/*!
- * @brief This is used to perform self test of accel/gyro of the BMI160 sensor
- */
-int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev* dev) {
-    int8_t rslt;
-    int8_t self_test_rslt = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if(rslt != BMI160_OK) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* Proceed if null check is fine */
-        switch(select_sensor) {
-        case BMI160_ACCEL_ONLY:
-            rslt = perform_accel_self_test(dev);
-            break;
-        case BMI160_GYRO_ONLY:
-
-            /* Set the power mode as normal mode */
-            dev->gyro_cfg.power = BMI160_GYRO_NORMAL_MODE;
-            rslt = bmi160_set_power_mode(dev);
-
-            /* Perform gyro self test */
-            if(rslt == BMI160_OK) {
-                /* Perform gyro self test */
-                rslt = perform_gyro_self_test(dev);
-            }
-
-            break;
-        default:
-            rslt = BMI160_E_INVALID_INPUT;
-            break;
-        }
-
-        /* Check to ensure bus error does not occur */
-        if(rslt >= BMI160_OK) {
-            /* Store the status of self test result */
-            self_test_rslt = rslt;
+    FURI_LOG_I(BMI160_TAG, "Device ready!");
 
-            /* Perform soft reset */
-            rslt = bmi160_soft_reset(dev);
-        }
+    bmi160dev.id = BMI160_DEV_ADDR;
+    bmi160dev.intf = BMI160_I2C_INTF;
+    bmi160dev.read = bmi160_read_i2c;
+    bmi160dev.write = bmi160_write_i2c;
+    bmi160dev.delay_ms = furi_delay_ms;
 
-        /* Check to ensure bus operations are success */
-        if(rslt == BMI160_OK) {
-            /* Restore self_test_rslt as return value */
-            rslt = self_test_rslt;
-        }
+    if(bmi160_init(&bmi160dev) != BMI160_OK) {
+        FURI_LOG_E(BMI160_TAG, "Initialization failure!");
+        FURI_LOG_E(BMI160_TAG, "Chip ID 0x%X", bmi160dev.chip_id);
+        return false;
     }
 
-    return rslt;
-}
-
-/*!
- * @brief This API reads the data from fifo buffer.
- */
-int8_t bmi160_get_fifo_data(struct bmi160_dev const* dev) {
-    int8_t rslt = 0;
-    uint16_t bytes_to_read = 0;
-    uint16_t user_fifo_len = 0;
-
-    /* check the bmi160 structure as NULL*/
-    if((dev == NULL) || (dev->fifo->data == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        reset_fifo_data_structure(dev);
-
-        /* get current FIFO fill-level*/
-        rslt = get_fifo_byte_counter(&bytes_to_read, dev);
-        if(rslt == BMI160_OK) {
-            user_fifo_len = dev->fifo->length;
-            if((dev->fifo->length > bytes_to_read)) {
-                /* Handling the case where user requests
-                 * more data than available in FIFO */
-                dev->fifo->length = bytes_to_read;
-            }
+    bmi160dev.accel_cfg.odr = BMI160_ACCEL_ODR_400HZ;
+    bmi160dev.accel_cfg.range = BMI160_ACCEL_RANGE_4G;
+    bmi160dev.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
+    bmi160dev.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
+    bmi160dev.gyro_cfg.odr = BMI160_GYRO_ODR_400HZ;
+    bmi160dev.gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS;
+    bmi160dev.gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE;
+    bmi160dev.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE;
 
-            if((dev->fifo->fifo_time_enable == BMI160_FIFO_TIME_ENABLE) &&
-               (bytes_to_read + BMI160_FIFO_BYTES_OVERREAD <= user_fifo_len)) {
-                /* Handling case of sensor time availability*/
-                dev->fifo->length = dev->fifo->length + BMI160_FIFO_BYTES_OVERREAD;
-            }
-
-            /* read only the filled bytes in the FIFO Buffer */
-            rslt = bmi160_get_regs(BMI160_FIFO_DATA_ADDR, dev->fifo->data, dev->fifo->length, dev);
-        }
+    if(bmi160_set_sens_conf(&bmi160dev) != BMI160_OK) {
+        FURI_LOG_E(BMI160_TAG, "Initialization failure!");
+        FURI_LOG_E(BMI160_TAG, "Chip ID 0x%X", bmi160dev.chip_id);
+        return false;
     }
 
-    return rslt;
-}
-
-/*!
- *  @brief This API writes fifo_flush command to command register.This
- *  action clears all data in the Fifo without changing fifo configuration
- *  settings
- */
-int8_t bmi160_set_fifo_flush(const struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-    uint8_t data = BMI160_FIFO_FLUSH_VALUE;
-    uint8_t reg_addr = BMI160_COMMAND_REG_ADDR;
-
-    /* Check the bmi160_dev structure for NULL address*/
-    if(dev == NULL) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
-    }
+    FURI_LOG_I(BMI160_TAG, "Initialization success!");
+    FURI_LOG_I(BMI160_TAG, "Chip ID 0x%X", bmi160dev.chip_id);
 
-    return rslt;
+    return true;
 }
 
-/*!
- * @brief This API sets the FIFO configuration in the sensor.
- */
-int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const* dev) {
-    int8_t rslt = 0;
-    uint8_t data = 0;
-    uint8_t reg_addr = BMI160_FIFO_CONFIG_1_ADDR;
-    uint8_t fifo_config = config & BMI160_FIFO_CONFIG_1_MASK;
-
-    /* Check the bmi160_dev structure for NULL address*/
-    if(dev == NULL) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        rslt = bmi160_get_regs(reg_addr, &data, BMI160_ONE, dev);
-        if(rslt == BMI160_OK) {
-            if(fifo_config > 0) {
-                if(enable == BMI160_ENABLE) {
-                    data = data | fifo_config;
-                } else {
-                    data = data & (~fifo_config);
-                }
-            }
-
-            /* write fifo frame content configuration*/
-            rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
-            if(rslt == BMI160_OK) {
-                /* read fifo frame content configuration*/
-                rslt = bmi160_get_regs(reg_addr, &data, BMI160_ONE, dev);
-                if(rslt == BMI160_OK) {
-                    /* extract fifo header enabled status */
-                    dev->fifo->fifo_header_enable = data & BMI160_FIFO_HEAD_ENABLE;
-
-                    /* extract accel/gyr/aux. data enabled status */
-                    dev->fifo->fifo_data_enable = data & BMI160_FIFO_M_G_A_ENABLE;
-
-                    /* extract fifo sensor time enabled status */
-                    dev->fifo->fifo_time_enable = data & BMI160_FIFO_TIME_ENABLE;
-                }
-            }
-        }
+int bmi160_read(double* vec) {
+    if(bmi160_get_sensor_data(
+           (BMI160_ACCEL_SEL | BMI160_GYRO_SEL), &bmi160_accel, &bmi160_gyro, &bmi160dev) !=
+       BMI160_OK) {
+        return 0;
     }
 
-    return rslt;
-}
-
-/*! @brief This API is used to configure the down sampling ratios of
- *  the accel and gyro data for FIFO.Also, it configures filtered or
- *  pre-filtered data for accel and gyro.
- *
- */
-int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-    uint8_t data = 0;
-    uint8_t reg_addr = BMI160_FIFO_DOWN_ADDR;
-
-    /* Check the bmi160_dev structure for NULL address*/
-    if(dev == NULL) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        rslt = bmi160_get_regs(reg_addr, &data, BMI160_ONE, dev);
-        if(rslt == BMI160_OK) {
-            data = data | fifo_down;
-            rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
-        }
-    }
+    vec[0] = ((double)bmi160_accel.x * 4 / 32768) * GRAVITY;
+    vec[1] = ((double)bmi160_accel.y * 4 / 32768) * GRAVITY;
+    vec[2] = ((double)bmi160_accel.z * 4 / 32768) * GRAVITY;
+    vec[3] = ((double)bmi160_gyro.x * 2000 / 32768) * DEG_TO_RAD;
+    vec[4] = ((double)bmi160_gyro.y * 2000 / 32768) * DEG_TO_RAD;
+    vec[5] = ((double)bmi160_gyro.z * 2000 / 32768) * DEG_TO_RAD;
 
-    return rslt;
+    return ACC_DATA_READY | GYR_DATA_READY;
 }
 
-/*!
- *  @brief This API sets the FIFO watermark level in the sensor.
- *
- */
-int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-    uint8_t data = fifo_wm;
-    uint8_t reg_addr = BMI160_FIFO_CONFIG_0_ADDR;
-
-    /* Check the bmi160_dev structure for NULL address*/
-    if(dev == NULL) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
-    }
-
-    return rslt;
+void bmi160_end() {
 }
 
-/*!
- *  @brief This API parses and extracts the accelerometer frames from
- *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
- *  the "accel_data" structure instance.
- */
-int8_t bmi160_extract_accel(
-    struct bmi160_sensor_data* accel_data,
-    uint8_t* accel_length,
-    struct bmi160_dev const* dev) {
-    int8_t rslt = 0;
-    uint16_t data_index = 0;
-    uint16_t data_read_length = 0;
-    uint8_t accel_index = 0;
-    uint8_t fifo_data_enable = 0;
+struct imu_t imu_bmi160 = {
+   BMI160_DEV_ADDR,
+   bmi160_begin,
+   bmi160_end,
+   bmi160_read,
+   BMI160_TAG
+};
 
-    if(dev == NULL || dev->fifo == NULL || dev->fifo->data == NULL) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* Parsing the FIFO data in header-less mode */
-        if(dev->fifo->fifo_header_enable == 0) {
-            /* Number of bytes to be parsed from FIFO */
-            get_accel_len_to_parse(&data_index, &data_read_length, accel_length, dev);
-            for(; data_index < data_read_length;) {
-                /*Check for the availability of next two bytes of FIFO data */
-                check_frame_validity(&data_index, dev);
-                fifo_data_enable = dev->fifo->fifo_data_enable;
-                unpack_accel_frame(accel_data, &data_index, &accel_index, fifo_data_enable, dev);
-            }
 
-            /* update number of accel data read*/
-            *accel_length = accel_index;
-
-            /*update the accel byte index*/
-            dev->fifo->accel_byte_start_idx = data_index;
-        } else {
-            /* Parsing the FIFO data in header mode */
-            extract_accel_header_mode(accel_data, accel_length, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API parses and extracts the gyro frames from
- *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
- *  the "gyro_data" structure instance.
- */
-int8_t bmi160_extract_gyro(
-    struct bmi160_sensor_data* gyro_data,
-    uint8_t* gyro_length,
-    struct bmi160_dev const* dev) {
-    int8_t rslt = 0;
-    uint16_t data_index = 0;
-    uint16_t data_read_length = 0;
-    uint8_t gyro_index = 0;
-    uint8_t fifo_data_enable = 0;
-
-    if(dev == NULL || dev->fifo->data == NULL) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* Parsing the FIFO data in header-less mode */
-        if(dev->fifo->fifo_header_enable == 0) {
-            /* Number of bytes to be parsed from FIFO */
-            get_gyro_len_to_parse(&data_index, &data_read_length, gyro_length, dev);
-            for(; data_index < data_read_length;) {
-                /*Check for the availability of next two bytes of FIFO data */
-                check_frame_validity(&data_index, dev);
-                fifo_data_enable = dev->fifo->fifo_data_enable;
-                unpack_gyro_frame(gyro_data, &data_index, &gyro_index, fifo_data_enable, dev);
-            }
-
-            /* update number of gyro data read */
-            *gyro_length = gyro_index;
-
-            /* update the gyro byte index */
-            dev->fifo->gyro_byte_start_idx = data_index;
-        } else {
-            /* Parsing the FIFO data in header mode */
-            extract_gyro_header_mode(gyro_data, gyro_length, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API parses and extracts the aux frames from
- *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
- *  the "aux_data" structure instance.
- */
-int8_t bmi160_extract_aux(
-    struct bmi160_aux_data* aux_data,
-    uint8_t* aux_len,
-    struct bmi160_dev const* dev) {
-    int8_t rslt = 0;
-    uint16_t data_index = 0;
-    uint16_t data_read_length = 0;
-    uint8_t aux_index = 0;
-    uint8_t fifo_data_enable = 0;
-
-    if((dev == NULL) || (dev->fifo->data == NULL) || (aux_data == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* Parsing the FIFO data in header-less mode */
-        if(dev->fifo->fifo_header_enable == 0) {
-            /* Number of bytes to be parsed from FIFO */
-            get_aux_len_to_parse(&data_index, &data_read_length, aux_len, dev);
-            for(; data_index < data_read_length;) {
-                /* Check for the availability of next two
-                 * bytes of FIFO data */
-                check_frame_validity(&data_index, dev);
-                fifo_data_enable = dev->fifo->fifo_data_enable;
-                unpack_aux_frame(aux_data, &data_index, &aux_index, fifo_data_enable, dev);
-            }
-
-            /* update number of aux data read */
-            *aux_len = aux_index;
-
-            /* update the aux byte index */
-            dev->fifo->aux_byte_start_idx = data_index;
-        } else {
-            /* Parsing the FIFO data in header mode */
-            extract_aux_header_mode(aux_data, aux_len, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API starts the FOC of accel and gyro
- *
- *  @note FOC should not be used in low-power mode of sensor
- *
- *  @note Accel FOC targets values of +1g , 0g , -1g
- *  Gyro FOC always targets value of 0 dps
- */
-int8_t bmi160_start_foc(
-    const struct bmi160_foc_conf* foc_conf,
-    struct bmi160_offsets* offset,
-    struct bmi160_dev const* dev) {
-    int8_t rslt;
-    uint8_t data;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if(rslt != BMI160_OK) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* Set the offset enable bits */
-        rslt = configure_offset_enable(foc_conf, dev);
-        if(rslt == BMI160_OK) {
-            /* Read the FOC config from the sensor */
-            rslt = bmi160_get_regs(BMI160_FOC_CONF_ADDR, &data, 1, dev);
-
-            /* Set the FOC config for gyro */
-            data = BMI160_SET_BITS(data, BMI160_GYRO_FOC_EN, foc_conf->foc_gyr_en);
-
-            /* Set the FOC config for accel xyz axes */
-            data = BMI160_SET_BITS(data, BMI160_ACCEL_FOC_X_CONF, foc_conf->foc_acc_x);
-            data = BMI160_SET_BITS(data, BMI160_ACCEL_FOC_Y_CONF, foc_conf->foc_acc_y);
-            data = BMI160_SET_BITS_POS_0(data, BMI160_ACCEL_FOC_Z_CONF, foc_conf->foc_acc_z);
-            if(rslt == BMI160_OK) {
-                /* Set the FOC config in the sensor */
-                rslt = bmi160_set_regs(BMI160_FOC_CONF_ADDR, &data, 1, dev);
-                if(rslt == BMI160_OK) {
-                    /* Procedure to trigger
-                     * FOC and check status */
-                    rslt = trigger_foc(offset, dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API reads and stores the offset values of accel and gyro
- */
-int8_t bmi160_get_offsets(struct bmi160_offsets* offset, const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data[7];
-    uint8_t lsb, msb;
-    int16_t offset_msb, offset_lsb;
-    int16_t offset_data;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if(rslt != BMI160_OK) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* Read the FOC config from the sensor */
-        rslt = bmi160_get_regs(BMI160_OFFSET_ADDR, data, 7, dev);
-
-        /* Accel offsets */
-        offset->off_acc_x = (int8_t)data[0];
-        offset->off_acc_y = (int8_t)data[1];
-        offset->off_acc_z = (int8_t)data[2];
-
-        /* Gyro x-axis offset */
-        lsb = data[3];
-        msb = BMI160_GET_BITS_POS_0(data[6], BMI160_GYRO_OFFSET_X);
-        offset_msb = (int16_t)(msb << 14);
-        offset_lsb = lsb << 6;
-        offset_data = offset_msb | offset_lsb;
-
-        /* Divide by 64 to get the Right shift by 6 value */
-        offset->off_gyro_x = (int16_t)(offset_data / 64);
-
-        /* Gyro y-axis offset */
-        lsb = data[4];
-        msb = BMI160_GET_BITS(data[6], BMI160_GYRO_OFFSET_Y);
-        offset_msb = (int16_t)(msb << 14);
-        offset_lsb = lsb << 6;
-        offset_data = offset_msb | offset_lsb;
-
-        /* Divide by 64 to get the Right shift by 6 value */
-        offset->off_gyro_y = (int16_t)(offset_data / 64);
-
-        /* Gyro z-axis offset */
-        lsb = data[5];
-        msb = BMI160_GET_BITS(data[6], BMI160_GYRO_OFFSET_Z);
-        offset_msb = (int16_t)(msb << 14);
-        offset_lsb = lsb << 6;
-        offset_data = offset_msb | offset_lsb;
-
-        /* Divide by 64 to get the Right shift by 6 value */
-        offset->off_gyro_z = (int16_t)(offset_data / 64);
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API writes the offset values of accel and gyro to
- *  the sensor but these values will be reset on POR or soft reset.
- */
-int8_t bmi160_set_offsets(
-    const struct bmi160_foc_conf* foc_conf,
-    const struct bmi160_offsets* offset,
-    struct bmi160_dev const* dev) {
-    int8_t rslt;
-    uint8_t data[7];
-    uint8_t x_msb, y_msb, z_msb;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if(rslt != BMI160_OK) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* Update the accel offset */
-        data[0] = (uint8_t)offset->off_acc_x;
-        data[1] = (uint8_t)offset->off_acc_y;
-        data[2] = (uint8_t)offset->off_acc_z;
-
-        /* Update the LSB of gyro offset */
-        data[3] = BMI160_GET_LSB(offset->off_gyro_x);
-        data[4] = BMI160_GET_LSB(offset->off_gyro_y);
-        data[5] = BMI160_GET_LSB(offset->off_gyro_z);
-
-        /* Update the MSB of gyro offset */
-        x_msb = BMI160_GET_BITS(offset->off_gyro_x, BMI160_GYRO_OFFSET);
-        y_msb = BMI160_GET_BITS(offset->off_gyro_y, BMI160_GYRO_OFFSET);
-        z_msb = BMI160_GET_BITS(offset->off_gyro_z, BMI160_GYRO_OFFSET);
-        data[6] = (uint8_t)(z_msb << 4 | y_msb << 2 | x_msb);
-
-        /* Set the offset enable/disable for gyro and accel */
-        data[6] = BMI160_SET_BITS(data[6], BMI160_GYRO_OFFSET_EN, foc_conf->gyro_off_en);
-        data[6] = BMI160_SET_BITS(data[6], BMI160_ACCEL_OFFSET_EN, foc_conf->acc_off_en);
-
-        /* Set the offset config and values in the sensor */
-        rslt = bmi160_set_regs(BMI160_OFFSET_ADDR, data, 7, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API writes the image registers values to NVM which is
- *  stored even after POR or soft reset
- */
-int8_t bmi160_update_nvm(struct bmi160_dev const* dev) {
-    int8_t rslt;
-    uint8_t data;
-    uint8_t cmd = BMI160_NVM_BACKUP_EN;
-
-    /* Read the nvm_prog_en configuration */
-    rslt = bmi160_get_regs(BMI160_CONF_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        data = BMI160_SET_BITS(data, BMI160_NVM_UPDATE, 1);
-
-        /* Set the nvm_prog_en bit in the sensor */
-        rslt = bmi160_set_regs(BMI160_CONF_ADDR, &data, 1, dev);
-        if(rslt == BMI160_OK) {
-            /* Update NVM */
-            rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &cmd, 1, dev);
-            if(rslt == BMI160_OK) {
-                /* Check for NVM ready status */
-                rslt = bmi160_get_regs(BMI160_STATUS_ADDR, &data, 1, dev);
-                if(rslt == BMI160_OK) {
-                    data = BMI160_GET_BITS(data, BMI160_NVM_STATUS);
-                    if(data != BMI160_ENABLE) {
-                        /* Delay to update NVM */
-                        dev->delay_ms(25);
-                    }
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API gets the interrupt status from the sensor.
- */
-int8_t bmi160_get_int_status(
-    enum bmi160_int_status_sel int_status_sel,
-    union bmi160_int_status* int_status,
-    struct bmi160_dev const* dev) {
-    int8_t rslt = 0;
-
-    /* To get the status of all interrupts */
-    if(int_status_sel == BMI160_INT_STATUS_ALL) {
-        rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR, &int_status->data[0], 4, dev);
-    } else {
-        if(int_status_sel & BMI160_INT_STATUS_0) {
-            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR, &int_status->data[0], 1, dev);
-        }
-
-        if(int_status_sel & BMI160_INT_STATUS_1) {
-            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 1, &int_status->data[1], 1, dev);
-        }
-
-        if(int_status_sel & BMI160_INT_STATUS_2) {
-            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 2, &int_status->data[2], 1, dev);
-        }
-
-        if(int_status_sel & BMI160_INT_STATUS_3) {
-            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 3, &int_status->data[3], 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*********************** Local function definitions ***************************/
-
-/*!
- * @brief This API sets the any-motion interrupt of the sensor.
- * This interrupt occurs when accel values exceeds preset threshold
- * for a certain period of time.
- */
-static int8_t
-    set_accel_any_motion_int(struct bmi160_int_settg* int_config, struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if((rslt != BMI160_OK) || (int_config == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg =
-            &(int_config->int_type_cfg.acc_any_motion_int);
-        rslt = enable_accel_any_motion_int(any_motion_int_cfg, dev);
-        if(rslt == BMI160_OK) {
-            rslt = config_any_motion_int_settg(int_config, any_motion_int_cfg, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets tap interrupts.Interrupt is fired when
- * tap movements happen.
- */
-static int8_t
-    set_accel_tap_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if((rslt != BMI160_OK) || (int_config == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_tap_int_cfg* tap_int_cfg = &(int_config->int_type_cfg.acc_tap_int);
-        rslt = enable_tap_int(int_config, tap_int_cfg, dev);
-        if(rslt == BMI160_OK) {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if(rslt == BMI160_OK) {
-                rslt = config_tap_int_settg(int_config, tap_int_cfg, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the data ready interrupt for both accel and gyro.
- * This interrupt occurs when new accel and gyro data comes.
- */
-static int8_t set_accel_gyro_data_ready_int(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if((rslt != BMI160_OK) || (int_config == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        rslt = enable_data_ready_int(dev);
-        if(rslt == BMI160_OK) {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if(rslt == BMI160_OK) {
-                rslt = map_hardware_interrupt(int_config, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the significant motion interrupt of the sensor.This
- * interrupt occurs when there is change in user location.
- */
-static int8_t
-    set_accel_sig_motion_int(struct bmi160_int_settg* int_config, struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if((rslt != BMI160_OK) || (int_config == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg =
-            &(int_config->int_type_cfg.acc_sig_motion_int);
-        rslt = enable_sig_motion_int(sig_mot_int_cfg, dev);
-        if(rslt == BMI160_OK) {
-            rslt = config_sig_motion_int_settg(int_config, sig_mot_int_cfg, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the no motion/slow motion interrupt of the sensor.
- * Slow motion is similar to any motion interrupt.No motion interrupt
- * occurs when slope bet. two accel values falls below preset threshold
- * for preset duration.
- */
-static int8_t
-    set_accel_no_motion_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if((rslt != BMI160_OK) || (int_config == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg =
-            &(int_config->int_type_cfg.acc_no_motion_int);
-        rslt = enable_no_motion_int(no_mot_int_cfg, dev);
-        if(rslt == BMI160_OK) {
-            /* Configure the INT PIN settings*/
-            rslt = config_no_motion_int_settg(int_config, no_mot_int_cfg, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the step detection interrupt.This interrupt
- * occurs when the single step causes accel values to go above
- * preset threshold.
- */
-static int8_t
-    set_accel_step_detect_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if((rslt != BMI160_OK) || (int_config == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_step_detect_int_cfg* step_detect_int_cfg =
-            &(int_config->int_type_cfg.acc_step_detect_int);
-        rslt = enable_step_detect_int(step_detect_int_cfg, dev);
-        if(rslt == BMI160_OK) {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if(rslt == BMI160_OK) {
-                rslt = map_feature_interrupt(int_config, dev);
-                if(rslt == BMI160_OK) {
-                    rslt = config_step_detect(step_detect_int_cfg, dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the orientation interrupt of the sensor.This
- * interrupt occurs when there is orientation change in the sensor
- * with respect to gravitational field vector g.
- */
-static int8_t
-    set_accel_orientation_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if((rslt != BMI160_OK) || (int_config == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_orient_int_cfg* orient_int_cfg =
-            &(int_config->int_type_cfg.acc_orient_int);
-        rslt = enable_orient_int(orient_int_cfg, dev);
-        if(rslt == BMI160_OK) {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if(rslt == BMI160_OK) {
-                /* map INT pin to orient interrupt */
-                rslt = map_feature_interrupt(int_config, dev);
-                if(rslt == BMI160_OK) {
-                    /* configure the
-                     * orientation setting*/
-                    rslt = config_orient_int_settg(orient_int_cfg, dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the flat interrupt of the sensor.This interrupt
- * occurs in case of flat orientation
- */
-static int8_t
-    set_accel_flat_detect_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if((rslt != BMI160_OK) || (int_config == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_flat_detect_int_cfg* flat_detect_int =
-            &(int_config->int_type_cfg.acc_flat_int);
-
-        /* enable the flat interrupt */
-        rslt = enable_flat_int(flat_detect_int, dev);
-        if(rslt == BMI160_OK) {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if(rslt == BMI160_OK) {
-                /* map INT pin to flat interrupt */
-                rslt = map_feature_interrupt(int_config, dev);
-                if(rslt == BMI160_OK) {
-                    /* configure the flat setting*/
-                    rslt = config_flat_int_settg(flat_detect_int, dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the low-g interrupt of the sensor.This interrupt
- * occurs during free-fall.
- */
-static int8_t
-    set_accel_low_g_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if((rslt != BMI160_OK) || (int_config == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_low_g_int_cfg* low_g_int = &(int_config->int_type_cfg.acc_low_g_int);
-
-        /* Enable the low-g interrupt*/
-        rslt = enable_low_g_int(low_g_int, dev);
-        if(rslt == BMI160_OK) {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if(rslt == BMI160_OK) {
-                /* Map INT pin to low-g interrupt */
-                rslt = map_feature_interrupt(int_config, dev);
-                if(rslt == BMI160_OK) {
-                    /* configure the data source
-                     * for low-g interrupt*/
-                    rslt = config_low_g_data_src(low_g_int, dev);
-                    if(rslt == BMI160_OK) {
-                        rslt = config_low_g_int_settg(low_g_int, dev);
-                    }
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the high-g interrupt of the sensor.The interrupt
- * occurs if the absolute value of acceleration data of any enabled axis
- * exceeds the programmed threshold and the sign of the value does not
- * change for a preset duration.
- */
-static int8_t
-    set_accel_high_g_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if((rslt != BMI160_OK) || (int_config == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_high_g_int_cfg* high_g_int_cfg =
-            &(int_config->int_type_cfg.acc_high_g_int);
-
-        /* Enable the high-g interrupt */
-        rslt = enable_high_g_int(high_g_int_cfg, dev);
-        if(rslt == BMI160_OK) {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if(rslt == BMI160_OK) {
-                /* Map INT pin to high-g interrupt */
-                rslt = map_feature_interrupt(int_config, dev);
-                if(rslt == BMI160_OK) {
-                    /* configure the data source
-                     * for high-g interrupt*/
-                    rslt = config_high_g_data_src(high_g_int_cfg, dev);
-                    if(rslt == BMI160_OK) {
-                        rslt = config_high_g_int_settg(high_g_int_cfg, dev);
-                    }
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configures the pins to fire the
- * interrupt signal when it occurs.
- */
-static int8_t
-    set_intr_pin_config(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* configure the behavioural settings of interrupt pin */
-    rslt = config_int_out_ctrl(int_config, dev);
-    if(rslt == BMI160_OK) {
-        rslt = config_int_latch(int_config, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to validate the device structure pointer for
- * null conditions.
- */
-static int8_t null_ptr_check(const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    if((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_ms == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* Device structure is fine */
-        rslt = BMI160_OK;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the default configuration parameters of accel & gyro.
- * Also maintain the previous state of configurations.
- */
-static void default_param_settg(struct bmi160_dev* dev) {
-    /* Initializing accel and gyro params with
-     * default values */
-    dev->accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
-    dev->accel_cfg.odr = BMI160_ACCEL_ODR_100HZ;
-    dev->accel_cfg.power = BMI160_ACCEL_SUSPEND_MODE;
-    dev->accel_cfg.range = BMI160_ACCEL_RANGE_2G;
-    dev->gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE;
-    dev->gyro_cfg.odr = BMI160_GYRO_ODR_100HZ;
-    dev->gyro_cfg.power = BMI160_GYRO_SUSPEND_MODE;
-    dev->gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS;
-
-    /* To maintain the previous state of accel configuration */
-    dev->prev_accel_cfg = dev->accel_cfg;
-
-    /* To maintain the previous state of gyro configuration */
-    dev->prev_gyro_cfg = dev->gyro_cfg;
-}
-
-/*!
- * @brief This API set the accel configuration.
- */
-static int8_t set_accel_conf(struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data[2] = {0};
-
-    rslt = check_accel_config(data, dev);
-    if(rslt == BMI160_OK) {
-        /* Write output data rate and bandwidth */
-        rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, &data[0], 1, dev);
-        if(rslt == BMI160_OK) {
-            dev->prev_accel_cfg.odr = dev->accel_cfg.odr;
-            dev->prev_accel_cfg.bw = dev->accel_cfg.bw;
-
-            /* write accel range */
-            rslt = bmi160_set_regs(BMI160_ACCEL_RANGE_ADDR, &data[1], 1, dev);
-            if(rslt == BMI160_OK) {
-                dev->prev_accel_cfg.range = dev->accel_cfg.range;
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the accel configuration.
- */
-static int8_t get_accel_conf(struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data[2] = {0};
-
-    /* Get accel configurations */
-    rslt = bmi160_get_regs(BMI160_ACCEL_CONFIG_ADDR, data, 2, dev);
-    if(rslt == BMI160_OK) {
-        dev->accel_cfg.odr = (data[0] & BMI160_ACCEL_ODR_MASK);
-        dev->accel_cfg.bw = (data[0] & BMI160_ACCEL_BW_MASK) >> BMI160_ACCEL_BW_POS;
-        dev->accel_cfg.range = (data[1] & BMI160_ACCEL_RANGE_MASK);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API check the accel configuration.
- */
-static int8_t check_accel_config(uint8_t* data, const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* read accel Output data rate and bandwidth */
-    rslt = bmi160_get_regs(BMI160_ACCEL_CONFIG_ADDR, data, 2, dev);
-    if(rslt == BMI160_OK) {
-        rslt = process_accel_odr(&data[0], dev);
-        if(rslt == BMI160_OK) {
-            rslt = process_accel_bw(&data[0], dev);
-            if(rslt == BMI160_OK) {
-                rslt = process_accel_range(&data[1], dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API process the accel odr.
- */
-static int8_t process_accel_odr(uint8_t* data, const struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-    uint8_t temp = 0;
-    uint8_t odr = 0;
-
-    if(dev->accel_cfg.odr <= BMI160_ACCEL_ODR_1600HZ) {
-        if(dev->accel_cfg.odr != dev->prev_accel_cfg.odr) {
-            odr = (uint8_t)dev->accel_cfg.odr;
-            temp = *data & ~BMI160_ACCEL_ODR_MASK;
-
-            /* Adding output data rate */
-            *data = temp | (odr & BMI160_ACCEL_ODR_MASK);
-        }
-    } else {
-        rslt = BMI160_E_OUT_OF_RANGE;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API process the accel bandwidth.
- */
-static int8_t process_accel_bw(uint8_t* data, const struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-    uint8_t temp = 0;
-    uint8_t bw = 0;
-
-    if(dev->accel_cfg.bw <= BMI160_ACCEL_BW_RES_AVG128) {
-        if(dev->accel_cfg.bw != dev->prev_accel_cfg.bw) {
-            bw = (uint8_t)dev->accel_cfg.bw;
-            temp = *data & ~BMI160_ACCEL_BW_MASK;
-
-            /* Adding bandwidth */
-            *data = temp | ((bw << 4) & BMI160_ACCEL_BW_MASK);
-        }
-    } else {
-        rslt = BMI160_E_OUT_OF_RANGE;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API process the accel range.
- */
-static int8_t process_accel_range(uint8_t* data, const struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-    uint8_t temp = 0;
-    uint8_t range = 0;
-
-    if(dev->accel_cfg.range <= BMI160_ACCEL_RANGE_16G) {
-        if(dev->accel_cfg.range != dev->prev_accel_cfg.range) {
-            range = (uint8_t)dev->accel_cfg.range;
-            temp = *data & ~BMI160_ACCEL_RANGE_MASK;
-
-            /* Adding range */
-            *data = temp | (range & BMI160_ACCEL_RANGE_MASK);
-        }
-    } else {
-        rslt = BMI160_E_OUT_OF_RANGE;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API checks the invalid settings for ODR & Bw for
- * Accel and Gyro.
- */
-static int8_t check_invalid_settg(const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-
-    /* read the error reg */
-    rslt = bmi160_get_regs(BMI160_ERROR_REG_ADDR, &data, 1, dev);
-    data = data >> 1;
-    data = data & BMI160_ERR_REG_MASK;
-    if(data == 1) {
-        rslt = BMI160_E_ACCEL_ODR_BW_INVALID;
-    } else if(data == 2) {
-        rslt = BMI160_E_GYRO_ODR_BW_INVALID;
-    } else if(data == 3) {
-        rslt = BMI160_E_LWP_PRE_FLTR_INT_INVALID;
-    } else if(data == 7) {
-        rslt = BMI160_E_LWP_PRE_FLTR_INVALID;
-    }
-
-    return rslt;
-}
-static int8_t set_gyro_conf(struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data[2] = {0};
-
-    rslt = check_gyro_config(data, dev);
-    if(rslt == BMI160_OK) {
-        /* Write output data rate and bandwidth */
-        rslt = bmi160_set_regs(BMI160_GYRO_CONFIG_ADDR, &data[0], 1, dev);
-        if(rslt == BMI160_OK) {
-            dev->prev_gyro_cfg.odr = dev->gyro_cfg.odr;
-            dev->prev_gyro_cfg.bw = dev->gyro_cfg.bw;
-
-            /* Write gyro range */
-            rslt = bmi160_set_regs(BMI160_GYRO_RANGE_ADDR, &data[1], 1, dev);
-            if(rslt == BMI160_OK) {
-                dev->prev_gyro_cfg.range = dev->gyro_cfg.range;
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the gyro configuration.
- */
-static int8_t get_gyro_conf(struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data[2] = {0};
-
-    /* Get accel configurations */
-    rslt = bmi160_get_regs(BMI160_GYRO_CONFIG_ADDR, data, 2, dev);
-    if(rslt == BMI160_OK) {
-        dev->gyro_cfg.odr = (data[0] & BMI160_GYRO_ODR_MASK);
-        dev->gyro_cfg.bw = (data[0] & BMI160_GYRO_BW_MASK) >> BMI160_GYRO_BW_POS;
-        dev->gyro_cfg.range = (data[1] & BMI160_GYRO_RANGE_MASK);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API check the gyro configuration.
- */
-static int8_t check_gyro_config(uint8_t* data, const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* read gyro Output data rate and bandwidth */
-    rslt = bmi160_get_regs(BMI160_GYRO_CONFIG_ADDR, data, 2, dev);
-    if(rslt == BMI160_OK) {
-        rslt = process_gyro_odr(&data[0], dev);
-        if(rslt == BMI160_OK) {
-            rslt = process_gyro_bw(&data[0], dev);
-            if(rslt == BMI160_OK) {
-                rslt = process_gyro_range(&data[1], dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API process the gyro odr.
- */
-static int8_t process_gyro_odr(uint8_t* data, const struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-    uint8_t temp = 0;
-    uint8_t odr = 0;
-
-    if(dev->gyro_cfg.odr <= BMI160_GYRO_ODR_3200HZ) {
-        if(dev->gyro_cfg.odr != dev->prev_gyro_cfg.odr) {
-            odr = (uint8_t)dev->gyro_cfg.odr;
-            temp = (*data & ~BMI160_GYRO_ODR_MASK);
-
-            /* Adding output data rate */
-            *data = temp | (odr & BMI160_GYRO_ODR_MASK);
-        }
-    } else {
-        rslt = BMI160_E_OUT_OF_RANGE;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API process the gyro bandwidth.
- */
-static int8_t process_gyro_bw(uint8_t* data, const struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-    uint8_t temp = 0;
-    uint8_t bw = 0;
-
-    if(dev->gyro_cfg.bw <= BMI160_GYRO_BW_NORMAL_MODE) {
-        bw = (uint8_t)dev->gyro_cfg.bw;
-        temp = *data & ~BMI160_GYRO_BW_MASK;
-
-        /* Adding bandwidth */
-        *data = temp | ((bw << 4) & BMI160_GYRO_BW_MASK);
-    } else {
-        rslt = BMI160_E_OUT_OF_RANGE;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API process the gyro range.
- */
-static int8_t process_gyro_range(uint8_t* data, const struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-    uint8_t temp = 0;
-    uint8_t range = 0;
-
-    if(dev->gyro_cfg.range <= BMI160_GYRO_RANGE_125_DPS) {
-        if(dev->gyro_cfg.range != dev->prev_gyro_cfg.range) {
-            range = (uint8_t)dev->gyro_cfg.range;
-            temp = *data & ~BMI160_GYRO_RANGE_MASK;
-
-            /* Adding range */
-            *data = temp | (range & BMI160_GYRO_RANGE_MASK);
-        }
-    } else {
-        rslt = BMI160_E_OUT_OF_RANGE;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the accel power.
- */
-static int8_t set_accel_pwr(struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-    uint8_t data = 0;
-
-    if((dev->accel_cfg.power >= BMI160_ACCEL_SUSPEND_MODE) &&
-       (dev->accel_cfg.power <= BMI160_ACCEL_LOWPOWER_MODE)) {
-        if(dev->accel_cfg.power != dev->prev_accel_cfg.power) {
-            rslt = process_under_sampling(&data, dev);
-            if(rslt == BMI160_OK) {
-                /* Write accel power */
-                rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &dev->accel_cfg.power, 1, dev);
-
-                /* Add delay of 3.8 ms - refer data sheet table 24*/
-                if(dev->prev_accel_cfg.power == BMI160_ACCEL_SUSPEND_MODE) {
-                    dev->delay_ms(BMI160_ACCEL_DELAY_MS);
-                }
-
-                dev->prev_accel_cfg.power = dev->accel_cfg.power;
-            }
-        }
-    } else {
-        rslt = BMI160_E_INVALID_CONFIG;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API process the undersampling setting of Accel.
- */
-static int8_t process_under_sampling(uint8_t* data, const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t temp = 0;
-    uint8_t pre_filter[2] = {0};
-
-    rslt = bmi160_get_regs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev);
-    if(rslt == BMI160_OK) {
-        if(dev->accel_cfg.power == BMI160_ACCEL_LOWPOWER_MODE) {
-            temp = *data & ~BMI160_ACCEL_UNDERSAMPLING_MASK;
-
-            /* Set under-sampling parameter */
-            *data = temp | ((1 << 7) & BMI160_ACCEL_UNDERSAMPLING_MASK);
-
-            /* Write data */
-            rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev);
-
-            /* Disable the pre-filter data in low power mode */
-            if(rslt == BMI160_OK) {
-                /* Disable the Pre-filter data*/
-                rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, pre_filter, 2, dev);
-            }
-        } else if(*data & BMI160_ACCEL_UNDERSAMPLING_MASK) {
-            temp = *data & ~BMI160_ACCEL_UNDERSAMPLING_MASK;
-
-            /* Disable under-sampling parameter if already enabled */
-            *data = temp;
-
-            /* Write data */
-            rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the gyro power mode.
- */
-static int8_t set_gyro_pwr(struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-
-    if((dev->gyro_cfg.power == BMI160_GYRO_SUSPEND_MODE) ||
-       (dev->gyro_cfg.power == BMI160_GYRO_NORMAL_MODE) ||
-       (dev->gyro_cfg.power == BMI160_GYRO_FASTSTARTUP_MODE)) {
-        if(dev->gyro_cfg.power != dev->prev_gyro_cfg.power) {
-            /* Write gyro power */
-            rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &dev->gyro_cfg.power, 1, dev);
-            if(dev->prev_gyro_cfg.power == BMI160_GYRO_SUSPEND_MODE) {
-                /* Delay of 80 ms - datasheet Table 24 */
-                dev->delay_ms(BMI160_GYRO_DELAY_MS);
-            } else if(
-                (dev->prev_gyro_cfg.power == BMI160_GYRO_FASTSTARTUP_MODE) &&
-                (dev->gyro_cfg.power == BMI160_GYRO_NORMAL_MODE)) {
-                /* This delay is required for transition from
-                 * fast-startup mode to normal mode - datasheet Table 3 */
-                dev->delay_ms(10);
-            } else {
-                /* do nothing */
-            }
-
-            dev->prev_gyro_cfg.power = dev->gyro_cfg.power;
-        }
-    } else {
-        rslt = BMI160_E_INVALID_CONFIG;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads accel data along with sensor time if time is requested
- * by user. Kindly refer the user guide(README.md) for more info.
- */
-static int8_t
-    get_accel_data(uint8_t len, struct bmi160_sensor_data* accel, const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t idx = 0;
-    uint8_t data_array[9] = {0};
-    uint8_t time_0 = 0;
-    uint16_t time_1 = 0;
-    uint32_t time_2 = 0;
-    uint8_t lsb;
-    uint8_t msb;
-    int16_t msblsb;
-
-    /* read accel sensor data along with time if requested */
-    rslt = bmi160_get_regs(BMI160_ACCEL_DATA_ADDR, data_array, 6 + len, dev);
-    if(rslt == BMI160_OK) {
-        /* Accel Data */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        accel->x = msblsb; /* Data in X axis */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        accel->y = msblsb; /* Data in Y axis */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        accel->z = msblsb; /* Data in Z axis */
-        if(len == 3) {
-            time_0 = data_array[idx++];
-            time_1 = (uint16_t)(data_array[idx++] << 8);
-            time_2 = (uint32_t)(data_array[idx++] << 16);
-            accel->sensortime = (uint32_t)(time_2 | time_1 | time_0);
-        } else {
-            accel->sensortime = 0;
-        }
-    } else {
-        rslt = BMI160_E_COM_FAIL;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads accel data along with sensor time if time is requested
- * by user. Kindly refer the user guide(README.md) for more info.
- */
-static int8_t
-    get_gyro_data(uint8_t len, struct bmi160_sensor_data* gyro, const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t idx = 0;
-    uint8_t data_array[15] = {0};
-    uint8_t time_0 = 0;
-    uint16_t time_1 = 0;
-    uint32_t time_2 = 0;
-    uint8_t lsb;
-    uint8_t msb;
-    int16_t msblsb;
-
-    if(len == 0) {
-        /* read gyro data only */
-        rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 6, dev);
-        if(rslt == BMI160_OK) {
-            /* Gyro Data */
-            lsb = data_array[idx++];
-            msb = data_array[idx++];
-            msblsb = (int16_t)((msb << 8) | lsb);
-            gyro->x = msblsb; /* Data in X axis */
-            lsb = data_array[idx++];
-            msb = data_array[idx++];
-            msblsb = (int16_t)((msb << 8) | lsb);
-            gyro->y = msblsb; /* Data in Y axis */
-            lsb = data_array[idx++];
-            msb = data_array[idx++];
-            msblsb = (int16_t)((msb << 8) | lsb);
-            gyro->z = msblsb; /* Data in Z axis */
-            gyro->sensortime = 0;
-        } else {
-            rslt = BMI160_E_COM_FAIL;
-        }
-    } else {
-        /* read gyro sensor data along with time */
-        rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 12 + len, dev);
-        if(rslt == BMI160_OK) {
-            /* Gyro Data */
-            lsb = data_array[idx++];
-            msb = data_array[idx++];
-            msblsb = (int16_t)((msb << 8) | lsb);
-            gyro->x = msblsb; /* gyro X axis data */
-            lsb = data_array[idx++];
-            msb = data_array[idx++];
-            msblsb = (int16_t)((msb << 8) | lsb);
-            gyro->y = msblsb; /* gyro Y axis data */
-            lsb = data_array[idx++];
-            msb = data_array[idx++];
-            msblsb = (int16_t)((msb << 8) | lsb);
-            gyro->z = msblsb; /* gyro Z axis data */
-            idx = idx + 6;
-            time_0 = data_array[idx++];
-            time_1 = (uint16_t)(data_array[idx++] << 8);
-            time_2 = (uint32_t)(data_array[idx++] << 16);
-            gyro->sensortime = (uint32_t)(time_2 | time_1 | time_0);
-        } else {
-            rslt = BMI160_E_COM_FAIL;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads accel and gyro data along with sensor time
- * if time is requested by user.
- *  Kindly refer the user guide(README.md) for more info.
- */
-static int8_t get_accel_gyro_data(
-    uint8_t len,
-    struct bmi160_sensor_data* accel,
-    struct bmi160_sensor_data* gyro,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t idx = 0;
-    uint8_t data_array[15] = {0};
-    uint8_t time_0 = 0;
-    uint16_t time_1 = 0;
-    uint32_t time_2 = 0;
-    uint8_t lsb;
-    uint8_t msb;
-    int16_t msblsb;
-
-    /* read both accel and gyro sensor data
-     * along with time if requested */
-    rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 12 + len, dev);
-    if(rslt == BMI160_OK) {
-        /* Gyro Data */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        gyro->x = msblsb; /* gyro X axis data */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        gyro->y = msblsb; /* gyro Y axis data */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        gyro->z = msblsb; /* gyro Z axis data */
-        /* Accel Data */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        accel->x = (int16_t)msblsb; /* accel X axis data */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        accel->y = (int16_t)msblsb; /* accel Y axis data */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        accel->z = (int16_t)msblsb; /* accel Z axis data */
-        if(len == 3) {
-            time_0 = data_array[idx++];
-            time_1 = (uint16_t)(data_array[idx++] << 8);
-            time_2 = (uint32_t)(data_array[idx++] << 16);
-            accel->sensortime = (uint32_t)(time_2 | time_1 | time_0);
-            gyro->sensortime = (uint32_t)(time_2 | time_1 | time_0);
-        } else {
-            accel->sensortime = 0;
-            gyro->sensortime = 0;
-        }
-    } else {
-        rslt = BMI160_E_COM_FAIL;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the any-motion interrupt for accel.
- */
-static int8_t enable_accel_any_motion_int(
-    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
-    struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable any motion x, any motion y, any motion z
-     * in Int Enable 0 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        if(any_motion_int_cfg->anymotion_en == BMI160_ENABLE) {
-            temp = data & ~BMI160_ANY_MOTION_X_INT_EN_MASK;
-
-            /* Adding Any_motion x axis */
-            data = temp | (any_motion_int_cfg->anymotion_x & BMI160_ANY_MOTION_X_INT_EN_MASK);
-            temp = data & ~BMI160_ANY_MOTION_Y_INT_EN_MASK;
-
-            /* Adding Any_motion y axis */
-            data = temp |
-                   ((any_motion_int_cfg->anymotion_y << 1) & BMI160_ANY_MOTION_Y_INT_EN_MASK);
-            temp = data & ~BMI160_ANY_MOTION_Z_INT_EN_MASK;
-
-            /* Adding Any_motion z axis */
-            data = temp |
-                   ((any_motion_int_cfg->anymotion_z << 2) & BMI160_ANY_MOTION_Z_INT_EN_MASK);
-
-            /* any-motion feature selected*/
-            dev->any_sig_sel = BMI160_ANY_MOTION_ENABLED;
-        } else {
-            data = data & ~BMI160_ANY_MOTION_ALL_INT_EN_MASK;
-
-            /* neither any-motion feature nor sig-motion selected */
-            dev->any_sig_sel = BMI160_BOTH_ANY_SIG_MOTION_DISABLED;
-        }
-
-        /* write data to Int Enable 0 register */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API disable the sig-motion interrupt.
- */
-static int8_t disable_sig_motion_int(const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Disabling Significant motion interrupt if enabled */
-    rslt = bmi160_get_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = (data & BMI160_SIG_MOTION_SEL_MASK);
-        if(temp) {
-            temp = data & ~BMI160_SIG_MOTION_SEL_MASK;
-            data = temp;
-
-            /* Write data to register */
-            rslt = bmi160_set_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API is used to map/unmap the Any/Sig motion, Step det/Low-g,
- *  Double tap, Single tap, Orientation, Flat, High-G, Nomotion interrupt pins.
- */
-static int8_t
-    map_feature_interrupt(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data[3] = {0, 0, 0};
-    uint8_t temp[3] = {0, 0, 0};
-
-    rslt = bmi160_get_regs(BMI160_INT_MAP_0_ADDR, data, 3, dev);
-    if(rslt == BMI160_OK) {
-        temp[0] = data[0] & ~int_mask_lookup_table[int_config->int_type];
-        temp[2] = data[2] & ~int_mask_lookup_table[int_config->int_type];
-        switch(int_config->int_channel) {
-        case BMI160_INT_CHANNEL_NONE:
-            data[0] = temp[0];
-            data[2] = temp[2];
-            break;
-        case BMI160_INT_CHANNEL_1:
-            data[0] = temp[0] | int_mask_lookup_table[int_config->int_type];
-            data[2] = temp[2];
-            break;
-        case BMI160_INT_CHANNEL_2:
-            data[2] = temp[2] | int_mask_lookup_table[int_config->int_type];
-            data[0] = temp[0];
-            break;
-        case BMI160_INT_CHANNEL_BOTH:
-            data[0] = temp[0] | int_mask_lookup_table[int_config->int_type];
-            data[2] = temp[2] | int_mask_lookup_table[int_config->int_type];
-            break;
-        default:
-            rslt = BMI160_E_OUT_OF_RANGE;
-        }
-        if(rslt == BMI160_OK) {
-            rslt = bmi160_set_regs(BMI160_INT_MAP_0_ADDR, data, 3, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API is used to map/unmap the Dataready(Accel & Gyro), FIFO full
- *  and FIFO watermark interrupt.
- */
-static int8_t map_hardware_interrupt(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    rslt = bmi160_get_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~int_mask_lookup_table[int_config->int_type];
-        temp = temp & ~((uint8_t)(int_mask_lookup_table[int_config->int_type] << 4));
-        switch(int_config->int_channel) {
-        case BMI160_INT_CHANNEL_NONE:
-            data = temp;
-            break;
-        case BMI160_INT_CHANNEL_1:
-            data = temp | (uint8_t)((int_mask_lookup_table[int_config->int_type]) << 4);
-            break;
-        case BMI160_INT_CHANNEL_2:
-            data = temp | int_mask_lookup_table[int_config->int_type];
-            break;
-        case BMI160_INT_CHANNEL_BOTH:
-            data = temp | int_mask_lookup_table[int_config->int_type];
-            data = data | (uint8_t)((int_mask_lookup_table[int_config->int_type]) << 4);
-            break;
-        default:
-            rslt = BMI160_E_OUT_OF_RANGE;
-        }
-        if(rslt == BMI160_OK) {
-            rslt = bmi160_set_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for any-motion interrupt.
- */
-static int8_t config_any_motion_src(
-    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Configure Int data 1 register to add source of interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_MOTION_SRC_INT_MASK;
-        data = temp | ((any_motion_int_cfg->anymotion_data_src << 7) & BMI160_MOTION_SRC_INT_MASK);
-
-        /* Write data to DATA 1 address */
-        rslt = bmi160_set_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the duration and threshold of
- * any-motion interrupt.
- */
-static int8_t config_any_dur_threshold(
-    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-    uint8_t data_array[2] = {0};
-    uint8_t dur;
-
-    /* Configure Int Motion 0 register */
-    rslt = bmi160_get_regs(BMI160_INT_MOTION_0_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        /* slope duration */
-        dur = (uint8_t)any_motion_int_cfg->anymotion_dur;
-        temp = data & ~BMI160_SLOPE_INT_DUR_MASK;
-        data = temp | (dur & BMI160_MOTION_SRC_INT_MASK);
-        data_array[0] = data;
-
-        /* add slope threshold */
-        data_array[1] = any_motion_int_cfg->anymotion_thr;
-
-        /* INT MOTION 0 and INT MOTION 1 address lie consecutively,
-         * hence writing data to respective registers at one go */
-
-        /* Writing to Int_motion 0 and
-         * Int_motion 1 Address simultaneously */
-        rslt = bmi160_set_regs(BMI160_INT_MOTION_0_ADDR, data_array, 2, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure necessary setting of any-motion interrupt.
- */
-static int8_t config_any_motion_int_settg(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Configure Interrupt pins */
-    rslt = set_intr_pin_config(int_config, dev);
-    if(rslt == BMI160_OK) {
-        rslt = disable_sig_motion_int(dev);
-        if(rslt == BMI160_OK) {
-            rslt = map_feature_interrupt(int_config, dev);
-            if(rslt == BMI160_OK) {
-                rslt = config_any_motion_src(any_motion_int_cfg, dev);
-                if(rslt == BMI160_OK) {
-                    rslt = config_any_dur_threshold(any_motion_int_cfg, dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enable the data ready interrupt.
- */
-static int8_t enable_data_ready_int(const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable data ready interrupt in Int Enable 1 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_DATA_RDY_INT_EN_MASK;
-        data = temp | ((1 << 4) & BMI160_DATA_RDY_INT_EN_MASK);
-
-        /* Writing data to INT ENABLE 1 Address */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the no motion/slow motion interrupt.
- */
-static int8_t enable_no_motion_int(
-    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable no motion x, no motion y, no motion z
-     * in Int Enable 2 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        if(no_mot_int_cfg->no_motion_x == 1) {
-            temp = data & ~BMI160_NO_MOTION_X_INT_EN_MASK;
-
-            /* Adding No_motion x axis */
-            data = temp | (1 & BMI160_NO_MOTION_X_INT_EN_MASK);
-        }
-
-        if(no_mot_int_cfg->no_motion_y == 1) {
-            temp = data & ~BMI160_NO_MOTION_Y_INT_EN_MASK;
-
-            /* Adding No_motion x axis */
-            data = temp | ((1 << 1) & BMI160_NO_MOTION_Y_INT_EN_MASK);
-        }
-
-        if(no_mot_int_cfg->no_motion_z == 1) {
-            temp = data & ~BMI160_NO_MOTION_Z_INT_EN_MASK;
-
-            /* Adding No_motion x axis */
-            data = temp | ((1 << 2) & BMI160_NO_MOTION_Z_INT_EN_MASK);
-        }
-
-        /* write data to Int Enable 2 register */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the interrupt PIN setting for
- * no motion/slow motion interrupt.
- */
-static int8_t config_no_motion_int_settg(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Configure Interrupt pins */
-    rslt = set_intr_pin_config(int_config, dev);
-    if(rslt == BMI160_OK) {
-        rslt = map_feature_interrupt(int_config, dev);
-        if(rslt == BMI160_OK) {
-            rslt = config_no_motion_data_src(no_mot_int_cfg, dev);
-            if(rslt == BMI160_OK) {
-                rslt = config_no_motion_dur_thr(no_mot_int_cfg, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the source of interrupt for no motion.
- */
-static int8_t config_no_motion_data_src(
-    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Configure Int data 1 register to add source of interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_MOTION_SRC_INT_MASK;
-        data = temp | ((no_mot_int_cfg->no_motion_src << 7) & BMI160_MOTION_SRC_INT_MASK);
-
-        /* Write data to DATA 1 address */
-        rslt = bmi160_set_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the duration and threshold of
- * no motion/slow motion interrupt along with selection of no/slow motion.
- */
-static int8_t config_no_motion_dur_thr(
-    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-    uint8_t temp_1 = 0;
-    uint8_t reg_addr;
-    uint8_t data_array[2] = {0};
-
-    /* Configuring INT_MOTION register */
-    reg_addr = BMI160_INT_MOTION_0_ADDR;
-    rslt = bmi160_get_regs(reg_addr, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_NO_MOTION_INT_DUR_MASK;
-
-        /* Adding no_motion duration */
-        data = temp | ((no_mot_int_cfg->no_motion_dur << 2) & BMI160_NO_MOTION_INT_DUR_MASK);
-
-        /* Write data to NO_MOTION 0 address */
-        rslt = bmi160_set_regs(reg_addr, &data, 1, dev);
-        if(rslt == BMI160_OK) {
-            reg_addr = BMI160_INT_MOTION_3_ADDR;
-            rslt = bmi160_get_regs(reg_addr, &data, 1, dev);
-            if(rslt == BMI160_OK) {
-                temp = data & ~BMI160_NO_MOTION_SEL_BIT_MASK;
-
-                /* Adding no_motion_sel bit */
-                temp_1 = (no_mot_int_cfg->no_motion_sel & BMI160_NO_MOTION_SEL_BIT_MASK);
-                data = (temp | temp_1);
-                data_array[1] = data;
-
-                /* Adding no motion threshold */
-                data_array[0] = no_mot_int_cfg->no_motion_thres;
-                reg_addr = BMI160_INT_MOTION_2_ADDR;
-
-                /* writing data to INT_MOTION 2 and INT_MOTION 3
-                 * address simultaneously */
-                rslt = bmi160_set_regs(reg_addr, data_array, 2, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the sig-motion motion interrupt.
- */
-static int8_t enable_sig_motion_int(
-    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
-    struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* For significant motion,enable any motion x,any motion y,
-     * any motion z in Int Enable 0 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        if(sig_mot_int_cfg->sig_en == BMI160_ENABLE) {
-            temp = data & ~BMI160_SIG_MOTION_INT_EN_MASK;
-            data = temp | (7 & BMI160_SIG_MOTION_INT_EN_MASK);
-
-            /* sig-motion feature selected*/
-            dev->any_sig_sel = BMI160_SIG_MOTION_ENABLED;
-        } else {
-            data = data & ~BMI160_SIG_MOTION_INT_EN_MASK;
-
-            /* neither any-motion feature nor sig-motion selected */
-            dev->any_sig_sel = BMI160_BOTH_ANY_SIG_MOTION_DISABLED;
-        }
-
-        /* write data to Int Enable 0 register */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the interrupt PIN setting for
- * significant motion interrupt.
- */
-static int8_t config_sig_motion_int_settg(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Configure Interrupt pins */
-    rslt = set_intr_pin_config(int_config, dev);
-    if(rslt == BMI160_OK) {
-        rslt = map_feature_interrupt(int_config, dev);
-        if(rslt == BMI160_OK) {
-            rslt = config_sig_motion_data_src(sig_mot_int_cfg, dev);
-            if(rslt == BMI160_OK) {
-                rslt = config_sig_dur_threshold(sig_mot_int_cfg, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for sig motion interrupt.
- */
-static int8_t config_sig_motion_data_src(
-    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Configure Int data 1 register to add source of interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_MOTION_SRC_INT_MASK;
-        data = temp | ((sig_mot_int_cfg->sig_data_src << 7) & BMI160_MOTION_SRC_INT_MASK);
-
-        /* Write data to DATA 1 address */
-        rslt = bmi160_set_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the threshold, skip and proof time of
- * sig motion interrupt.
- */
-static int8_t config_sig_dur_threshold(
-    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data;
-    uint8_t temp = 0;
-
-    /* Configuring INT_MOTION registers */
-
-    /* Write significant motion threshold.
-     * This threshold is same as any motion threshold */
-    data = sig_mot_int_cfg->sig_mot_thres;
-
-    /* Write data to INT_MOTION 1 address */
-    rslt = bmi160_set_regs(BMI160_INT_MOTION_1_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        rslt = bmi160_get_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
-        if(rslt == BMI160_OK) {
-            temp = data & ~BMI160_SIG_MOTION_SKIP_MASK;
-
-            /* adding skip time of sig_motion interrupt*/
-            data = temp | ((sig_mot_int_cfg->sig_mot_skip << 2) & BMI160_SIG_MOTION_SKIP_MASK);
-            temp = data & ~BMI160_SIG_MOTION_PROOF_MASK;
-
-            /* adding proof time of sig_motion interrupt */
-            data = temp | ((sig_mot_int_cfg->sig_mot_proof << 4) & BMI160_SIG_MOTION_PROOF_MASK);
-
-            /* configure the int_sig_mot_sel bit to select
-             * significant motion interrupt */
-            temp = data & ~BMI160_SIG_MOTION_SEL_MASK;
-            data = temp | ((sig_mot_int_cfg->sig_en << 1) & BMI160_SIG_MOTION_SEL_MASK);
-            rslt = bmi160_set_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the step detector interrupt.
- */
-static int8_t enable_step_detect_int(
-    const struct bmi160_acc_step_detect_int_cfg* step_detect_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable data ready interrupt in Int Enable 2 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_STEP_DETECT_INT_EN_MASK;
-        data = temp |
-               ((step_detect_int_cfg->step_detector_en << 3) & BMI160_STEP_DETECT_INT_EN_MASK);
-
-        /* Writing data to INT ENABLE 2 Address */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the step detector parameter.
- */
-static int8_t config_step_detect(
-    const struct bmi160_acc_step_detect_int_cfg* step_detect_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t temp = 0;
-    uint8_t data_array[2] = {0};
-
-    if(step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_NORMAL) {
-        /* Normal mode setting */
-        data_array[0] = 0x15;
-        data_array[1] = 0x03;
-    } else if(step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_SENSITIVE) {
-        /* Sensitive mode setting */
-        data_array[0] = 0x2D;
-        data_array[1] = 0x00;
-    } else if(step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_ROBUST) {
-        /* Robust mode setting */
-        data_array[0] = 0x1D;
-        data_array[1] = 0x07;
-    } else if(step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_USER_DEFINE) {
-        /* Non recommended User defined setting */
-        /* Configuring STEP_CONFIG register */
-        rslt = bmi160_get_regs(BMI160_INT_STEP_CONFIG_0_ADDR, &data_array[0], 2, dev);
-        if(rslt == BMI160_OK) {
-            temp = data_array[0] & ~BMI160_STEP_DETECT_MIN_THRES_MASK;
-
-            /* Adding min_threshold */
-            data_array[0] = temp | ((step_detect_int_cfg->min_threshold << 3) &
-                                    BMI160_STEP_DETECT_MIN_THRES_MASK);
-            temp = data_array[0] & ~BMI160_STEP_DETECT_STEPTIME_MIN_MASK;
-
-            /* Adding steptime_min */
-            data_array[0] = temp | ((step_detect_int_cfg->steptime_min) &
-                                    BMI160_STEP_DETECT_STEPTIME_MIN_MASK);
-            temp = data_array[1] & ~BMI160_STEP_MIN_BUF_MASK;
-
-            /* Adding steptime_min */
-            data_array[1] = temp |
-                            ((step_detect_int_cfg->step_min_buf) & BMI160_STEP_MIN_BUF_MASK);
-        }
-    }
-
-    /* Write data to STEP_CONFIG register */
-    rslt = bmi160_set_regs(BMI160_INT_STEP_CONFIG_0_ADDR, data_array, 2, dev);
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the single/double tap interrupt.
- */
-static int8_t enable_tap_int(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable single tap or double tap interrupt in Int Enable 0 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        if(int_config->int_type == BMI160_ACC_SINGLE_TAP_INT) {
-            temp = data & ~BMI160_SINGLE_TAP_INT_EN_MASK;
-            data = temp | ((tap_int_cfg->tap_en << 5) & BMI160_SINGLE_TAP_INT_EN_MASK);
-        } else {
-            temp = data & ~BMI160_DOUBLE_TAP_INT_EN_MASK;
-            data = temp | ((tap_int_cfg->tap_en << 4) & BMI160_DOUBLE_TAP_INT_EN_MASK);
-        }
-
-        /* Write to Enable 0 Address */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the interrupt PIN setting for
- * tap interrupt.
- */
-static int8_t config_tap_int_settg(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Configure Interrupt pins */
-    rslt = set_intr_pin_config(int_config, dev);
-    if(rslt == BMI160_OK) {
-        rslt = map_feature_interrupt(int_config, dev);
-        if(rslt == BMI160_OK) {
-            rslt = config_tap_data_src(tap_int_cfg, dev);
-            if(rslt == BMI160_OK) {
-                rslt = config_tap_param(int_config, tap_int_cfg, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for tap interrupt.
- */
-static int8_t config_tap_data_src(
-    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Configure Int data 0 register to add source of interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_TAP_SRC_INT_MASK;
-        data = temp | ((tap_int_cfg->tap_data_src << 3) & BMI160_TAP_SRC_INT_MASK);
-
-        /* Write data to Data 0 address */
-        rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the  parameters of tap interrupt.
- * Threshold, quite, shock, and duration.
- */
-static int8_t config_tap_param(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t temp = 0;
-    uint8_t data = 0;
-    uint8_t data_array[2] = {0};
-    uint8_t count = 0;
-    uint8_t dur, shock, quiet, thres;
-
-    /* Configure tap 0 register for tap shock,tap quiet duration
-     * in case of single tap interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_TAP_0_ADDR, data_array, 2, dev);
-    if(rslt == BMI160_OK) {
-        data = data_array[count];
-        if(int_config->int_type == BMI160_ACC_DOUBLE_TAP_INT) {
-            dur = (uint8_t)tap_int_cfg->tap_dur;
-            temp = (data & ~BMI160_TAP_DUR_MASK);
-
-            /* Add tap duration data in case of
-             * double tap interrupt */
-            data = temp | (dur & BMI160_TAP_DUR_MASK);
-        }
-
-        shock = (uint8_t)tap_int_cfg->tap_shock;
-        temp = data & ~BMI160_TAP_SHOCK_DUR_MASK;
-        data = temp | ((shock << 6) & BMI160_TAP_SHOCK_DUR_MASK);
-        quiet = (uint8_t)tap_int_cfg->tap_quiet;
-        temp = data & ~BMI160_TAP_QUIET_DUR_MASK;
-        data = temp | ((quiet << 7) & BMI160_TAP_QUIET_DUR_MASK);
-        data_array[count++] = data;
-        data = data_array[count];
-        thres = (uint8_t)tap_int_cfg->tap_thr;
-        temp = data & ~BMI160_TAP_THRES_MASK;
-        data = temp | (thres & BMI160_TAP_THRES_MASK);
-        data_array[count++] = data;
-
-        /* TAP 0 and TAP 1 address lie consecutively,
-         * hence writing data to respective registers at one go */
-
-        /* Writing to Tap 0 and Tap 1 Address simultaneously */
-        rslt = bmi160_set_regs(BMI160_INT_TAP_0_ADDR, data_array, count, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the secondary interface.
- */
-static int8_t config_sec_if(const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t if_conf = 0;
-    uint8_t cmd = BMI160_AUX_NORMAL_MODE;
-
-    /* set the aux power mode to normal*/
-    rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &cmd, 1, dev);
-    if(rslt == BMI160_OK) {
-        /* 0.5ms delay - refer datasheet table 24*/
-        dev->delay_ms(1);
-        rslt = bmi160_get_regs(BMI160_IF_CONF_ADDR, &if_conf, 1, dev);
-        if_conf |= (uint8_t)(1 << 5);
-        if(rslt == BMI160_OK) {
-            /*enable the secondary interface also*/
-            rslt = bmi160_set_regs(BMI160_IF_CONF_ADDR, &if_conf, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the ODR of the auxiliary sensor.
- */
-static int8_t config_aux_odr(const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t aux_odr;
-
-    rslt = bmi160_get_regs(BMI160_AUX_ODR_ADDR, &aux_odr, 1, dev);
-    if(rslt == BMI160_OK) {
-        aux_odr = (uint8_t)(dev->aux_cfg.aux_odr);
-
-        /* Set the secondary interface ODR
-         * i.e polling rate of secondary sensor */
-        rslt = bmi160_set_regs(BMI160_AUX_ODR_ADDR, &aux_odr, 1, dev);
-        dev->delay_ms(BMI160_AUX_COM_DELAY);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API maps the actual burst read length set by user.
- */
-static int8_t map_read_len(uint16_t* len, const struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-
-    switch(dev->aux_cfg.aux_rd_burst_len) {
-    case BMI160_AUX_READ_LEN_0:
-        *len = 1;
-        break;
-    case BMI160_AUX_READ_LEN_1:
-        *len = 2;
-        break;
-    case BMI160_AUX_READ_LEN_2:
-        *len = 6;
-        break;
-    case BMI160_AUX_READ_LEN_3:
-        *len = 8;
-        break;
-    default:
-        rslt = BMI160_E_INVALID_INPUT;
-        break;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the settings of auxiliary sensor.
- */
-static int8_t config_aux_settg(const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    rslt = config_sec_if(dev);
-    if(rslt == BMI160_OK) {
-        /* Configures the auxiliary interface settings */
-        rslt = bmi160_config_aux_mode(dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API extract the read data from auxiliary sensor.
- */
-static int8_t extract_aux_read(
-    uint16_t map_len,
-    uint8_t reg_addr,
-    uint8_t* aux_data,
-    uint16_t len,
-    const struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-    uint8_t data[8] = {
-        0,
-    };
-    uint8_t read_addr = BMI160_AUX_DATA_ADDR;
-    uint8_t count = 0;
-    uint8_t read_count;
-    uint8_t read_len = (uint8_t)map_len;
-
-    for(; count < len;) {
-        /* set address to read */
-        rslt = bmi160_set_regs(BMI160_AUX_IF_2_ADDR, &reg_addr, 1, dev);
-        dev->delay_ms(BMI160_AUX_COM_DELAY);
-        if(rslt == BMI160_OK) {
-            rslt = bmi160_get_regs(read_addr, data, map_len, dev);
-            if(rslt == BMI160_OK) {
-                read_count = 0;
-
-                /* if read len is less the burst read len
-                 * mention by user*/
-                if(len < map_len) {
-                    read_len = (uint8_t)len;
-                } else if((len - count) < map_len) {
-                    read_len = (uint8_t)(len - count);
-                }
-
-                for(; read_count < read_len; read_count++) {
-                    aux_data[count + read_count] = data[read_count];
-                }
-
-                reg_addr += (uint8_t)map_len;
-                count += (uint8_t)map_len;
-            } else {
-                rslt = BMI160_E_COM_FAIL;
-                break;
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the orient interrupt.
- */
-static int8_t enable_orient_int(
-    const struct bmi160_acc_orient_int_cfg* orient_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable data ready interrupt in Int Enable 0 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_ORIENT_INT_EN_MASK;
-        data = temp | ((orient_int_cfg->orient_en << 6) & BMI160_ORIENT_INT_EN_MASK);
-
-        /* write data to Int Enable 0 register */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the necessary setting of orientation interrupt.
- */
-static int8_t config_orient_int_settg(
-    const struct bmi160_acc_orient_int_cfg* orient_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-    uint8_t data_array[2] = {0, 0};
-
-    /* Configuring INT_ORIENT registers */
-    rslt = bmi160_get_regs(BMI160_INT_ORIENT_0_ADDR, data_array, 2, dev);
-    if(rslt == BMI160_OK) {
-        data = data_array[0];
-        temp = data & ~BMI160_ORIENT_MODE_MASK;
-
-        /* Adding Orientation mode */
-        data = temp | ((orient_int_cfg->orient_mode) & BMI160_ORIENT_MODE_MASK);
-        temp = data & ~BMI160_ORIENT_BLOCK_MASK;
-
-        /* Adding Orientation blocking */
-        data = temp | ((orient_int_cfg->orient_blocking << 2) & BMI160_ORIENT_BLOCK_MASK);
-        temp = data & ~BMI160_ORIENT_HYST_MASK;
-
-        /* Adding Orientation hysteresis */
-        data = temp | ((orient_int_cfg->orient_hyst << 4) & BMI160_ORIENT_HYST_MASK);
-        data_array[0] = data;
-        data = data_array[1];
-        temp = data & ~BMI160_ORIENT_THETA_MASK;
-
-        /* Adding Orientation threshold */
-        data = temp | ((orient_int_cfg->orient_theta) & BMI160_ORIENT_THETA_MASK);
-        temp = data & ~BMI160_ORIENT_UD_ENABLE;
-
-        /* Adding Orient_ud_en */
-        data = temp | ((orient_int_cfg->orient_ud_en << 6) & BMI160_ORIENT_UD_ENABLE);
-        temp = data & ~BMI160_AXES_EN_MASK;
-
-        /* Adding axes_en */
-        data = temp | ((orient_int_cfg->axes_ex << 7) & BMI160_AXES_EN_MASK);
-        data_array[1] = data;
-
-        /* Writing data to INT_ORIENT 0 and INT_ORIENT 1
-         * registers simultaneously */
-        rslt = bmi160_set_regs(BMI160_INT_ORIENT_0_ADDR, data_array, 2, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the flat interrupt.
- */
-static int8_t enable_flat_int(
-    const struct bmi160_acc_flat_detect_int_cfg* flat_int,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable flat interrupt in Int Enable 0 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_FLAT_INT_EN_MASK;
-        data = temp | ((flat_int->flat_en << 7) & BMI160_FLAT_INT_EN_MASK);
-
-        /* write data to Int Enable 0 register */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the necessary setting of flat interrupt.
- */
-static int8_t config_flat_int_settg(
-    const struct bmi160_acc_flat_detect_int_cfg* flat_int,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-    uint8_t data_array[2] = {0, 0};
-
-    /* Configuring INT_FLAT register */
-    rslt = bmi160_get_regs(BMI160_INT_FLAT_0_ADDR, data_array, 2, dev);
-    if(rslt == BMI160_OK) {
-        data = data_array[0];
-        temp = data & ~BMI160_FLAT_THRES_MASK;
-
-        /* Adding flat theta */
-        data = temp | ((flat_int->flat_theta) & BMI160_FLAT_THRES_MASK);
-        data_array[0] = data;
-        data = data_array[1];
-        temp = data & ~BMI160_FLAT_HOLD_TIME_MASK;
-
-        /* Adding flat hold time */
-        data = temp | ((flat_int->flat_hold_time << 4) & BMI160_FLAT_HOLD_TIME_MASK);
-        temp = data & ~BMI160_FLAT_HYST_MASK;
-
-        /* Adding flat hysteresis */
-        data = temp | ((flat_int->flat_hy) & BMI160_FLAT_HYST_MASK);
-        data_array[1] = data;
-
-        /* Writing data to INT_FLAT 0 and INT_FLAT 1
-         * registers simultaneously */
-        rslt = bmi160_set_regs(BMI160_INT_FLAT_0_ADDR, data_array, 2, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the Low-g interrupt.
- */
-static int8_t enable_low_g_int(
-    const struct bmi160_acc_low_g_int_cfg* low_g_int,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable low-g interrupt in Int Enable 1 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_LOW_G_INT_EN_MASK;
-        data = temp | ((low_g_int->low_en << 3) & BMI160_LOW_G_INT_EN_MASK);
-
-        /* write data to Int Enable 0 register */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for low-g interrupt.
- */
-static int8_t config_low_g_data_src(
-    const struct bmi160_acc_low_g_int_cfg* low_g_int,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Configure Int data 0 register to add source of interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_LOW_HIGH_SRC_INT_MASK;
-        data = temp | ((low_g_int->low_data_src << 7) & BMI160_LOW_HIGH_SRC_INT_MASK);
-
-        /* Write data to Data 0 address */
-        rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the necessary setting of low-g interrupt.
- */
-static int8_t config_low_g_int_settg(
-    const struct bmi160_acc_low_g_int_cfg* low_g_int,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t temp = 0;
-    uint8_t data_array[3] = {0, 0, 0};
-
-    /* Configuring INT_LOWHIGH register for low-g interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_LOWHIGH_2_ADDR, &data_array[2], 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data_array[2] & ~BMI160_LOW_G_HYST_MASK;
-
-        /* Adding low-g hysteresis */
-        data_array[2] = temp | (low_g_int->low_hyst & BMI160_LOW_G_HYST_MASK);
-        temp = data_array[2] & ~BMI160_LOW_G_LOW_MODE_MASK;
-
-        /* Adding low-mode */
-        data_array[2] = temp | ((low_g_int->low_mode << 2) & BMI160_LOW_G_LOW_MODE_MASK);
-
-        /* Adding low-g threshold */
-        data_array[1] = low_g_int->low_thres;
-
-        /* Adding low-g interrupt delay */
-        data_array[0] = low_g_int->low_dur;
-
-        /* Writing data to INT_LOWHIGH 0,1,2 registers simultaneously*/
-        rslt = bmi160_set_regs(BMI160_INT_LOWHIGH_0_ADDR, data_array, 3, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the high-g interrupt.
- */
-static int8_t enable_high_g_int(
-    const struct bmi160_acc_high_g_int_cfg* high_g_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable low-g interrupt in Int Enable 1 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        /* Adding high-g X-axis */
-        temp = data & ~BMI160_HIGH_G_X_INT_EN_MASK;
-        data = temp | (high_g_int_cfg->high_g_x & BMI160_HIGH_G_X_INT_EN_MASK);
-
-        /* Adding high-g Y-axis */
-        temp = data & ~BMI160_HIGH_G_Y_INT_EN_MASK;
-        data = temp | ((high_g_int_cfg->high_g_y << 1) & BMI160_HIGH_G_Y_INT_EN_MASK);
-
-        /* Adding high-g Z-axis */
-        temp = data & ~BMI160_HIGH_G_Z_INT_EN_MASK;
-        data = temp | ((high_g_int_cfg->high_g_z << 2) & BMI160_HIGH_G_Z_INT_EN_MASK);
-
-        /* write data to Int Enable 0 register */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for high-g interrupt.
- */
-static int8_t config_high_g_data_src(
-    const struct bmi160_acc_high_g_int_cfg* high_g_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Configure Int data 0 register to add source of interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_LOW_HIGH_SRC_INT_MASK;
-        data = temp | ((high_g_int_cfg->high_data_src << 7) & BMI160_LOW_HIGH_SRC_INT_MASK);
-
-        /* Write data to Data 0 address */
-        rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the necessary setting of high-g interrupt.
- */
-static int8_t config_high_g_int_settg(
-    const struct bmi160_acc_high_g_int_cfg* high_g_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t temp = 0;
-    uint8_t data_array[3] = {0, 0, 0};
-
-    rslt = bmi160_get_regs(BMI160_INT_LOWHIGH_2_ADDR, &data_array[0], 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data_array[0] & ~BMI160_HIGH_G_HYST_MASK;
-
-        /* Adding high-g hysteresis */
-        data_array[0] = temp | ((high_g_int_cfg->high_hy << 6) & BMI160_HIGH_G_HYST_MASK);
-
-        /* Adding high-g duration */
-        data_array[1] = high_g_int_cfg->high_dur;
-
-        /* Adding high-g threshold */
-        data_array[2] = high_g_int_cfg->high_thres;
-        rslt = bmi160_set_regs(BMI160_INT_LOWHIGH_2_ADDR, data_array, 3, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the behavioural setting of interrupt pin.
- */
-static int8_t
-    config_int_out_ctrl(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t temp = 0;
-    uint8_t data = 0;
-
-    /* Configuration of output interrupt signals on pins INT1 and INT2 are
-     * done in BMI160_INT_OUT_CTRL_ADDR register*/
-    rslt = bmi160_get_regs(BMI160_INT_OUT_CTRL_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        /* updating the interrupt pin structure to local structure */
-        const struct bmi160_int_pin_settg* intr_pin_sett = &(int_config->int_pin_settg);
-
-        /* Configuring channel 1 */
-        if(int_config->int_channel == BMI160_INT_CHANNEL_1) {
-            /* Output enable */
-            temp = data & ~BMI160_INT1_OUTPUT_EN_MASK;
-            data = temp | ((intr_pin_sett->output_en << 3) & BMI160_INT1_OUTPUT_EN_MASK);
-
-            /* Output mode */
-            temp = data & ~BMI160_INT1_OUTPUT_MODE_MASK;
-            data = temp | ((intr_pin_sett->output_mode << 2) & BMI160_INT1_OUTPUT_MODE_MASK);
-
-            /* Output type */
-            temp = data & ~BMI160_INT1_OUTPUT_TYPE_MASK;
-            data = temp | ((intr_pin_sett->output_type << 1) & BMI160_INT1_OUTPUT_TYPE_MASK);
-
-            /* edge control */
-            temp = data & ~BMI160_INT1_EDGE_CTRL_MASK;
-            data = temp | ((intr_pin_sett->edge_ctrl) & BMI160_INT1_EDGE_CTRL_MASK);
-        } else {
-            /* Configuring channel 2 */
-            /* Output enable */
-            temp = data & ~BMI160_INT2_OUTPUT_EN_MASK;
-            data = temp | ((intr_pin_sett->output_en << 7) & BMI160_INT2_OUTPUT_EN_MASK);
-
-            /* Output mode */
-            temp = data & ~BMI160_INT2_OUTPUT_MODE_MASK;
-            data = temp | ((intr_pin_sett->output_mode << 6) & BMI160_INT2_OUTPUT_MODE_MASK);
-
-            /* Output type */
-            temp = data & ~BMI160_INT2_OUTPUT_TYPE_MASK;
-            data = temp | ((intr_pin_sett->output_type << 5) & BMI160_INT2_OUTPUT_TYPE_MASK);
-
-            /* edge control */
-            temp = data & ~BMI160_INT2_EDGE_CTRL_MASK;
-            data = temp | ((intr_pin_sett->edge_ctrl << 4) & BMI160_INT2_EDGE_CTRL_MASK);
-        }
-
-        rslt = bmi160_set_regs(BMI160_INT_OUT_CTRL_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the mode(input enable, latch or non-latch) of interrupt pin.
- */
-static int8_t
-    config_int_latch(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t temp = 0;
-    uint8_t data = 0;
-
-    /* Configuration of latch on pins INT1 and INT2 are done in
-     * BMI160_INT_LATCH_ADDR register*/
-    rslt = bmi160_get_regs(BMI160_INT_LATCH_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        /* updating the interrupt pin structure to local structure */
-        const struct bmi160_int_pin_settg* intr_pin_sett = &(int_config->int_pin_settg);
-        if(int_config->int_channel == BMI160_INT_CHANNEL_1) {
-            /* Configuring channel 1 */
-            /* Input enable */
-            temp = data & ~BMI160_INT1_INPUT_EN_MASK;
-            data = temp | ((intr_pin_sett->input_en << 4) & BMI160_INT1_INPUT_EN_MASK);
-        } else {
-            /* Configuring channel 2 */
-            /* Input enable */
-            temp = data & ~BMI160_INT2_INPUT_EN_MASK;
-            data = temp | ((intr_pin_sett->input_en << 5) & BMI160_INT2_INPUT_EN_MASK);
-        }
-
-        /* In case of latch interrupt,update the latch duration */
-
-        /* Latching holds the interrupt for the amount of latch
-         * duration time */
-        temp = data & ~BMI160_INT_LATCH_MASK;
-        data = temp | (intr_pin_sett->latch_dur & BMI160_INT_LATCH_MASK);
-
-        /* OUT_CTRL_INT and LATCH_INT address lie consecutively,
-         * hence writing data to respective registers at one go */
-        rslt = bmi160_set_regs(BMI160_INT_LATCH_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API performs the self test for accelerometer of BMI160
- */
-static int8_t perform_accel_self_test(struct bmi160_dev* dev) {
-    int8_t rslt;
-    struct bmi160_sensor_data accel_pos, accel_neg;
-
-    /* Enable Gyro self test bit */
-    rslt = enable_accel_self_test(dev);
-    if(rslt == BMI160_OK) {
-        /* Perform accel self test with positive excitation */
-        rslt = accel_self_test_positive_excitation(&accel_pos, dev);
-        if(rslt == BMI160_OK) {
-            /* Perform accel self test with negative excitation */
-            rslt = accel_self_test_negative_excitation(&accel_neg, dev);
-            if(rslt == BMI160_OK) {
-                /* Validate the self test result */
-                rslt = validate_accel_self_test(&accel_pos, &accel_neg);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables to perform the accel self test by setting proper
- * configurations to facilitate accel self test
- */
-static int8_t enable_accel_self_test(struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t reg_data;
-
-    /* Set the Accel power mode as normal mode */
-    dev->accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
-
-    /* Set the sensor range configuration as 8G */
-    dev->accel_cfg.range = BMI160_ACCEL_RANGE_8G;
-    rslt = bmi160_set_sens_conf(dev);
-    if(rslt == BMI160_OK) {
-        /* Accel configurations are set to facilitate self test
-         * acc_odr - 1600Hz ; acc_bwp = 2 ; acc_us = 0 */
-        reg_data = BMI160_ACCEL_SELF_TEST_CONFIG;
-        rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, &reg_data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API performs accel self test with positive excitation
- */
-static int8_t accel_self_test_positive_excitation(
-    struct bmi160_sensor_data* accel_pos,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t reg_data;
-
-    /* Enable accel self test with positive self-test excitation
-     * and with amplitude of deflection set as high */
-    reg_data = BMI160_ACCEL_SELF_TEST_POSITIVE_EN;
-    rslt = bmi160_set_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
-    if(rslt == BMI160_OK) {
-        /* Read the data after a delay of 50ms - refer datasheet  2.8.1 accel self test*/
-        dev->delay_ms(BMI160_ACCEL_SELF_TEST_DELAY);
-        rslt = bmi160_get_sensor_data(BMI160_ACCEL_ONLY, accel_pos, NULL, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API performs accel self test with negative excitation
- */
-static int8_t accel_self_test_negative_excitation(
-    struct bmi160_sensor_data* accel_neg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t reg_data;
-
-    /* Enable accel self test with negative self-test excitation
-     * and with amplitude of deflection set as high */
-    reg_data = BMI160_ACCEL_SELF_TEST_NEGATIVE_EN;
-    rslt = bmi160_set_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
-    if(rslt == BMI160_OK) {
-        /* Read the data after a delay of 50ms */
-        dev->delay_ms(BMI160_ACCEL_SELF_TEST_DELAY);
-        rslt = bmi160_get_sensor_data(BMI160_ACCEL_ONLY, accel_neg, NULL, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API validates the accel self test results
- */
-static int8_t validate_accel_self_test(
-    const struct bmi160_sensor_data* accel_pos,
-    const struct bmi160_sensor_data* accel_neg) {
-    int8_t rslt;
-
-    /* Validate the results of self test */
-    if(((accel_neg->x - accel_pos->x) > BMI160_ACCEL_SELF_TEST_LIMIT) &&
-       ((accel_neg->y - accel_pos->y) > BMI160_ACCEL_SELF_TEST_LIMIT) &&
-       ((accel_neg->z - accel_pos->z) > BMI160_ACCEL_SELF_TEST_LIMIT)) {
-        /* Self test pass condition */
-        rslt = BMI160_OK;
-    } else {
-        rslt = BMI160_W_ACCEl_SELF_TEST_FAIL;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API performs the self test for gyroscope of BMI160
- */
-static int8_t perform_gyro_self_test(const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Enable Gyro self test bit */
-    rslt = enable_gyro_self_test(dev);
-    if(rslt == BMI160_OK) {
-        /* Validate the gyro self test a delay of 50ms */
-        dev->delay_ms(50);
-
-        /* Validate the gyro self test results */
-        rslt = validate_gyro_self_test(dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the self test bit to trigger self test for Gyro
- */
-static int8_t enable_gyro_self_test(const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t reg_data;
-
-    /* Enable the Gyro self test bit to trigger the self test */
-    rslt = bmi160_get_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
-    if(rslt == BMI160_OK) {
-        reg_data = BMI160_SET_BITS(reg_data, BMI160_GYRO_SELF_TEST, 1);
-        rslt = bmi160_set_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
-        if(rslt == BMI160_OK) {
-            /* Delay to enable gyro self test */
-            dev->delay_ms(15);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API validates the self test results of Gyro
- */
-static int8_t validate_gyro_self_test(const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t reg_data;
-
-    /* Validate the Gyro self test result */
-    rslt = bmi160_get_regs(BMI160_STATUS_ADDR, &reg_data, 1, dev);
-    if(rslt == BMI160_OK) {
-        reg_data = BMI160_GET_BITS(reg_data, BMI160_GYRO_SELF_TEST_STATUS);
-        if(reg_data == BMI160_ENABLE) {
-            /* Gyro self test success case */
-            rslt = BMI160_OK;
-        } else {
-            rslt = BMI160_W_GYRO_SELF_TEST_FAIL;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API sets FIFO full interrupt of the sensor.This interrupt
- *  occurs when the FIFO is full and the next full data sample would cause
- *  a FIFO overflow, which may delete the old samples.
- */
-static int8_t
-    set_fifo_full_int(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-
-    /* Null-pointer check */
-    if((dev == NULL) || (dev->delay_ms == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /*enable the fifo full interrupt */
-        rslt = enable_fifo_full_int(int_config, dev);
-        if(rslt == BMI160_OK) {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if(rslt == BMI160_OK) {
-                rslt = map_hardware_interrupt(int_config, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This enable the FIFO full interrupt engine.
- */
-static int8_t
-    enable_fifo_full_int(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        data = BMI160_SET_BITS(data, BMI160_FIFO_FULL_INT, int_config->fifo_full_int_en);
-
-        /* Writing data to INT ENABLE 1 Address */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API sets FIFO watermark interrupt of the sensor.The FIFO
- *  watermark interrupt is fired, when the FIFO fill level is above a fifo
- *  watermark.
- */
-static int8_t set_fifo_watermark_int(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-
-    if((dev == NULL) || (dev->delay_ms == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* Enable fifo-watermark interrupt in Int Enable 1 register */
-        rslt = enable_fifo_wtm_int(int_config, dev);
-        if(rslt == BMI160_OK) {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if(rslt == BMI160_OK) {
-                rslt = map_hardware_interrupt(int_config, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This enable the FIFO watermark interrupt engine.
- */
-static int8_t
-    enable_fifo_wtm_int(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        data = BMI160_SET_BITS(data, BMI160_FIFO_WTM_INT, int_config->fifo_wtm_int_en);
-
-        /* Writing data to INT ENABLE 1 Address */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API is used to reset the FIFO related configurations
- *  in the fifo_frame structure.
- */
-static void reset_fifo_data_structure(const struct bmi160_dev* dev) {
-    /*Prepare for next FIFO read by resetting FIFO's
-     * internal data structures*/
-    dev->fifo->accel_byte_start_idx = 0;
-    dev->fifo->gyro_byte_start_idx = 0;
-    dev->fifo->aux_byte_start_idx = 0;
-    dev->fifo->sensor_time = 0;
-    dev->fifo->skipped_frame_count = 0;
-}
-
-/*!
- *  @brief This API is used to read fifo_byte_counter value (i.e)
- *  current fill-level in Fifo buffer.
- */
-static int8_t get_fifo_byte_counter(uint16_t* bytes_to_read, struct bmi160_dev const* dev) {
-    int8_t rslt = 0;
-    uint8_t data[2];
-    uint8_t addr = BMI160_FIFO_LENGTH_ADDR;
-
-    rslt |= bmi160_get_regs(addr, data, 2, dev);
-    data[1] = data[1] & BMI160_FIFO_BYTE_COUNTER_MASK;
-
-    /* Available data in FIFO is stored in bytes_to_read*/
-    *bytes_to_read = (((uint16_t)data[1] << 8) | ((uint16_t)data[0]));
-
-    return rslt;
-}
-
-/*!
- *  @brief This API is used to compute the number of bytes of accel FIFO data
- *  which is to be parsed in header-less mode
- */
-static void get_accel_len_to_parse(
-    uint16_t* data_index,
-    uint16_t* data_read_length,
-    const uint8_t* acc_frame_count,
-    const struct bmi160_dev* dev) {
-    /* Data start index */
-    *data_index = dev->fifo->accel_byte_start_idx;
-    if(dev->fifo->fifo_data_enable == BMI160_FIFO_A_ENABLE) {
-        *data_read_length = (*acc_frame_count) * BMI160_FIFO_A_LENGTH;
-    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_G_A_ENABLE) {
-        *data_read_length = (*acc_frame_count) * BMI160_FIFO_GA_LENGTH;
-    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_A_ENABLE) {
-        *data_read_length = (*acc_frame_count) * BMI160_FIFO_MA_LENGTH;
-    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_A_ENABLE) {
-        *data_read_length = (*acc_frame_count) * BMI160_FIFO_MGA_LENGTH;
-    } else {
-        /* When accel is not enabled ,there will be no accel data.
-         * so we update the data index as complete */
-        *data_index = dev->fifo->length;
-    }
-
-    if(*data_read_length > dev->fifo->length) {
-        /* Handling the case where more data is requested
-         * than that is available*/
-        *data_read_length = dev->fifo->length;
-    }
-}
-
-/*!
- *  @brief This API is used to parse the accelerometer data from the
- *  FIFO data in both header mode and header-less mode.
- *  It updates the idx value which is used to store the index of
- *  the current data byte which is parsed.
- */
-static void unpack_accel_frame(
-    struct bmi160_sensor_data* acc,
-    uint16_t* idx,
-    uint8_t* acc_idx,
-    uint8_t frame_info,
-    const struct bmi160_dev* dev) {
-    switch(frame_info) {
-    case BMI160_FIFO_HEAD_A:
-    case BMI160_FIFO_A_ENABLE:
-
-        /*Partial read, then skip the data*/
-        if((*idx + BMI160_FIFO_A_LENGTH) > dev->fifo->length) {
-            /*Update the data index as complete*/
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /*Unpack the data array into the structure instance "acc" */
-        unpack_accel_data(&acc[*acc_idx], *idx, dev);
-
-        /*Move the data index*/
-        *idx = *idx + BMI160_FIFO_A_LENGTH;
-        (*acc_idx)++;
-        break;
-    case BMI160_FIFO_HEAD_G_A:
-    case BMI160_FIFO_G_A_ENABLE:
-
-        /*Partial read, then skip the data*/
-        if((*idx + BMI160_FIFO_GA_LENGTH) > dev->fifo->length) {
-            /*Update the data index as complete*/
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /*Unpack the data array into structure instance "acc"*/
-        unpack_accel_data(&acc[*acc_idx], *idx + BMI160_FIFO_G_LENGTH, dev);
-
-        /*Move the data index*/
-        *idx = *idx + BMI160_FIFO_GA_LENGTH;
-        (*acc_idx)++;
-        break;
-    case BMI160_FIFO_HEAD_M_A:
-    case BMI160_FIFO_M_A_ENABLE:
-
-        /*Partial read, then skip the data*/
-        if((*idx + BMI160_FIFO_MA_LENGTH) > dev->fifo->length) {
-            /*Update the data index as complete*/
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /*Unpack the data array into structure instance "acc"*/
-        unpack_accel_data(&acc[*acc_idx], *idx + BMI160_FIFO_M_LENGTH, dev);
-
-        /*Move the data index*/
-        *idx = *idx + BMI160_FIFO_MA_LENGTH;
-        (*acc_idx)++;
-        break;
-    case BMI160_FIFO_HEAD_M_G_A:
-    case BMI160_FIFO_M_G_A_ENABLE:
-
-        /*Partial read, then skip the data*/
-        if((*idx + BMI160_FIFO_MGA_LENGTH) > dev->fifo->length) {
-            /*Update the data index as complete*/
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /*Unpack the data array into structure instance "acc"*/
-        unpack_accel_data(&acc[*acc_idx], *idx + BMI160_FIFO_MG_LENGTH, dev);
-
-        /*Move the data index*/
-        *idx = *idx + BMI160_FIFO_MGA_LENGTH;
-        (*acc_idx)++;
-        break;
-    case BMI160_FIFO_HEAD_M:
-    case BMI160_FIFO_M_ENABLE:
-        (*idx) = (*idx) + BMI160_FIFO_M_LENGTH;
-        break;
-    case BMI160_FIFO_HEAD_G:
-    case BMI160_FIFO_G_ENABLE:
-        (*idx) = (*idx) + BMI160_FIFO_G_LENGTH;
-        break;
-    case BMI160_FIFO_HEAD_M_G:
-    case BMI160_FIFO_M_G_ENABLE:
-        (*idx) = (*idx) + BMI160_FIFO_MG_LENGTH;
-        break;
-    default:
-        break;
-    }
-}
-
-/*!
- *  @brief This API is used to parse the accelerometer data from the
- *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
- */
-static void unpack_accel_data(
-    struct bmi160_sensor_data* accel_data,
-    uint16_t data_start_index,
-    const struct bmi160_dev* dev) {
-    uint16_t data_lsb;
-    uint16_t data_msb;
-
-    /* Accel raw x data */
-    data_lsb = dev->fifo->data[data_start_index++];
-    data_msb = dev->fifo->data[data_start_index++];
-    accel_data->x = (int16_t)((data_msb << 8) | data_lsb);
-
-    /* Accel raw y data */
-    data_lsb = dev->fifo->data[data_start_index++];
-    data_msb = dev->fifo->data[data_start_index++];
-    accel_data->y = (int16_t)((data_msb << 8) | data_lsb);
-
-    /* Accel raw z data */
-    data_lsb = dev->fifo->data[data_start_index++];
-    data_msb = dev->fifo->data[data_start_index++];
-    accel_data->z = (int16_t)((data_msb << 8) | data_lsb);
-}
-
-/*!
- *  @brief This API is used to parse the accelerometer data from the
- *  FIFO data in header mode.
- */
-static void extract_accel_header_mode(
-    struct bmi160_sensor_data* accel_data,
-    uint8_t* accel_length,
-    const struct bmi160_dev* dev) {
-    uint8_t frame_header = 0;
-    uint16_t data_index;
-    uint8_t accel_index = 0;
-
-    for(data_index = dev->fifo->accel_byte_start_idx; data_index < dev->fifo->length;) {
-        /* extracting Frame header */
-        frame_header = (dev->fifo->data[data_index] & BMI160_FIFO_TAG_INTR_MASK);
-
-        /*Index is moved to next byte where the data is starting*/
-        data_index++;
-        switch(frame_header) {
-        /* Accel frame */
-        case BMI160_FIFO_HEAD_A:
-        case BMI160_FIFO_HEAD_M_A:
-        case BMI160_FIFO_HEAD_G_A:
-        case BMI160_FIFO_HEAD_M_G_A:
-            unpack_accel_frame(accel_data, &data_index, &accel_index, frame_header, dev);
-            break;
-        case BMI160_FIFO_HEAD_M:
-            move_next_frame(&data_index, BMI160_FIFO_M_LENGTH, dev);
-            break;
-        case BMI160_FIFO_HEAD_G:
-            move_next_frame(&data_index, BMI160_FIFO_G_LENGTH, dev);
-            break;
-        case BMI160_FIFO_HEAD_M_G:
-            move_next_frame(&data_index, BMI160_FIFO_MG_LENGTH, dev);
-            break;
-
-        /* Sensor time frame */
-        case BMI160_FIFO_HEAD_SENSOR_TIME:
-            unpack_sensortime_frame(&data_index, dev);
-            break;
-
-        /* Skip frame */
-        case BMI160_FIFO_HEAD_SKIP_FRAME:
-            unpack_skipped_frame(&data_index, dev);
-            break;
-
-        /* Input config frame */
-        case BMI160_FIFO_HEAD_INPUT_CONFIG:
-            move_next_frame(&data_index, 1, dev);
-            break;
-        case BMI160_FIFO_HEAD_OVER_READ:
-
-            /* Update the data index as complete in case of Over read */
-            data_index = dev->fifo->length;
-            break;
-        default:
-            break;
-        }
-        if(*accel_length == accel_index) {
-            /* Number of frames to read completed */
-            break;
-        }
-    }
-
-    /*Update number of accel data read*/
-    *accel_length = accel_index;
-
-    /*Update the accel frame index*/
-    dev->fifo->accel_byte_start_idx = data_index;
-}
-
-/*!
- *  @brief This API computes the number of bytes of gyro FIFO data
- *  which is to be parsed in header-less mode
- */
-static void get_gyro_len_to_parse(
-    uint16_t* data_index,
-    uint16_t* data_read_length,
-    const uint8_t* gyro_frame_count,
-    const struct bmi160_dev* dev) {
-    /* Data start index */
-    *data_index = dev->fifo->gyro_byte_start_idx;
-    if(dev->fifo->fifo_data_enable == BMI160_FIFO_G_ENABLE) {
-        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_G_LENGTH;
-    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_G_A_ENABLE) {
-        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_GA_LENGTH;
-    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_ENABLE) {
-        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_MG_LENGTH;
-    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_A_ENABLE) {
-        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_MGA_LENGTH;
-    } else {
-        /* When gyro is not enabled ,there will be no gyro data.
-         * so we update the data index as complete */
-        *data_index = dev->fifo->length;
-    }
-
-    if(*data_read_length > dev->fifo->length) {
-        /* Handling the case where more data is requested
-         * than that is available*/
-        *data_read_length = dev->fifo->length;
-    }
-}
-
-/*!
- *  @brief This API is used to parse the gyroscope's data from the
- *  FIFO data in both header mode and header-less mode.
- *  It updates the idx value which is used to store the index of
- *  the current data byte which is parsed.
- */
-static void unpack_gyro_frame(
-    struct bmi160_sensor_data* gyro,
-    uint16_t* idx,
-    uint8_t* gyro_idx,
-    uint8_t frame_info,
-    const struct bmi160_dev* dev) {
-    switch(frame_info) {
-    case BMI160_FIFO_HEAD_G:
-    case BMI160_FIFO_G_ENABLE:
-
-        /*Partial read, then skip the data*/
-        if((*idx + BMI160_FIFO_G_LENGTH) > dev->fifo->length) {
-            /*Update the data index as complete*/
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /*Unpack the data array into structure instance "gyro"*/
-        unpack_gyro_data(&gyro[*gyro_idx], *idx, dev);
-
-        /*Move the data index*/
-        (*idx) = (*idx) + BMI160_FIFO_G_LENGTH;
-        (*gyro_idx)++;
-        break;
-    case BMI160_FIFO_HEAD_G_A:
-    case BMI160_FIFO_G_A_ENABLE:
-
-        /*Partial read, then skip the data*/
-        if((*idx + BMI160_FIFO_GA_LENGTH) > dev->fifo->length) {
-            /*Update the data index as complete*/
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /* Unpack the data array into structure instance "gyro" */
-        unpack_gyro_data(&gyro[*gyro_idx], *idx, dev);
-
-        /* Move the data index */
-        *idx = *idx + BMI160_FIFO_GA_LENGTH;
-        (*gyro_idx)++;
-        break;
-    case BMI160_FIFO_HEAD_M_G_A:
-    case BMI160_FIFO_M_G_A_ENABLE:
-
-        /*Partial read, then skip the data*/
-        if((*idx + BMI160_FIFO_MGA_LENGTH) > dev->fifo->length) {
-            /*Update the data index as complete*/
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /*Unpack the data array into structure instance "gyro"*/
-        unpack_gyro_data(&gyro[*gyro_idx], *idx + BMI160_FIFO_M_LENGTH, dev);
-
-        /*Move the data index*/
-        *idx = *idx + BMI160_FIFO_MGA_LENGTH;
-        (*gyro_idx)++;
-        break;
-    case BMI160_FIFO_HEAD_M_A:
-    case BMI160_FIFO_M_A_ENABLE:
-
-        /* Move the data index */
-        *idx = *idx + BMI160_FIFO_MA_LENGTH;
-        break;
-    case BMI160_FIFO_HEAD_M:
-    case BMI160_FIFO_M_ENABLE:
-        (*idx) = (*idx) + BMI160_FIFO_M_LENGTH;
-        break;
-    case BMI160_FIFO_HEAD_M_G:
-    case BMI160_FIFO_M_G_ENABLE:
-
-        /*Partial read, then skip the data*/
-        if((*idx + BMI160_FIFO_MG_LENGTH) > dev->fifo->length) {
-            /*Update the data index as complete*/
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /*Unpack the data array into structure instance "gyro"*/
-        unpack_gyro_data(&gyro[*gyro_idx], *idx + BMI160_FIFO_M_LENGTH, dev);
-
-        /*Move the data index*/
-        (*idx) = (*idx) + BMI160_FIFO_MG_LENGTH;
-        (*gyro_idx)++;
-        break;
-    case BMI160_FIFO_HEAD_A:
-    case BMI160_FIFO_A_ENABLE:
-
-        /*Move the data index*/
-        *idx = *idx + BMI160_FIFO_A_LENGTH;
-        break;
-    default:
-        break;
-    }
-}
-
-/*!
- *  @brief This API is used to parse the gyro data from the
- *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
- */
-static void unpack_gyro_data(
-    struct bmi160_sensor_data* gyro_data,
-    uint16_t data_start_index,
-    const struct bmi160_dev* dev) {
-    uint16_t data_lsb;
-    uint16_t data_msb;
-
-    /* Gyro raw x data */
-    data_lsb = dev->fifo->data[data_start_index++];
-    data_msb = dev->fifo->data[data_start_index++];
-    gyro_data->x = (int16_t)((data_msb << 8) | data_lsb);
-
-    /* Gyro raw y data */
-    data_lsb = dev->fifo->data[data_start_index++];
-    data_msb = dev->fifo->data[data_start_index++];
-    gyro_data->y = (int16_t)((data_msb << 8) | data_lsb);
-
-    /* Gyro raw z data */
-    data_lsb = dev->fifo->data[data_start_index++];
-    data_msb = dev->fifo->data[data_start_index++];
-    gyro_data->z = (int16_t)((data_msb << 8) | data_lsb);
-}
-
-/*!
- *  @brief This API is used to parse the gyro data from the
- *  FIFO data in header mode.
- */
-static void extract_gyro_header_mode(
-    struct bmi160_sensor_data* gyro_data,
-    uint8_t* gyro_length,
-    const struct bmi160_dev* dev) {
-    uint8_t frame_header = 0;
-    uint16_t data_index;
-    uint8_t gyro_index = 0;
-
-    for(data_index = dev->fifo->gyro_byte_start_idx; data_index < dev->fifo->length;) {
-        /* extracting Frame header */
-        frame_header = (dev->fifo->data[data_index] & BMI160_FIFO_TAG_INTR_MASK);
-
-        /*Index is moved to next byte where the data is starting*/
-        data_index++;
-        switch(frame_header) {
-        /* GYRO frame */
-        case BMI160_FIFO_HEAD_G:
-        case BMI160_FIFO_HEAD_G_A:
-        case BMI160_FIFO_HEAD_M_G:
-        case BMI160_FIFO_HEAD_M_G_A:
-            unpack_gyro_frame(gyro_data, &data_index, &gyro_index, frame_header, dev);
-            break;
-        case BMI160_FIFO_HEAD_A:
-            move_next_frame(&data_index, BMI160_FIFO_A_LENGTH, dev);
-            break;
-        case BMI160_FIFO_HEAD_M:
-            move_next_frame(&data_index, BMI160_FIFO_M_LENGTH, dev);
-            break;
-        case BMI160_FIFO_HEAD_M_A:
-            move_next_frame(&data_index, BMI160_FIFO_M_LENGTH, dev);
-            break;
-
-        /* Sensor time frame */
-        case BMI160_FIFO_HEAD_SENSOR_TIME:
-            unpack_sensortime_frame(&data_index, dev);
-            break;
-
-        /* Skip frame */
-        case BMI160_FIFO_HEAD_SKIP_FRAME:
-            unpack_skipped_frame(&data_index, dev);
-            break;
-
-        /* Input config frame */
-        case BMI160_FIFO_HEAD_INPUT_CONFIG:
-            move_next_frame(&data_index, 1, dev);
-            break;
-        case BMI160_FIFO_HEAD_OVER_READ:
-
-            /* Update the data index as complete in case of over read */
-            data_index = dev->fifo->length;
-            break;
-        default:
-            break;
-        }
-        if(*gyro_length == gyro_index) {
-            /*Number of frames to read completed*/
-            break;
-        }
-    }
-
-    /*Update number of gyro data read*/
-    *gyro_length = gyro_index;
-
-    /*Update the gyro frame index*/
-    dev->fifo->gyro_byte_start_idx = data_index;
-}
-
-/*!
- *  @brief This API computes the number of bytes of aux FIFO data
- *  which is to be parsed in header-less mode
- */
-static void get_aux_len_to_parse(
-    uint16_t* data_index,
-    uint16_t* data_read_length,
-    const uint8_t* aux_frame_count,
-    const struct bmi160_dev* dev) {
-    /* Data start index */
-    *data_index = dev->fifo->gyro_byte_start_idx;
-    if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_ENABLE) {
-        *data_read_length = (*aux_frame_count) * BMI160_FIFO_M_LENGTH;
-    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_A_ENABLE) {
-        *data_read_length = (*aux_frame_count) * BMI160_FIFO_MA_LENGTH;
-    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_ENABLE) {
-        *data_read_length = (*aux_frame_count) * BMI160_FIFO_MG_LENGTH;
-    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_A_ENABLE) {
-        *data_read_length = (*aux_frame_count) * BMI160_FIFO_MGA_LENGTH;
-    } else {
-        /* When aux is not enabled ,there will be no aux data.
-         * so we update the data index as complete */
-        *data_index = dev->fifo->length;
-    }
-
-    if(*data_read_length > dev->fifo->length) {
-        /* Handling the case where more data is requested
-         * than that is available */
-        *data_read_length = dev->fifo->length;
-    }
-}
-
-/*!
- *  @brief This API is used to parse the aux's data from the
- *  FIFO data in both header mode and header-less mode.
- *  It updates the idx value which is used to store the index of
- *  the current data byte which is parsed
- */
-static void unpack_aux_frame(
-    struct bmi160_aux_data* aux_data,
-    uint16_t* idx,
-    uint8_t* aux_index,
-    uint8_t frame_info,
-    const struct bmi160_dev* dev) {
-    switch(frame_info) {
-    case BMI160_FIFO_HEAD_M:
-    case BMI160_FIFO_M_ENABLE:
-
-        /* Partial read, then skip the data */
-        if((*idx + BMI160_FIFO_M_LENGTH) > dev->fifo->length) {
-            /* Update the data index as complete */
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /* Unpack the data array into structure instance */
-        unpack_aux_data(&aux_data[*aux_index], *idx, dev);
-
-        /* Move the data index */
-        *idx = *idx + BMI160_FIFO_M_LENGTH;
-        (*aux_index)++;
-        break;
-    case BMI160_FIFO_HEAD_M_A:
-    case BMI160_FIFO_M_A_ENABLE:
-
-        /* Partial read, then skip the data */
-        if((*idx + BMI160_FIFO_MA_LENGTH) > dev->fifo->length) {
-            /* Update the data index as complete */
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /* Unpack the data array into structure instance */
-        unpack_aux_data(&aux_data[*aux_index], *idx, dev);
-
-        /* Move the data index */
-        *idx = *idx + BMI160_FIFO_MA_LENGTH;
-        (*aux_index)++;
-        break;
-    case BMI160_FIFO_HEAD_M_G:
-    case BMI160_FIFO_M_G_ENABLE:
-
-        /* Partial read, then skip the data */
-        if((*idx + BMI160_FIFO_MG_LENGTH) > dev->fifo->length) {
-            /* Update the data index as complete */
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /* Unpack the data array into structure instance */
-        unpack_aux_data(&aux_data[*aux_index], *idx, dev);
-
-        /* Move the data index */
-        (*idx) = (*idx) + BMI160_FIFO_MG_LENGTH;
-        (*aux_index)++;
-        break;
-    case BMI160_FIFO_HEAD_M_G_A:
-    case BMI160_FIFO_M_G_A_ENABLE:
-
-        /*Partial read, then skip the data*/
-        if((*idx + BMI160_FIFO_MGA_LENGTH) > dev->fifo->length) {
-            /* Update the data index as complete */
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /* Unpack the data array into structure instance */
-        unpack_aux_data(&aux_data[*aux_index], *idx, dev);
-
-        /*Move the data index*/
-        *idx = *idx + BMI160_FIFO_MGA_LENGTH;
-        (*aux_index)++;
-        break;
-    case BMI160_FIFO_HEAD_G:
-    case BMI160_FIFO_G_ENABLE:
-
-        /* Move the data index */
-        (*idx) = (*idx) + BMI160_FIFO_G_LENGTH;
-        break;
-    case BMI160_FIFO_HEAD_G_A:
-    case BMI160_FIFO_G_A_ENABLE:
-
-        /* Move the data index */
-        *idx = *idx + BMI160_FIFO_GA_LENGTH;
-        break;
-    case BMI160_FIFO_HEAD_A:
-    case BMI160_FIFO_A_ENABLE:
-
-        /* Move the data index */
-        *idx = *idx + BMI160_FIFO_A_LENGTH;
-        break;
-    default:
-        break;
-    }
-}
-
-/*!
- *  @brief This API is used to parse the aux data from the
- *  FIFO data and store it in the instance of the structure bmi160_aux_data.
- */
-static void unpack_aux_data(
-    struct bmi160_aux_data* aux_data,
-    uint16_t data_start_index,
-    const struct bmi160_dev* dev) {
-    /* Aux data bytes */
-    aux_data->data[0] = dev->fifo->data[data_start_index++];
-    aux_data->data[1] = dev->fifo->data[data_start_index++];
-    aux_data->data[2] = dev->fifo->data[data_start_index++];
-    aux_data->data[3] = dev->fifo->data[data_start_index++];
-    aux_data->data[4] = dev->fifo->data[data_start_index++];
-    aux_data->data[5] = dev->fifo->data[data_start_index++];
-    aux_data->data[6] = dev->fifo->data[data_start_index++];
-    aux_data->data[7] = dev->fifo->data[data_start_index++];
-}
-
-/*!
- *  @brief This API is used to parse the aux data from the
- *  FIFO data in header mode.
- */
-static void extract_aux_header_mode(
-    struct bmi160_aux_data* aux_data,
-    uint8_t* aux_length,
-    const struct bmi160_dev* dev) {
-    uint8_t frame_header = 0;
-    uint16_t data_index;
-    uint8_t aux_index = 0;
-
-    for(data_index = dev->fifo->aux_byte_start_idx; data_index < dev->fifo->length;) {
-        /* extracting Frame header */
-        frame_header = (dev->fifo->data[data_index] & BMI160_FIFO_TAG_INTR_MASK);
-
-        /*Index is moved to next byte where the data is starting*/
-        data_index++;
-        switch(frame_header) {
-        /* Aux frame */
-        case BMI160_FIFO_HEAD_M:
-        case BMI160_FIFO_HEAD_M_A:
-        case BMI160_FIFO_HEAD_M_G:
-        case BMI160_FIFO_HEAD_M_G_A:
-            unpack_aux_frame(aux_data, &data_index, &aux_index, frame_header, dev);
-            break;
-        case BMI160_FIFO_HEAD_G:
-            move_next_frame(&data_index, BMI160_FIFO_G_LENGTH, dev);
-            break;
-        case BMI160_FIFO_HEAD_G_A:
-            move_next_frame(&data_index, BMI160_FIFO_GA_LENGTH, dev);
-            break;
-        case BMI160_FIFO_HEAD_A:
-            move_next_frame(&data_index, BMI160_FIFO_A_LENGTH, dev);
-            break;
-
-        /* Sensor time frame */
-        case BMI160_FIFO_HEAD_SENSOR_TIME:
-            unpack_sensortime_frame(&data_index, dev);
-            break;
-
-        /* Skip frame */
-        case BMI160_FIFO_HEAD_SKIP_FRAME:
-            unpack_skipped_frame(&data_index, dev);
-            break;
-
-        /* Input config frame */
-        case BMI160_FIFO_HEAD_INPUT_CONFIG:
-            move_next_frame(&data_index, 1, dev);
-            break;
-        case BMI160_FIFO_HEAD_OVER_READ:
-
-            /* Update the data index as complete in case
-                 * of over read */
-            data_index = dev->fifo->length;
-            break;
-        default:
-
-            /* Update the data index as complete in case of
-                 * getting other headers like 0x00 */
-            data_index = dev->fifo->length;
-            break;
-        }
-        if(*aux_length == aux_index) {
-            /*Number of frames to read completed*/
-            break;
-        }
-    }
-
-    /* Update number of aux data read */
-    *aux_length = aux_index;
-
-    /* Update the aux frame index */
-    dev->fifo->aux_byte_start_idx = data_index;
-}
-
-/*!
- *  @brief This API checks the presence of non-valid frames in the read fifo data.
- */
-static void check_frame_validity(uint16_t* data_index, const struct bmi160_dev* dev) {
-    if((*data_index + 2) < dev->fifo->length) {
-        /* Check if FIFO is empty */
-        if((dev->fifo->data[*data_index] == FIFO_CONFIG_MSB_CHECK) &&
-           (dev->fifo->data[*data_index + 1] == FIFO_CONFIG_LSB_CHECK)) {
-            /*Update the data index as complete*/
-            *data_index = dev->fifo->length;
-        }
-    }
-}
-
-/*!
- *  @brief This API is used to move the data index ahead of the
- *  current_frame_length parameter when unnecessary FIFO data appears while
- *  extracting the user specified data.
- */
-static void move_next_frame(
-    uint16_t* data_index,
-    uint8_t current_frame_length,
-    const struct bmi160_dev* dev) {
-    /*Partial read, then move the data index to last data*/
-    if((*data_index + current_frame_length) > dev->fifo->length) {
-        /*Update the data index as complete*/
-        *data_index = dev->fifo->length;
-    } else {
-        /*Move the data index to next frame*/
-        *data_index = *data_index + current_frame_length;
-    }
-}
-
-/*!
- *  @brief This API is used to parse and store the sensor time from the
- *  FIFO data in the structure instance dev.
- */
-static void unpack_sensortime_frame(uint16_t* data_index, const struct bmi160_dev* dev) {
-    uint32_t sensor_time_byte3 = 0;
-    uint16_t sensor_time_byte2 = 0;
-    uint8_t sensor_time_byte1 = 0;
-
-    /*Partial read, then move the data index to last data*/
-    if((*data_index + BMI160_SENSOR_TIME_LENGTH) > dev->fifo->length) {
-        /*Update the data index as complete*/
-        *data_index = dev->fifo->length;
-    } else {
-        sensor_time_byte3 = dev->fifo->data[(*data_index) + BMI160_SENSOR_TIME_MSB_BYTE] << 16;
-        sensor_time_byte2 = dev->fifo->data[(*data_index) + BMI160_SENSOR_TIME_XLSB_BYTE] << 8;
-        sensor_time_byte1 = dev->fifo->data[(*data_index)];
-
-        /* Sensor time */
-        dev->fifo->sensor_time =
-            (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1);
-        *data_index = (*data_index) + BMI160_SENSOR_TIME_LENGTH;
-    }
-}
-
-/*!
- *  @brief This API is used to parse and store the skipped_frame_count from
- *  the FIFO data in the structure instance dev.
- */
-static void unpack_skipped_frame(uint16_t* data_index, const struct bmi160_dev* dev) {
-    /*Partial read, then move the data index to last data*/
-    if(*data_index >= dev->fifo->length) {
-        /*Update the data index as complete*/
-        *data_index = dev->fifo->length;
-    } else {
-        dev->fifo->skipped_frame_count = dev->fifo->data[*data_index];
-
-        /*Move the data index*/
-        *data_index = (*data_index) + 1;
-    }
-}
-
-/*!
- *  @brief This API is used to get the FOC status from the sensor
- */
-static int8_t get_foc_status(uint8_t* foc_status, struct bmi160_dev const* dev) {
-    int8_t rslt;
-    uint8_t data;
-
-    /* Read the FOC status from sensor */
-    rslt = bmi160_get_regs(BMI160_STATUS_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        /* Get the foc_status bit */
-        *foc_status = BMI160_GET_BITS(data, BMI160_FOC_STATUS);
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API is used to configure the offset enable bits in the sensor
- */
-static int8_t
-    configure_offset_enable(const struct bmi160_foc_conf* foc_conf, struct bmi160_dev const* dev) {
-    int8_t rslt;
-    uint8_t data;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if(rslt != BMI160_OK) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* Read the FOC config from the sensor */
-        rslt = bmi160_get_regs(BMI160_OFFSET_CONF_ADDR, &data, 1, dev);
-        if(rslt == BMI160_OK) {
-            /* Set the offset enable/disable for gyro */
-            data = BMI160_SET_BITS(data, BMI160_GYRO_OFFSET_EN, foc_conf->gyro_off_en);
-
-            /* Set the offset enable/disable for accel */
-            data = BMI160_SET_BITS(data, BMI160_ACCEL_OFFSET_EN, foc_conf->acc_off_en);
-
-            /* Set the offset config in the sensor */
-            rslt = bmi160_set_regs(BMI160_OFFSET_CONF_ADDR, &data, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-static int8_t trigger_foc(struct bmi160_offsets* offset, struct bmi160_dev const* dev) {
-    int8_t rslt;
-    uint8_t foc_status = BMI160_ENABLE;
-    uint8_t cmd = BMI160_START_FOC_CMD;
-    uint8_t timeout = 0;
-    uint8_t data_array[20];
-
-    /* Start the FOC process */
-    rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &cmd, 1, dev);
-    if(rslt == BMI160_OK) {
-        /* Check the FOC status*/
-        rslt = get_foc_status(&foc_status, dev);
-
-        if((rslt != BMI160_OK) || (foc_status != BMI160_ENABLE)) {
-            while((foc_status != BMI160_ENABLE) && (timeout < 11)) {
-                /* Maximum time of 250ms is given in 10
-                 * steps of 25ms each - 250ms refer datasheet 2.9.1 */
-                dev->delay_ms(25);
-
-                /* Check the FOC status*/
-                rslt = get_foc_status(&foc_status, dev);
-                timeout++;
-            }
-
-            if((rslt == BMI160_OK) && (foc_status == BMI160_ENABLE)) {
-                /* Get offset values from sensor */
-                rslt = bmi160_get_offsets(offset, dev);
-            } else {
-                /* FOC failure case */
-                rslt = BMI160_E_FOC_FAILURE;
-            }
-        }
-
-        if(rslt == BMI160_OK) {
-            /* Read registers 0x04-0x17 */
-            rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 20, dev);
-        }
-    }
-
-    return rslt;
-}

tracking/imu/bmi160.h

@@ -1,992 +1,17 @@
-/**
-* Copyright (c) 2021 Bosch Sensortec GmbH. All rights reserved.
-*
-* BSD-3-Clause
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-* 1. Redistributions of source code must retain the above copyright
-*    notice, this list of conditions and the following disclaimer.
-*
-* 2. Redistributions in binary form must reproduce the above copyright
-*    notice, this list of conditions and the following disclaimer in the
-*    documentation and/or other materials provided with the distribution.
-*
-* 3. Neither the name of the copyright holder nor the names of its
-*    contributors may be used to endorse or promote products derived from
-*    this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
-* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
-* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
-* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* @file       bmi160.h
-* @date       2021-10-05
-* @version    v3.9.2
-*
-*/
+#ifndef IMU_BMI160_H
+#define IMU_BMI160_H
 
-/*!
- * @defgroup bmi160 BMI160
- */
+#include "../../lib/bmi160-api/bmi160.h"
+#include <furi_hal.h>
+#include "imu.h"
 
-#ifndef BMI160_H_
-#define BMI160_H_
+// Function declarations
+int8_t bmi160_write_i2c(uint8_t dev_addr, uint8_t reg_addr, uint8_t* data, uint16_t len);
+int8_t bmi160_read_i2c(uint8_t dev_addr, uint8_t reg_addr, uint8_t* read_data, uint16_t len);
+bool bmi160_begin(void);
+void bmi160_end(void);
+int bmi160_read(double* vec);
 
-/*************************** C++ guard macro *****************************/
-#ifdef __cplusplus
-extern "C" {
-#endif
+extern struct imu_t imu_bmi160;
 
-#include "bmi160_defs.h"
-#ifdef __KERNEL__
-#include <bmi160_math.h>
-#else
-#include <math.h>
-#include <string.h>
-#include <stdlib.h>
-#endif
-
-/*********************** User function prototypes ************************/
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiInit Initialization
- * @brief Initialize the sensor and device structure
- */
-
-/*!
- * \ingroup bmi160ApiInit
- * \page bmi160_api_bmi160_init bmi160_init
- * \code
- * int8_t bmi160_init(struct bmi160_dev *dev);
- * \endcode
- * @details This API is the entry point for sensor.It performs
- *  the selection of I2C/SPI read mechanism according to the
- *  selected interface and reads the chip-id of bmi160 sensor.
- *
- *  @param[in,out] dev : Structure instance of bmi160_dev
- *  @note : Refer user guide for detailed info.
- *
- *  @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_init(struct bmi160_dev* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiRegs Registers
- * @brief Read data from the given register address of sensor
- */
-
-/*!
- * \ingroup bmi160ApiRegs
- * \page bmi160_api_bmi160_get_regs bmi160_get_regs
- * \code
- * int8_t bmi160_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev);
- * \endcode
- * @details This API reads the data from the given register address of sensor.
- *
- * @param[in] reg_addr  : Register address from where the data to be read
- * @param[out] data     : Pointer to data buffer to store the read data.
- * @param[in] len       : No of bytes of data to be read.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @note For most of the registers auto address increment applies, with the
- * exception of a few special registers, which trap the address. For e.g.,
- * Register address - 0x24(BMI160_FIFO_DATA_ADDR)
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t
-    bmi160_get_regs(uint8_t reg_addr, uint8_t* data, uint16_t len, const struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiRegs
- * \page bmi160_api_bmi160_set_regs bmi160_set_regs
- * \code
- * int8_t bmi160_set_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev);
- * \endcode
- * @details This API writes the given data to the register address
- * of sensor.
- *
- * @param[in] reg_addr  : Register address from where the data to be written.
- * @param[in] data      : Pointer to data buffer which is to be written
- * in the sensor.
- * @param[in] len       : No of bytes of data to write..
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t
-    bmi160_set_regs(uint8_t reg_addr, uint8_t* data, uint16_t len, const struct bmi160_dev* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiSoftreset Soft reset
- * @brief Perform soft reset of the sensor
- */
-
-/*!
- * \ingroup bmi160ApiSoftreset
- * \page bmi160_api_bmi160_soft_reset bmi160_soft_reset
- * \code
- * int8_t bmi160_soft_reset(struct bmi160_dev *dev);
- * \endcode
- * @details This API resets and restarts the device.
- * All register values are overwritten with default parameters.
- *
- * @param[in] dev  : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_soft_reset(struct bmi160_dev* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiConfig Configuration
- * @brief Configuration of the sensor
- */
-
-/*!
- * \ingroup bmi160ApiConfig
- * \page bmi160_api_bmi160_set_sens_conf bmi160_set_sens_conf
- * \code
- * int8_t bmi160_set_sens_conf(struct bmi160_dev *dev);
- * \endcode
- * @details This API configures the power mode, range and bandwidth
- * of sensor.
- *
- * @param[in] dev    : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_set_sens_conf(struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiConfig
- * \page bmi160_api_bmi160_get_sens_conf bmi160_get_sens_conf
- * \code
- * int8_t bmi160_get_sens_conf(struct bmi160_dev *dev);
- * \endcode
- * @details This API gets accel and gyro configurations.
- *
- * @param[out] dev    : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_get_sens_conf(struct bmi160_dev* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiPowermode Power mode
- * @brief Set / Get power mode of the sensor
- */
-
-/*!
- * \ingroup bmi160ApiPowermode
- * \page bmi160_api_bmi160_set_power_mode bmi160_set_power_mode
- * \code
- * int8_t bmi160_set_power_mode(struct bmi160_dev *dev);
- * \endcode
- * @details This API sets the power mode of the sensor.
- *
- * @param[in] dev  : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_set_power_mode(struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiPowermode
- * \page bmi160_api_bmi160_get_power_mode bmi160_get_power_mode
- * \code
- * int8_t bmi160_get_power_mode(struct bmi160_dev *dev);
- * \endcode
- * @details This API gets the power mode of the sensor.
- *
- * @param[in] dev         : Structure instance of bmi160_dev
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_get_power_mode(struct bmi160_dev* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiData Sensor Data
- * @brief Read sensor data
- */
-
-/*!
- * \ingroup bmi160ApiData
- * \page bmi160_api_bmi160_get_sensor_data bmi160_get_sensor_data
- * \code
- * int8_t bmi160_get_sensor_data(uint8_t select_sensor,
- *                             struct bmi160_sensor_data *accel,
- *                             struct bmi160_sensor_data *gyro,
- *                             const struct bmi160_dev *dev);
- *
- * \endcode
- * @details This API reads sensor data, stores it in
- * the bmi160_sensor_data structure pointer passed by the user.
- * The user can ask for accel data ,gyro data or both sensor
- * data using bmi160_select_sensor enum
- *
- * @param[in] select_sensor    : enum to choose accel,gyro or both sensor data
- * @param[out] accel    : Structure pointer to store accel data
- * @param[out] gyro     : Structure pointer to store gyro data
- * @param[in] dev       : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_get_sensor_data(
-    uint8_t select_sensor,
-    struct bmi160_sensor_data* accel,
-    struct bmi160_sensor_data* gyro,
-    const struct bmi160_dev* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiInt Interrupt configuration
- * @brief Set interrupt configuration of the sensor
- */
-
-/*!
- * \ingroup bmi160ApiInt
- * \page bmi160_api_bmi160_set_int_config bmi160_set_int_config
- * \code
- * int8_t bmi160_set_int_config(struct bmi160_int_settg *int_config, struct bmi160_dev *dev);
- * \endcode
- * @details This API configures the necessary interrupt based on
- *  the user settings in the bmi160_int_settg structure instance.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_set_int_config(struct bmi160_int_settg* int_config, struct bmi160_dev* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiStepC Step counter
- * @brief Step counter operations
- */
-
-/*!
- * \ingroup bmi160ApiStepC
- * \page bmi160_api_bmi160_set_step_counter bmi160_set_step_counter
- * \code
- * int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev *dev);
- * \endcode
- * @details This API enables the step counter feature.
- *
- * @param[in] step_cnt_enable   : value to enable or disable
- * @param[in] dev       : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiStepC
- * \page bmi160_api_bmi160_read_step_counter bmi160_read_step_counter
- * \code
- * int8_t bmi160_read_step_counter(uint16_t *step_val, const struct bmi160_dev *dev);
- * \endcode
- * @details This API reads the step counter value.
- *
- * @param[in] step_val    : Pointer to store the step counter value.
- * @param[in] dev         : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_read_step_counter(uint16_t* step_val, const struct bmi160_dev* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiAux Auxiliary sensor
- * @brief Auxiliary sensor operations
- */
-
-/*!
- * \ingroup bmi160ApiAux
- * \page bmi160_api_bmi160_aux_read bmi160_aux_read
- * \code
- * int8_t bmi160_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev);
- * \endcode
- * @details This API reads the mention no of byte of data from the given
- * register address of auxiliary sensor.
- *
- * @param[in] reg_addr    : Address of register to read.
- * @param[in] aux_data    : Pointer to store the read data.
- * @param[in] len     : No of bytes to read.
- * @param[in] dev         : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_aux_read(
-    uint8_t reg_addr,
-    uint8_t* aux_data,
-    uint16_t len,
-    const struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiAux
- * \page bmi160_api_bmi160_aux_write bmi160_aux_write
- * \code
- * int8_t bmi160_aux_write(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev);
- * \endcode
- * @details This API writes the mention no of byte of data to the given
- * register address of auxiliary sensor.
- *
- * @param[in] reg_addr    : Address of register to write.
- * @param[in] aux_data    : Pointer to write data.
- * @param[in] len     : No of bytes to write.
- * @param[in] dev         : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_aux_write(
-    uint8_t reg_addr,
-    uint8_t* aux_data,
-    uint16_t len,
-    const struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiAux
- * \page bmi160_api_bmi160_aux_init bmi160_aux_init
- * \code
- * int8_t bmi160_aux_init(const struct bmi160_dev *dev);
- * \endcode
- * @details This API initialize the auxiliary sensor
- * in order to access it.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_aux_init(const struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiAux
- * \page bmi160_api_bmi160_set_aux_auto_mode bmi160_set_aux_auto_mode
- * \code
- * int8_t bmi160_set_aux_auto_mode(uint8_t *data_addr, struct bmi160_dev *dev);
- * \endcode
- * @details This API is used to setup the auxiliary sensor of bmi160 in auto mode
- * Thus enabling the auto update of 8 bytes of data from auxiliary sensor
- * to BMI160 register address 0x04 to 0x0B
- *
- * @param[in] data_addr    : Starting address of aux. sensor's data register
- *                           (BMI160 registers 0x04 to 0x0B will be updated
- *                           with 8 bytes of data from auxiliary sensor
- *                           starting from this register address.)
- * @param[in] dev      : Structure instance of bmi160_dev.
- *
- * @note : Set the value of auxiliary polling rate by setting
- *         dev->aux_cfg.aux_odr to the required value from the table
- *         before calling this API
- *
- *@verbatim
- *   dev->aux_cfg.aux_odr  |   Auxiliary ODR (Hz)
- *  -----------------------|-----------------------
- *  BMI160_AUX_ODR_0_78HZ  |        25/32
- *  BMI160_AUX_ODR_1_56HZ  |        25/16
- *  BMI160_AUX_ODR_3_12HZ  |        25/8
- *  BMI160_AUX_ODR_6_25HZ  |        25/4
- *  BMI160_AUX_ODR_12_5HZ  |        25/2
- *  BMI160_AUX_ODR_25HZ    |        25
- *  BMI160_AUX_ODR_50HZ    |        50
- *  BMI160_AUX_ODR_100HZ   |        100
- *  BMI160_AUX_ODR_200HZ   |        200
- *  BMI160_AUX_ODR_400HZ   |        400
- *  BMI160_AUX_ODR_800HZ   |        800
- *@endverbatim
- *
- * @note : Other values of  dev->aux_cfg.aux_odr are reserved and not for use
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_set_aux_auto_mode(uint8_t* data_addr, struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiAux
- * \page bmi160_api_bmi160_config_aux_mode bmi160_config_aux_mode
- * \code
- * int8_t bmi160_config_aux_mode(const struct bmi160_dev *dev);
- * \endcode
- * @details This API configures the 0x4C register and settings like
- * Auxiliary sensor manual enable/ disable and aux burst read length.
- *
- * @param[in] dev    : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_config_aux_mode(const struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiAux
- * \page bmi160_api_bmi160_read_aux_data_auto_mode bmi160_read_aux_data_auto_mode
- * \code
- * int8_t bmi160_read_aux_data_auto_mode(uint8_t *aux_data, const struct bmi160_dev *dev);
- * \endcode
- * @details This API is used to read the raw uncompensated auxiliary sensor
- * data of 8 bytes from BMI160 register address 0x04 to 0x0B
- *
- * @param[in] aux_data       : Pointer to user array of length 8 bytes
- *                             Ensure that the aux_data array is of
- *                             length 8 bytes
- * @param[in] dev        : Structure instance of bmi160_dev
- *
- * @retval zero -> Success  / -ve value -> Error
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_read_aux_data_auto_mode(uint8_t* aux_data, const struct bmi160_dev* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiSelfTest Self test
- * @brief Perform self test of the sensor
- */
-
-/*!
- * \ingroup bmi160ApiSelfTest
- * \page bmi160_api_bmi160_perform_self_test bmi160_perform_self_test
- * \code
- * int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev *dev);
- * \endcode
- * @details This is used to perform self test of accel/gyro of the BMI160 sensor
- *
- * @param[in] select_sensor  : enum to choose accel or gyro for self test
- * @param[in] dev            : Structure instance of bmi160_dev
- *
- * @note self test can be performed either for accel/gyro at any instant.
- *
- *@verbatim
- *     value of select_sensor       |  Inference
- *----------------------------------|--------------------------------
- *   BMI160_ACCEL_ONLY              | Accel self test enabled
- *   BMI160_GYRO_ONLY               | Gyro self test enabled
- *   BMI160_BOTH_ACCEL_AND_GYRO     | NOT TO BE USED
- *@endverbatim
- *
- * @note The return value of this API gives us the result of self test.
- *
- * @note Performing self test does soft reset of the sensor, User can
- * set the desired settings after performing the self test.
- *
- * @return Result of API execution status
- * @retval  BMI160_OK                       Self test success
- * @retval  BMI160_W_GYRO_SELF_TEST_FAIL    Gyro self test fail
- * @retval  BMI160_W_ACCEl_SELF_TEST_FAIL   Accel self test fail
- */
-int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiFIFO FIFO
- * @brief FIFO operations of the sensor
- */
-
-/*!
- * \ingroup bmi160ApiFIFO
- * \page bmi160_api_bmi160_get_fifo_data bmi160_get_fifo_data
- * \code
- * int8_t bmi160_get_fifo_data(struct bmi160_dev const *dev);
- * \endcode
- * @details This API reads data from the fifo buffer.
- *
- *  @note User has to allocate the FIFO buffer along with
- *  corresponding fifo length from his side before calling this API
- *  as mentioned in the readme.md
- *
- *  @note User must specify the number of bytes to read from the FIFO in
- *  dev->fifo->length , It will be updated by the number of bytes actually
- *  read from FIFO after calling this API
- *
- *  @param[in] dev     : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval Zero Success
- *  @retval Negative Error
- */
-int8_t bmi160_get_fifo_data(struct bmi160_dev const* dev);
-
-/*!
- * \ingroup bmi160ApiFIFO
- * \page bmi160_api_bmi160_set_fifo_flush bmi160_set_fifo_flush
- * \code
- * int8_t bmi160_set_fifo_flush(const struct bmi160_dev *dev);
- * \endcode
- * @details This API writes fifo_flush command to command register.This
- *  action clears all data in the Fifo without changing fifo configuration
- *  settings.
- *
- *  @param[in] dev     : Structure instance of bmi160_dev
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- *
- */
-int8_t bmi160_set_fifo_flush(const struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiFIFO
- * \page bmi160_api_bmi160_set_fifo_config bmi160_set_fifo_config
- * \code
- * int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const *dev);
- * \endcode
- * @details This API sets the FIFO configuration in the sensor.
- *
- *  @param[in] config : variable used to specify the FIFO
- *  configurations which are to be enabled or disabled in the sensor.
- *
- *  @note : User can set either set one or more or all FIFO configurations
- *  by ORing the below mentioned macros.
- *
- *@verbatim
- *      config                  |   Value
- *      ------------------------|---------------------------
- *      BMI160_FIFO_TIME        |   0x02
- *      BMI160_FIFO_TAG_INT2    |   0x04
- *      BMI160_FIFO_TAG_INT1    |   0x08
- *      BMI160_FIFO_HEADER      |   0x10
- *      BMI160_FIFO_AUX         |   0x20
- *      BMI160_FIFO_ACCEL       |   0x40
- *      BMI160_FIFO_GYRO        |   0x80
- *@endverbatim
- *
- *  @param[in] enable : Parameter used to enable or disable the above
- *  FIFO configuration
- *  @param[in] dev : Structure instance of bmi160_dev.
- *
- *  @return status of bus communication result
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- *
- */
-int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const* dev);
-
-/*!
- * \ingroup bmi160ApiFIFO
- * \page bmi160_api_bmi160_set_fifo_down bmi160_set_fifo_down
- * \code
- * int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev *dev);
- * \endcode
- * @details This API is used to configure the down sampling ratios of
- *  the accel and gyro data for FIFO.Also, it configures filtered or
- *  pre-filtered data for the fifo for accel and gyro.
- *
- *  @param[in] fifo_down : variable used to specify the FIFO down
- *  configurations which are to be enabled or disabled in the sensor.
- *
- *  @note The user must select one among the following macros to
- *  select down-sampling ratio for accel
- *
- *@verbatim
- *      config                               |   Value
- *      -------------------------------------|---------------------------
- *      BMI160_ACCEL_FIFO_DOWN_ZERO          |   0x00
- *      BMI160_ACCEL_FIFO_DOWN_ONE           |   0x10
- *      BMI160_ACCEL_FIFO_DOWN_TWO           |   0x20
- *      BMI160_ACCEL_FIFO_DOWN_THREE         |   0x30
- *      BMI160_ACCEL_FIFO_DOWN_FOUR          |   0x40
- *      BMI160_ACCEL_FIFO_DOWN_FIVE          |   0x50
- *      BMI160_ACCEL_FIFO_DOWN_SIX           |   0x60
- *      BMI160_ACCEL_FIFO_DOWN_SEVEN         |   0x70
- *@endverbatim
- *
- *  @note The user must select one among the following macros to
- *  select down-sampling ratio for gyro
- *
- *@verbatim
- *      config                               |   Value
- *      -------------------------------------|---------------------------
- *      BMI160_GYRO_FIFO_DOWN_ZERO           |   0x00
- *      BMI160_GYRO_FIFO_DOWN_ONE            |   0x01
- *      BMI160_GYRO_FIFO_DOWN_TWO            |   0x02
- *      BMI160_GYRO_FIFO_DOWN_THREE          |   0x03
- *      BMI160_GYRO_FIFO_DOWN_FOUR           |   0x04
- *      BMI160_GYRO_FIFO_DOWN_FIVE           |   0x05
- *      BMI160_GYRO_FIFO_DOWN_SIX            |   0x06
- *      BMI160_GYRO_FIFO_DOWN_SEVEN          |   0x07
- *@endverbatim
- *
- *  @note The user can enable filtered accel data by the following macro
- *
- *@verbatim
- *      config                               |   Value
- *      -------------------------------------|---------------------------
- *      BMI160_ACCEL_FIFO_FILT_EN            |   0x80
- *@endverbatim
- *
- *  @note The user can enable filtered gyro data by the following macro
- *
- *@verbatim
- *      config                               |   Value
- *      -------------------------------------|---------------------------
- *      BMI160_GYRO_FIFO_FILT_EN             |   0x08
- *@endverbatim
- *
- *  @note : By ORing the above mentioned macros, the user can select
- *  the required FIFO down config settings
- *
- *  @param[in] dev : Structure instance of bmi160_dev.
- *
- *  @return status of bus communication result
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- *
- */
-int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiFIFO
- * \page bmi160_api_bmi160_set_fifo_wm bmi160_set_fifo_wm
- * \code
- * int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev *dev);
- * \endcode
- * @details This API sets the FIFO watermark level in the sensor.
- *
- *  @note The FIFO watermark is issued when the FIFO fill level is
- *  equal or above the watermark level and units of watermark is 4 bytes.
- *
- *  @param[in]  fifo_wm        : Variable used to set the FIFO water mark level
- *  @param[in]  dev            : Structure instance of bmi160_dev
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- *
- */
-int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiFIFO
- * \page bmi160_api_bmi160_extract_accel bmi160_extract_accel
- * \code
- * int8_t bmi160_extract_accel(struct bmi160_sensor_data *accel_data, uint8_t *accel_length, struct bmi160_dev const
- **dev);
- * \endcode
- * @details This API parses and extracts the accelerometer frames from
- *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
- *  the "accel_data" structure instance.
- *
- *  @note The bmi160_extract_accel API should be called only after
- *  reading the FIFO data by calling the bmi160_get_fifo_data() API.
- *
- *  @param[out] accel_data    : Structure instance of bmi160_sensor_data
- *                              where the accelerometer data in FIFO is stored.
- *  @param[in,out] accel_length  : Number of valid accelerometer frames
- *                              (x,y,z axes data) read out from fifo.
- *  @param[in] dev            : Structure instance of bmi160_dev.
- *
- *  @note accel_length is updated with the number of valid accelerometer
- *  frames extracted from fifo (1 accel frame   = 6 bytes) at the end of
- *  execution of this API.
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- *
- */
-int8_t bmi160_extract_accel(
-    struct bmi160_sensor_data* accel_data,
-    uint8_t* accel_length,
-    struct bmi160_dev const* dev);
-
-/*!
- * \ingroup bmi160ApiFIFO
- * \page bmi160_api_bmi160_extract_gyro bmi160_extract_gyro
- * \code
- * int8_t bmi160_extract_gyro(struct bmi160_sensor_data *gyro_data, uint8_t *gyro_length, struct bmi160_dev const *dev);
- * \endcode
- * @details This API parses and extracts the gyro frames from
- *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
- *  the "gyro_data" structure instance.
- *
- *  @note The bmi160_extract_gyro API should be called only after
- *  reading the FIFO data by calling the bmi160_get_fifo_data() API.
- *
- *  @param[out] gyro_data    : Structure instance of bmi160_sensor_data
- *                             where the gyro data in FIFO is stored.
- *  @param[in,out] gyro_length  : Number of valid gyro frames
- *                             (x,y,z axes data) read out from fifo.
- *  @param[in] dev           : Structure instance of bmi160_dev.
- *
- *  @note gyro_length is updated with the number of valid gyro
- *  frames extracted from fifo (1 gyro frame   = 6 bytes) at the end of
- *  execution of this API.
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- *
- */
-int8_t bmi160_extract_gyro(
-    struct bmi160_sensor_data* gyro_data,
-    uint8_t* gyro_length,
-    struct bmi160_dev const* dev);
-
-/*!
- * \ingroup bmi160ApiFIFO
- * \page bmi160_api_bmi160_extract_aux bmi160_extract_aux
- * \code
- * int8_t bmi160_extract_aux(struct bmi160_aux_data *aux_data, uint8_t *aux_len, struct bmi160_dev const *dev);
- * \endcode
- * @details This API parses and extracts the aux frames from
- *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
- *  the bmi160_aux_data structure instance.
- *
- *  @note The bmi160_extract_aux API should be called only after
- *  reading the FIFO data by calling the bmi160_get_fifo_data() API.
- *
- *  @param[out] aux_data    : Structure instance of bmi160_aux_data
- *                            where the aux data in FIFO is stored.
- *  @param[in,out] aux_len  : Number of valid aux frames (8bytes)
- *                            read out from FIFO.
- *  @param[in] dev          : Structure instance of bmi160_dev.
- *
- *  @note aux_len is updated with the number of valid aux
- *  frames extracted from fifo (1 aux frame = 8 bytes) at the end of
- *  execution of this API.
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- *
- */
-int8_t bmi160_extract_aux(
-    struct bmi160_aux_data* aux_data,
-    uint8_t* aux_len,
-    struct bmi160_dev const* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiFOC FOC
- * @brief Start FOC of accel and gyro sensors
- */
-
-/*!
- * \ingroup bmi160ApiFOC
- * \page bmi160_api_bmi160_start_foc bmi160_start_foc
- * \code
- * int8_t bmi160_start_foc(const struct bmi160_foc_conf *foc_conf,
- * \endcode
- * @details This API starts the FOC of accel and gyro
- *
- *  @note FOC should not be used in low-power mode of sensor
- *
- *  @note Accel FOC targets values of +1g , 0g , -1g
- *  Gyro FOC always targets value of 0 dps
- *
- *  @param[in] foc_conf    : Structure instance of bmi160_foc_conf which
- *                                   has the FOC configuration
- *  @param[in,out] offset  : Structure instance to store Offset
- *                                   values read from sensor
- *  @param[in] dev         : Structure instance of bmi160_dev.
- *
- *  @note Pre-requisites for triggering FOC in accel , Set the following,
- *   Enable the acc_off_en
- *       Ex :  foc_conf.acc_off_en = BMI160_ENABLE;
- *
- *   Set the desired target values of FOC to each axes (x,y,z) by using the
- *   following macros
- *       - BMI160_FOC_ACCEL_DISABLED
- *       - BMI160_FOC_ACCEL_POSITIVE_G
- *       - BMI160_FOC_ACCEL_NEGATIVE_G
- *       - BMI160_FOC_ACCEL_0G
- *
- *   Ex : foc_conf.foc_acc_x  = BMI160_FOC_ACCEL_0G;
- *        foc_conf.foc_acc_y  = BMI160_FOC_ACCEL_0G;
- *        foc_conf.foc_acc_z  = BMI160_FOC_ACCEL_POSITIVE_G;
- *
- *  @note Pre-requisites for triggering FOC in gyro ,
- *  Set the following parameters,
- *
- *   Ex : foc_conf.foc_gyr_en = BMI160_ENABLE;
- *        foc_conf.gyro_off_en = BMI160_ENABLE;
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- */
-int8_t bmi160_start_foc(
-    const struct bmi160_foc_conf* foc_conf,
-    struct bmi160_offsets* offset,
-    struct bmi160_dev const* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiOffsets Offsets
- * @brief Set / Get offset values of accel and gyro sensors
- */
-
-/*!
- * \ingroup bmi160ApiOffsets
- * \page bmi160_api_bmi160_get_offsets bmi160_get_offsets
- * \code
- * int8_t bmi160_get_offsets(struct bmi160_offsets *offset, const struct bmi160_dev *dev);
- * \endcode
- * @details This API reads and stores the offset values of accel and gyro
- *
- *  @param[in,out] offset : Structure instance of bmi160_offsets in which
- *                          the offset values are read and stored
- *  @param[in] dev        : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- */
-int8_t bmi160_get_offsets(struct bmi160_offsets* offset, const struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiOffsets
- * \page bmi160_api_bmi160_set_offsets bmi160_set_offsets
- * \code
- * int8_t bmi160_set_offsets(const struct bmi160_foc_conf *foc_conf,
- *                         const struct bmi160_offsets *offset,
- *                         struct bmi160_dev const *dev);
- * \endcode
- * @details This API writes the offset values of accel and gyro to
- *  the sensor but these values will be reset on POR or soft reset.
- *
- *  @param[in] foc_conf    : Structure instance of bmi160_foc_conf which
- *                                   has the FOC configuration
- *  @param[in] offset      : Structure instance in which user updates offset
- *                            values which are to be written in the sensor
- *  @param[in] dev         : Structure instance of bmi160_dev.
- *
- *  @note Offsets can be set by user like offset->off_acc_x = 10;
- *  where 1LSB = 3.9mg and for gyro 1LSB = 0.061degrees/second
- *
- * @note BMI160 offset values for xyz axes of accel should be within range of
- *  BMI160_ACCEL_MIN_OFFSET (-128) to BMI160_ACCEL_MAX_OFFSET (127)
- *
- * @note BMI160 offset values for xyz axes of gyro should be within range of
- *  BMI160_GYRO_MIN_OFFSET (-512) to BMI160_GYRO_MAX_OFFSET (511)
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- */
-int8_t bmi160_set_offsets(
-    const struct bmi160_foc_conf* foc_conf,
-    const struct bmi160_offsets* offset,
-    struct bmi160_dev const* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiNVM NVM
- * @brief Write image registers values to NVM
- */
-
-/*!
- * \ingroup bmi160ApiNVM
- * \page bmi160_api_bmi160_update_nvm bmi160_update_nvm
- * \code
- * int8_t bmi160_update_nvm(struct bmi160_dev const *dev);
- * \endcode
- * @details This API writes the image registers values to NVM which is
- *  stored even after POR or soft reset
- *
- *  @param[in] dev         : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- */
-int8_t bmi160_update_nvm(struct bmi160_dev const* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiInts Interrupt status
- * @brief Read interrupt status from the sensor
- */
-
-/*!
- * \ingroup bmi160ApiInts
- * \page bmi160_api_bmi160_get_int_status bmi160_get_int_status
- * \code
- * int8_t bmi160_get_int_status(enum bmi160_int_status_sel int_status_sel,
- *                            union bmi160_int_status *int_status,
- *                            struct bmi160_dev const *dev);
- * \endcode
- * @details This API gets the interrupt status from the sensor.
- *
- *  @param[in] int_status_sel       : Enum variable to select either individual or all the
- *  interrupt status bits.
- *  @param[in] int_status           : pointer variable to get the interrupt status
- *  from the sensor.
- *  param[in] dev                   : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- */
-int8_t bmi160_get_int_status(
-    enum bmi160_int_status_sel int_status_sel,
-    union bmi160_int_status* int_status,
-    struct bmi160_dev const* dev);
-
-/*************************** C++ guard macro *****************************/
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* BMI160_H_ */
+#endif // IMU_BMI160_H

tracking/imu/bmi160_defs.h

@@ -1,1619 +0,0 @@
-/**
-* Copyright (c) 2021 Bosch Sensortec GmbH. All rights reserved.
-*
-* BSD-3-Clause
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-* 1. Redistributions of source code must retain the above copyright
-*    notice, this list of conditions and the following disclaimer.
-*
-* 2. Redistributions in binary form must reproduce the above copyright
-*    notice, this list of conditions and the following disclaimer in the
-*    documentation and/or other materials provided with the distribution.
-*
-* 3. Neither the name of the copyright holder nor the names of its
-*    contributors may be used to endorse or promote products derived from
-*    this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
-* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
-* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
-* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* @file       bmi160_defs.h
-* @date       2021-10-05
-* @version    v3.9.2
-*
-*/
-
-#ifndef BMI160_DEFS_H_
-#define BMI160_DEFS_H_
-
-/*************************** C types headers *****************************/
-#ifdef __KERNEL__
-#include <linux/types.h>
-#include <linux/kernel.h>
-#else
-#include <stdint.h>
-#include <stddef.h>
-#endif
-
-/*************************** Common macros   *****************************/
-
-#if !defined(UINT8_C) && !defined(INT8_C)
-#define INT8_C(x) S8_C(x)
-#define UINT8_C(x) U8_C(x)
-#endif
-
-#if !defined(UINT16_C) && !defined(INT16_C)
-#define INT16_C(x) S16_C(x)
-#define UINT16_C(x) U16_C(x)
-#endif
-
-#if !defined(INT32_C) && !defined(UINT32_C)
-#define INT32_C(x) S32_C(x)
-#define UINT32_C(x) U32_C(x)
-#endif
-
-#if !defined(INT64_C) && !defined(UINT64_C)
-#define INT64_C(x) S64_C(x)
-#define UINT64_C(x) U64_C(x)
-#endif
-
-/**@}*/
-/**\name C standard macros */
-#ifndef NULL
-#ifdef __cplusplus
-#define NULL 0
-#else
-#define NULL ((void*)0)
-#endif
-#endif
-
-/*************************** Sensor macros   *****************************/
-/* Test for an endian machine */
-#ifndef __ORDER_LITTLE_ENDIAN__
-#define __ORDER_LITTLE_ENDIAN__ 0
-#endif
-
-#ifndef __BYTE_ORDER__
-#define __BYTE_ORDER__ __ORDER_LITTLE_ENDIAN__
-#endif
-
-#if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__
-#ifndef LITTLE_ENDIAN
-#define LITTLE_ENDIAN 1
-#endif
-#elif __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
-#ifndef BIG_ENDIAN
-#define BIG_ENDIAN 1
-#endif
-#else
-#error "Code does not support Endian format of the processor"
-#endif
-
-/** Mask definitions */
-#define BMI160_ACCEL_BW_MASK UINT8_C(0x70)
-#define BMI160_ACCEL_ODR_MASK UINT8_C(0x0F)
-#define BMI160_ACCEL_UNDERSAMPLING_MASK UINT8_C(0x80)
-#define BMI160_ACCEL_RANGE_MASK UINT8_C(0x0F)
-#define BMI160_GYRO_BW_MASK UINT8_C(0x30)
-#define BMI160_GYRO_ODR_MASK UINT8_C(0x0F)
-#define BMI160_GYRO_RANGE_MASK UINT8_C(0x07)
-
-#define BMI160_ACCEL_BW_POS UINT8_C(4)
-#define BMI160_GYRO_BW_POS UINT8_C(4)
-
-/** Mask definitions for INT_EN registers */
-#define BMI160_ANY_MOTION_X_INT_EN_MASK UINT8_C(0x01)
-#define BMI160_HIGH_G_X_INT_EN_MASK UINT8_C(0x01)
-#define BMI160_NO_MOTION_X_INT_EN_MASK UINT8_C(0x01)
-#define BMI160_ANY_MOTION_Y_INT_EN_MASK UINT8_C(0x02)
-#define BMI160_HIGH_G_Y_INT_EN_MASK UINT8_C(0x02)
-#define BMI160_NO_MOTION_Y_INT_EN_MASK UINT8_C(0x02)
-#define BMI160_ANY_MOTION_Z_INT_EN_MASK UINT8_C(0x04)
-#define BMI160_HIGH_G_Z_INT_EN_MASK UINT8_C(0x04)
-#define BMI160_NO_MOTION_Z_INT_EN_MASK UINT8_C(0x04)
-#define BMI160_SIG_MOTION_INT_EN_MASK UINT8_C(0x07)
-#define BMI160_ANY_MOTION_ALL_INT_EN_MASK UINT8_C(0x07)
-#define BMI160_STEP_DETECT_INT_EN_MASK UINT8_C(0x08)
-#define BMI160_DOUBLE_TAP_INT_EN_MASK UINT8_C(0x10)
-#define BMI160_SINGLE_TAP_INT_EN_MASK UINT8_C(0x20)
-#define BMI160_FIFO_FULL_INT_EN_MASK UINT8_C(0x20)
-#define BMI160_ORIENT_INT_EN_MASK UINT8_C(0x40)
-#define BMI160_FIFO_WATERMARK_INT_EN_MASK UINT8_C(0x40)
-#define BMI160_LOW_G_INT_EN_MASK UINT8_C(0x08)
-#define BMI160_STEP_DETECT_EN_MASK UINT8_C(0x08)
-#define BMI160_FLAT_INT_EN_MASK UINT8_C(0x80)
-#define BMI160_DATA_RDY_INT_EN_MASK UINT8_C(0x10)
-
-/** PMU status Macros */
-#define BMI160_AUX_PMU_SUSPEND UINT8_C(0x00)
-#define BMI160_AUX_PMU_NORMAL UINT8_C(0x01)
-#define BMI160_AUX_PMU_LOW_POWER UINT8_C(0x02)
-
-#define BMI160_GYRO_PMU_SUSPEND UINT8_C(0x00)
-#define BMI160_GYRO_PMU_NORMAL UINT8_C(0x01)
-#define BMI160_GYRO_PMU_FSU UINT8_C(0x03)
-
-#define BMI160_ACCEL_PMU_SUSPEND UINT8_C(0x00)
-#define BMI160_ACCEL_PMU_NORMAL UINT8_C(0x01)
-#define BMI160_ACCEL_PMU_LOW_POWER UINT8_C(0x02)
-
-/** Mask definitions for INT_OUT_CTRL register */
-#define BMI160_INT1_EDGE_CTRL_MASK UINT8_C(0x01)
-#define BMI160_INT1_OUTPUT_MODE_MASK UINT8_C(0x04)
-#define BMI160_INT1_OUTPUT_TYPE_MASK UINT8_C(0x02)
-#define BMI160_INT1_OUTPUT_EN_MASK UINT8_C(0x08)
-#define BMI160_INT2_EDGE_CTRL_MASK UINT8_C(0x10)
-#define BMI160_INT2_OUTPUT_MODE_MASK UINT8_C(0x40)
-#define BMI160_INT2_OUTPUT_TYPE_MASK UINT8_C(0x20)
-#define BMI160_INT2_OUTPUT_EN_MASK UINT8_C(0x80)
-
-/** Mask definitions for INT_LATCH register */
-#define BMI160_INT1_INPUT_EN_MASK UINT8_C(0x10)
-#define BMI160_INT2_INPUT_EN_MASK UINT8_C(0x20)
-#define BMI160_INT_LATCH_MASK UINT8_C(0x0F)
-
-/** Mask definitions for INT_MAP register */
-#define BMI160_INT1_LOW_G_MASK UINT8_C(0x01)
-#define BMI160_INT1_HIGH_G_MASK UINT8_C(0x02)
-#define BMI160_INT1_SLOPE_MASK UINT8_C(0x04)
-#define BMI160_INT1_NO_MOTION_MASK UINT8_C(0x08)
-#define BMI160_INT1_DOUBLE_TAP_MASK UINT8_C(0x10)
-#define BMI160_INT1_SINGLE_TAP_MASK UINT8_C(0x20)
-#define BMI160_INT1_FIFO_FULL_MASK UINT8_C(0x20)
-#define BMI160_INT1_FIFO_WM_MASK UINT8_C(0x40)
-#define BMI160_INT1_ORIENT_MASK UINT8_C(0x40)
-#define BMI160_INT1_FLAT_MASK UINT8_C(0x80)
-#define BMI160_INT1_DATA_READY_MASK UINT8_C(0x80)
-#define BMI160_INT2_LOW_G_MASK UINT8_C(0x01)
-#define BMI160_INT1_LOW_STEP_DETECT_MASK UINT8_C(0x01)
-#define BMI160_INT2_LOW_STEP_DETECT_MASK UINT8_C(0x01)
-#define BMI160_INT2_HIGH_G_MASK UINT8_C(0x02)
-#define BMI160_INT2_FIFO_FULL_MASK UINT8_C(0x02)
-#define BMI160_INT2_FIFO_WM_MASK UINT8_C(0x04)
-#define BMI160_INT2_SLOPE_MASK UINT8_C(0x04)
-#define BMI160_INT2_DATA_READY_MASK UINT8_C(0x08)
-#define BMI160_INT2_NO_MOTION_MASK UINT8_C(0x08)
-#define BMI160_INT2_DOUBLE_TAP_MASK UINT8_C(0x10)
-#define BMI160_INT2_SINGLE_TAP_MASK UINT8_C(0x20)
-#define BMI160_INT2_ORIENT_MASK UINT8_C(0x40)
-#define BMI160_INT2_FLAT_MASK UINT8_C(0x80)
-
-/** Mask definitions for INT_DATA register */
-#define BMI160_TAP_SRC_INT_MASK UINT8_C(0x08)
-#define BMI160_LOW_HIGH_SRC_INT_MASK UINT8_C(0x80)
-#define BMI160_MOTION_SRC_INT_MASK UINT8_C(0x80)
-
-/** Mask definitions for INT_MOTION register */
-#define BMI160_SLOPE_INT_DUR_MASK UINT8_C(0x03)
-#define BMI160_NO_MOTION_INT_DUR_MASK UINT8_C(0xFC)
-#define BMI160_NO_MOTION_SEL_BIT_MASK UINT8_C(0x01)
-
-/** Mask definitions for INT_TAP register */
-#define BMI160_TAP_DUR_MASK UINT8_C(0x07)
-#define BMI160_TAP_SHOCK_DUR_MASK UINT8_C(0x40)
-#define BMI160_TAP_QUIET_DUR_MASK UINT8_C(0x80)
-#define BMI160_TAP_THRES_MASK UINT8_C(0x1F)
-
-/** Mask definitions for INT_FLAT register */
-#define BMI160_FLAT_THRES_MASK UINT8_C(0x3F)
-#define BMI160_FLAT_HOLD_TIME_MASK UINT8_C(0x30)
-#define BMI160_FLAT_HYST_MASK UINT8_C(0x07)
-
-/** Mask definitions for INT_LOWHIGH register */
-#define BMI160_LOW_G_HYST_MASK UINT8_C(0x03)
-#define BMI160_LOW_G_LOW_MODE_MASK UINT8_C(0x04)
-#define BMI160_HIGH_G_HYST_MASK UINT8_C(0xC0)
-
-/** Mask definitions for INT_SIG_MOTION register */
-#define BMI160_SIG_MOTION_SEL_MASK UINT8_C(0x02)
-#define BMI160_SIG_MOTION_SKIP_MASK UINT8_C(0x0C)
-#define BMI160_SIG_MOTION_PROOF_MASK UINT8_C(0x30)
-
-/** Mask definitions for INT_ORIENT register */
-#define BMI160_ORIENT_MODE_MASK UINT8_C(0x03)
-#define BMI160_ORIENT_BLOCK_MASK UINT8_C(0x0C)
-#define BMI160_ORIENT_HYST_MASK UINT8_C(0xF0)
-#define BMI160_ORIENT_THETA_MASK UINT8_C(0x3F)
-#define BMI160_ORIENT_UD_ENABLE UINT8_C(0x40)
-#define BMI160_AXES_EN_MASK UINT8_C(0x80)
-
-/** Mask definitions for FIFO_CONFIG register */
-#define BMI160_FIFO_GYRO UINT8_C(0x80)
-#define BMI160_FIFO_ACCEL UINT8_C(0x40)
-#define BMI160_FIFO_AUX UINT8_C(0x20)
-#define BMI160_FIFO_TAG_INT1 UINT8_C(0x08)
-#define BMI160_FIFO_TAG_INT2 UINT8_C(0x04)
-#define BMI160_FIFO_TIME UINT8_C(0x02)
-#define BMI160_FIFO_HEADER UINT8_C(0x10)
-#define BMI160_FIFO_CONFIG_1_MASK UINT8_C(0xFE)
-
-/** Mask definitions for STEP_CONF register */
-#define BMI160_STEP_COUNT_EN_BIT_MASK UINT8_C(0x08)
-#define BMI160_STEP_DETECT_MIN_THRES_MASK UINT8_C(0x18)
-#define BMI160_STEP_DETECT_STEPTIME_MIN_MASK UINT8_C(0x07)
-#define BMI160_STEP_MIN_BUF_MASK UINT8_C(0x07)
-
-/** Mask definition for FIFO Header Data Tag */
-#define BMI160_FIFO_TAG_INTR_MASK UINT8_C(0xFC)
-
-/** Fifo byte counter mask definitions */
-#define BMI160_FIFO_BYTE_COUNTER_MASK UINT8_C(0x07)
-
-/** Enable/disable bit value */
-#define BMI160_ENABLE UINT8_C(0x01)
-#define BMI160_DISABLE UINT8_C(0x00)
-
-/** Latch Duration */
-#define BMI160_LATCH_DUR_NONE UINT8_C(0x00)
-#define BMI160_LATCH_DUR_312_5_MICRO_SEC UINT8_C(0x01)
-#define BMI160_LATCH_DUR_625_MICRO_SEC UINT8_C(0x02)
-#define BMI160_LATCH_DUR_1_25_MILLI_SEC UINT8_C(0x03)
-#define BMI160_LATCH_DUR_2_5_MILLI_SEC UINT8_C(0x04)
-#define BMI160_LATCH_DUR_5_MILLI_SEC UINT8_C(0x05)
-#define BMI160_LATCH_DUR_10_MILLI_SEC UINT8_C(0x06)
-#define BMI160_LATCH_DUR_20_MILLI_SEC UINT8_C(0x07)
-#define BMI160_LATCH_DUR_40_MILLI_SEC UINT8_C(0x08)
-#define BMI160_LATCH_DUR_80_MILLI_SEC UINT8_C(0x09)
-#define BMI160_LATCH_DUR_160_MILLI_SEC UINT8_C(0x0A)
-#define BMI160_LATCH_DUR_320_MILLI_SEC UINT8_C(0x0B)
-#define BMI160_LATCH_DUR_640_MILLI_SEC UINT8_C(0x0C)
-#define BMI160_LATCH_DUR_1_28_SEC UINT8_C(0x0D)
-#define BMI160_LATCH_DUR_2_56_SEC UINT8_C(0x0E)
-#define BMI160_LATCHED UINT8_C(0x0F)
-
-/** BMI160 Register map */
-#define BMI160_CHIP_ID_ADDR UINT8_C(0x00)
-#define BMI160_ERROR_REG_ADDR UINT8_C(0x02)
-#define BMI160_PMU_STATUS_ADDR UINT8_C(0x03)
-#define BMI160_AUX_DATA_ADDR UINT8_C(0x04)
-#define BMI160_GYRO_DATA_ADDR UINT8_C(0x0C)
-#define BMI160_ACCEL_DATA_ADDR UINT8_C(0x12)
-#define BMI160_STATUS_ADDR UINT8_C(0x1B)
-#define BMI160_INT_STATUS_ADDR UINT8_C(0x1C)
-#define BMI160_FIFO_LENGTH_ADDR UINT8_C(0x22)
-#define BMI160_FIFO_DATA_ADDR UINT8_C(0x24)
-#define BMI160_ACCEL_CONFIG_ADDR UINT8_C(0x40)
-#define BMI160_ACCEL_RANGE_ADDR UINT8_C(0x41)
-#define BMI160_GYRO_CONFIG_ADDR UINT8_C(0x42)
-#define BMI160_GYRO_RANGE_ADDR UINT8_C(0x43)
-#define BMI160_AUX_ODR_ADDR UINT8_C(0x44)
-#define BMI160_FIFO_DOWN_ADDR UINT8_C(0x45)
-#define BMI160_FIFO_CONFIG_0_ADDR UINT8_C(0x46)
-#define BMI160_FIFO_CONFIG_1_ADDR UINT8_C(0x47)
-#define BMI160_AUX_IF_0_ADDR UINT8_C(0x4B)
-#define BMI160_AUX_IF_1_ADDR UINT8_C(0x4C)
-#define BMI160_AUX_IF_2_ADDR UINT8_C(0x4D)
-#define BMI160_AUX_IF_3_ADDR UINT8_C(0x4E)
-#define BMI160_AUX_IF_4_ADDR UINT8_C(0x4F)
-#define BMI160_INT_ENABLE_0_ADDR UINT8_C(0x50)
-#define BMI160_INT_ENABLE_1_ADDR UINT8_C(0x51)
-#define BMI160_INT_ENABLE_2_ADDR UINT8_C(0x52)
-#define BMI160_INT_OUT_CTRL_ADDR UINT8_C(0x53)
-#define BMI160_INT_LATCH_ADDR UINT8_C(0x54)
-#define BMI160_INT_MAP_0_ADDR UINT8_C(0x55)
-#define BMI160_INT_MAP_1_ADDR UINT8_C(0x56)
-#define BMI160_INT_MAP_2_ADDR UINT8_C(0x57)
-#define BMI160_INT_DATA_0_ADDR UINT8_C(0x58)
-#define BMI160_INT_DATA_1_ADDR UINT8_C(0x59)
-#define BMI160_INT_LOWHIGH_0_ADDR UINT8_C(0x5A)
-#define BMI160_INT_LOWHIGH_1_ADDR UINT8_C(0x5B)
-#define BMI160_INT_LOWHIGH_2_ADDR UINT8_C(0x5C)
-#define BMI160_INT_LOWHIGH_3_ADDR UINT8_C(0x5D)
-#define BMI160_INT_LOWHIGH_4_ADDR UINT8_C(0x5E)
-#define BMI160_INT_MOTION_0_ADDR UINT8_C(0x5F)
-#define BMI160_INT_MOTION_1_ADDR UINT8_C(0x60)
-#define BMI160_INT_MOTION_2_ADDR UINT8_C(0x61)
-#define BMI160_INT_MOTION_3_ADDR UINT8_C(0x62)
-#define BMI160_INT_TAP_0_ADDR UINT8_C(0x63)
-#define BMI160_INT_TAP_1_ADDR UINT8_C(0x64)
-#define BMI160_INT_ORIENT_0_ADDR UINT8_C(0x65)
-#define BMI160_INT_ORIENT_1_ADDR UINT8_C(0x66)
-#define BMI160_INT_FLAT_0_ADDR UINT8_C(0x67)
-#define BMI160_INT_FLAT_1_ADDR UINT8_C(0x68)
-#define BMI160_FOC_CONF_ADDR UINT8_C(0x69)
-#define BMI160_CONF_ADDR UINT8_C(0x6A)
-
-#define BMI160_IF_CONF_ADDR UINT8_C(0x6B)
-#define BMI160_SELF_TEST_ADDR UINT8_C(0x6D)
-#define BMI160_OFFSET_ADDR UINT8_C(0x71)
-#define BMI160_OFFSET_CONF_ADDR UINT8_C(0x77)
-#define BMI160_INT_STEP_CNT_0_ADDR UINT8_C(0x78)
-#define BMI160_INT_STEP_CONFIG_0_ADDR UINT8_C(0x7A)
-#define BMI160_INT_STEP_CONFIG_1_ADDR UINT8_C(0x7B)
-#define BMI160_COMMAND_REG_ADDR UINT8_C(0x7E)
-#define BMI160_SPI_COMM_TEST_ADDR UINT8_C(0x7F)
-#define BMI160_INTL_PULLUP_CONF_ADDR UINT8_C(0x85)
-
-/** Error code definitions */
-#define BMI160_OK INT8_C(0)
-#define BMI160_E_NULL_PTR INT8_C(-1)
-#define BMI160_E_COM_FAIL INT8_C(-2)
-#define BMI160_E_DEV_NOT_FOUND INT8_C(-3)
-#define BMI160_E_OUT_OF_RANGE INT8_C(-4)
-#define BMI160_E_INVALID_INPUT INT8_C(-5)
-#define BMI160_E_ACCEL_ODR_BW_INVALID INT8_C(-6)
-#define BMI160_E_GYRO_ODR_BW_INVALID INT8_C(-7)
-#define BMI160_E_LWP_PRE_FLTR_INT_INVALID INT8_C(-8)
-#define BMI160_E_LWP_PRE_FLTR_INVALID INT8_C(-9)
-#define BMI160_E_AUX_NOT_FOUND INT8_C(-10)
-#define BMI160_E_FOC_FAILURE INT8_C(-11)
-#define BMI160_E_READ_WRITE_LENGTH_INVALID INT8_C(-12)
-#define BMI160_E_INVALID_CONFIG INT8_C(-13)
-
-/**\name API warning codes */
-#define BMI160_W_GYRO_SELF_TEST_FAIL INT8_C(1)
-#define BMI160_W_ACCEl_SELF_TEST_FAIL INT8_C(2)
-
-/** BMI160 unique chip identifier */
-#define BMI160_CHIP_ID UINT8_C(0xD1)
-
-/** Soft reset command */
-#define BMI160_SOFT_RESET_CMD UINT8_C(0xb6)
-#define BMI160_SOFT_RESET_DELAY_MS UINT8_C(1)
-
-/** Start FOC command */
-#define BMI160_START_FOC_CMD UINT8_C(0x03)
-
-/** NVM backup enabling command */
-#define BMI160_NVM_BACKUP_EN UINT8_C(0xA0)
-
-/* Delay in ms settings */
-#define BMI160_ACCEL_DELAY_MS UINT8_C(5)
-#define BMI160_GYRO_DELAY_MS UINT8_C(80)
-#define BMI160_ONE_MS_DELAY UINT8_C(1)
-#define BMI160_AUX_COM_DELAY UINT8_C(10)
-#define BMI160_GYRO_SELF_TEST_DELAY UINT8_C(20)
-#define BMI160_ACCEL_SELF_TEST_DELAY UINT8_C(50)
-
-/** Self test configurations */
-#define BMI160_ACCEL_SELF_TEST_CONFIG UINT8_C(0x2C)
-#define BMI160_ACCEL_SELF_TEST_POSITIVE_EN UINT8_C(0x0D)
-#define BMI160_ACCEL_SELF_TEST_NEGATIVE_EN UINT8_C(0x09)
-#define BMI160_ACCEL_SELF_TEST_LIMIT UINT16_C(8192)
-
-/** Power mode settings */
-/* Accel power mode */
-#define BMI160_ACCEL_NORMAL_MODE UINT8_C(0x11)
-#define BMI160_ACCEL_LOWPOWER_MODE UINT8_C(0x12)
-#define BMI160_ACCEL_SUSPEND_MODE UINT8_C(0x10)
-
-/* Gyro power mode */
-#define BMI160_GYRO_SUSPEND_MODE UINT8_C(0x14)
-#define BMI160_GYRO_NORMAL_MODE UINT8_C(0x15)
-#define BMI160_GYRO_FASTSTARTUP_MODE UINT8_C(0x17)
-
-/* Aux power mode */
-#define BMI160_AUX_SUSPEND_MODE UINT8_C(0x18)
-#define BMI160_AUX_NORMAL_MODE UINT8_C(0x19)
-#define BMI160_AUX_LOWPOWER_MODE UINT8_C(0x1A)
-
-/** Range settings */
-/* Accel Range */
-#define BMI160_ACCEL_RANGE_2G UINT8_C(0x03)
-#define BMI160_ACCEL_RANGE_4G UINT8_C(0x05)
-#define BMI160_ACCEL_RANGE_8G UINT8_C(0x08)
-#define BMI160_ACCEL_RANGE_16G UINT8_C(0x0C)
-
-/* Gyro Range */
-#define BMI160_GYRO_RANGE_2000_DPS UINT8_C(0x00)
-#define BMI160_GYRO_RANGE_1000_DPS UINT8_C(0x01)
-#define BMI160_GYRO_RANGE_500_DPS UINT8_C(0x02)
-#define BMI160_GYRO_RANGE_250_DPS UINT8_C(0x03)
-#define BMI160_GYRO_RANGE_125_DPS UINT8_C(0x04)
-
-/** Bandwidth settings */
-/* Accel Bandwidth */
-#define BMI160_ACCEL_BW_OSR4_AVG1 UINT8_C(0x00)
-#define BMI160_ACCEL_BW_OSR2_AVG2 UINT8_C(0x01)
-#define BMI160_ACCEL_BW_NORMAL_AVG4 UINT8_C(0x02)
-#define BMI160_ACCEL_BW_RES_AVG8 UINT8_C(0x03)
-#define BMI160_ACCEL_BW_RES_AVG16 UINT8_C(0x04)
-#define BMI160_ACCEL_BW_RES_AVG32 UINT8_C(0x05)
-#define BMI160_ACCEL_BW_RES_AVG64 UINT8_C(0x06)
-#define BMI160_ACCEL_BW_RES_AVG128 UINT8_C(0x07)
-
-#define BMI160_GYRO_BW_OSR4_MODE UINT8_C(0x00)
-#define BMI160_GYRO_BW_OSR2_MODE UINT8_C(0x01)
-#define BMI160_GYRO_BW_NORMAL_MODE UINT8_C(0x02)
-
-/* Output Data Rate settings */
-/* Accel Output data rate */
-#define BMI160_ACCEL_ODR_RESERVED UINT8_C(0x00)
-#define BMI160_ACCEL_ODR_0_78HZ UINT8_C(0x01)
-#define BMI160_ACCEL_ODR_1_56HZ UINT8_C(0x02)
-#define BMI160_ACCEL_ODR_3_12HZ UINT8_C(0x03)
-#define BMI160_ACCEL_ODR_6_25HZ UINT8_C(0x04)
-#define BMI160_ACCEL_ODR_12_5HZ UINT8_C(0x05)
-#define BMI160_ACCEL_ODR_25HZ UINT8_C(0x06)
-#define BMI160_ACCEL_ODR_50HZ UINT8_C(0x07)
-#define BMI160_ACCEL_ODR_100HZ UINT8_C(0x08)
-#define BMI160_ACCEL_ODR_200HZ UINT8_C(0x09)
-#define BMI160_ACCEL_ODR_400HZ UINT8_C(0x0A)
-#define BMI160_ACCEL_ODR_800HZ UINT8_C(0x0B)
-#define BMI160_ACCEL_ODR_1600HZ UINT8_C(0x0C)
-#define BMI160_ACCEL_ODR_RESERVED0 UINT8_C(0x0D)
-#define BMI160_ACCEL_ODR_RESERVED1 UINT8_C(0x0E)
-#define BMI160_ACCEL_ODR_RESERVED2 UINT8_C(0x0F)
-
-/* Gyro Output data rate */
-#define BMI160_GYRO_ODR_RESERVED UINT8_C(0x00)
-#define BMI160_GYRO_ODR_25HZ UINT8_C(0x06)
-#define BMI160_GYRO_ODR_50HZ UINT8_C(0x07)
-#define BMI160_GYRO_ODR_100HZ UINT8_C(0x08)
-#define BMI160_GYRO_ODR_200HZ UINT8_C(0x09)
-#define BMI160_GYRO_ODR_400HZ UINT8_C(0x0A)
-#define BMI160_GYRO_ODR_800HZ UINT8_C(0x0B)
-#define BMI160_GYRO_ODR_1600HZ UINT8_C(0x0C)
-#define BMI160_GYRO_ODR_3200HZ UINT8_C(0x0D)
-
-/* Auxiliary sensor Output data rate */
-#define BMI160_AUX_ODR_RESERVED UINT8_C(0x00)
-#define BMI160_AUX_ODR_0_78HZ UINT8_C(0x01)
-#define BMI160_AUX_ODR_1_56HZ UINT8_C(0x02)
-#define BMI160_AUX_ODR_3_12HZ UINT8_C(0x03)
-#define BMI160_AUX_ODR_6_25HZ UINT8_C(0x04)
-#define BMI160_AUX_ODR_12_5HZ UINT8_C(0x05)
-#define BMI160_AUX_ODR_25HZ UINT8_C(0x06)
-#define BMI160_AUX_ODR_50HZ UINT8_C(0x07)
-#define BMI160_AUX_ODR_100HZ UINT8_C(0x08)
-#define BMI160_AUX_ODR_200HZ UINT8_C(0x09)
-#define BMI160_AUX_ODR_400HZ UINT8_C(0x0A)
-#define BMI160_AUX_ODR_800HZ UINT8_C(0x0B)
-
-/** FIFO_CONFIG Definitions */
-#define BMI160_FIFO_TIME_ENABLE UINT8_C(0x02)
-#define BMI160_FIFO_TAG_INT2_ENABLE UINT8_C(0x04)
-#define BMI160_FIFO_TAG_INT1_ENABLE UINT8_C(0x08)
-#define BMI160_FIFO_HEAD_ENABLE UINT8_C(0x10)
-#define BMI160_FIFO_M_ENABLE UINT8_C(0x20)
-#define BMI160_FIFO_A_ENABLE UINT8_C(0x40)
-#define BMI160_FIFO_M_A_ENABLE UINT8_C(0x60)
-#define BMI160_FIFO_G_ENABLE UINT8_C(0x80)
-#define BMI160_FIFO_M_G_ENABLE UINT8_C(0xA0)
-#define BMI160_FIFO_G_A_ENABLE UINT8_C(0xC0)
-#define BMI160_FIFO_M_G_A_ENABLE UINT8_C(0xE0)
-
-/* Macro to specify the number of bytes over-read from the
- * FIFO in order to get the sensor time at the end of FIFO */
-#ifndef BMI160_FIFO_BYTES_OVERREAD
-#define BMI160_FIFO_BYTES_OVERREAD UINT8_C(25)
-#endif
-
-/* Accel, gyro and aux. sensor length and also their combined
- * length definitions in FIFO */
-#define BMI160_FIFO_G_LENGTH UINT8_C(6)
-#define BMI160_FIFO_A_LENGTH UINT8_C(6)
-#define BMI160_FIFO_M_LENGTH UINT8_C(8)
-#define BMI160_FIFO_GA_LENGTH UINT8_C(12)
-#define BMI160_FIFO_MA_LENGTH UINT8_C(14)
-#define BMI160_FIFO_MG_LENGTH UINT8_C(14)
-#define BMI160_FIFO_MGA_LENGTH UINT8_C(20)
-
-/** FIFO Header Data definitions */
-#define BMI160_FIFO_HEAD_SKIP_FRAME UINT8_C(0x40)
-#define BMI160_FIFO_HEAD_SENSOR_TIME UINT8_C(0x44)
-#define BMI160_FIFO_HEAD_INPUT_CONFIG UINT8_C(0x48)
-#define BMI160_FIFO_HEAD_OVER_READ UINT8_C(0x80)
-#define BMI160_FIFO_HEAD_A UINT8_C(0x84)
-#define BMI160_FIFO_HEAD_G UINT8_C(0x88)
-#define BMI160_FIFO_HEAD_G_A UINT8_C(0x8C)
-#define BMI160_FIFO_HEAD_M UINT8_C(0x90)
-#define BMI160_FIFO_HEAD_M_A UINT8_C(0x94)
-#define BMI160_FIFO_HEAD_M_G UINT8_C(0x98)
-#define BMI160_FIFO_HEAD_M_G_A UINT8_C(0x9C)
-
-/** FIFO sensor time length definitions */
-#define BMI160_SENSOR_TIME_LENGTH UINT8_C(3)
-
-/** FIFO DOWN selection */
-/* Accel fifo down-sampling values*/
-#define BMI160_ACCEL_FIFO_DOWN_ZERO UINT8_C(0x00)
-#define BMI160_ACCEL_FIFO_DOWN_ONE UINT8_C(0x10)
-#define BMI160_ACCEL_FIFO_DOWN_TWO UINT8_C(0x20)
-#define BMI160_ACCEL_FIFO_DOWN_THREE UINT8_C(0x30)
-#define BMI160_ACCEL_FIFO_DOWN_FOUR UINT8_C(0x40)
-#define BMI160_ACCEL_FIFO_DOWN_FIVE UINT8_C(0x50)
-#define BMI160_ACCEL_FIFO_DOWN_SIX UINT8_C(0x60)
-#define BMI160_ACCEL_FIFO_DOWN_SEVEN UINT8_C(0x70)
-
-/* Gyro fifo down-smapling values*/
-#define BMI160_GYRO_FIFO_DOWN_ZERO UINT8_C(0x00)
-#define BMI160_GYRO_FIFO_DOWN_ONE UINT8_C(0x01)
-#define BMI160_GYRO_FIFO_DOWN_TWO UINT8_C(0x02)
-#define BMI160_GYRO_FIFO_DOWN_THREE UINT8_C(0x03)
-#define BMI160_GYRO_FIFO_DOWN_FOUR UINT8_C(0x04)
-#define BMI160_GYRO_FIFO_DOWN_FIVE UINT8_C(0x05)
-#define BMI160_GYRO_FIFO_DOWN_SIX UINT8_C(0x06)
-#define BMI160_GYRO_FIFO_DOWN_SEVEN UINT8_C(0x07)
-
-/* Accel Fifo filter enable*/
-#define BMI160_ACCEL_FIFO_FILT_EN UINT8_C(0x80)
-
-/* Gyro Fifo filter enable*/
-#define BMI160_GYRO_FIFO_FILT_EN UINT8_C(0x08)
-
-/** Definitions to check validity of FIFO frames */
-#define FIFO_CONFIG_MSB_CHECK UINT8_C(0x80)
-#define FIFO_CONFIG_LSB_CHECK UINT8_C(0x00)
-
-/*! BMI160 accel FOC configurations */
-#define BMI160_FOC_ACCEL_DISABLED UINT8_C(0x00)
-#define BMI160_FOC_ACCEL_POSITIVE_G UINT8_C(0x01)
-#define BMI160_FOC_ACCEL_NEGATIVE_G UINT8_C(0x02)
-#define BMI160_FOC_ACCEL_0G UINT8_C(0x03)
-
-/** Array Parameter DefinItions */
-#define BMI160_SENSOR_TIME_LSB_BYTE UINT8_C(0)
-#define BMI160_SENSOR_TIME_XLSB_BYTE UINT8_C(1)
-#define BMI160_SENSOR_TIME_MSB_BYTE UINT8_C(2)
-
-/** Interface settings */
-#define BMI160_SPI_INTF UINT8_C(1)
-#define BMI160_I2C_INTF UINT8_C(0)
-#define BMI160_SPI_RD_MASK UINT8_C(0x80)
-#define BMI160_SPI_WR_MASK UINT8_C(0x7F)
-
-/* Sensor & time select definition*/
-#define BMI160_ACCEL_SEL UINT8_C(0x01)
-#define BMI160_GYRO_SEL UINT8_C(0x02)
-#define BMI160_TIME_SEL UINT8_C(0x04)
-
-/* Sensor select mask*/
-#define BMI160_SEN_SEL_MASK UINT8_C(0x07)
-
-/* Error code mask */
-#define BMI160_ERR_REG_MASK UINT8_C(0x0F)
-
-/* BMI160 I2C address */
-#define BMI160_I2C_ADDR UINT8_C(0x68)
-
-/* BMI160 secondary IF address */
-#define BMI160_AUX_BMM150_I2C_ADDR UINT8_C(0x10)
-
-/** BMI160 Length definitions */
-#define BMI160_ONE UINT8_C(1)
-#define BMI160_TWO UINT8_C(2)
-#define BMI160_THREE UINT8_C(3)
-#define BMI160_FOUR UINT8_C(4)
-#define BMI160_FIVE UINT8_C(5)
-
-/** BMI160 fifo level Margin */
-#define BMI160_FIFO_LEVEL_MARGIN UINT8_C(16)
-
-/** BMI160 fifo flush Command */
-#define BMI160_FIFO_FLUSH_VALUE UINT8_C(0xB0)
-
-/** BMI160 offset values for xyz axes of accel */
-#define BMI160_ACCEL_MIN_OFFSET INT8_C(-128)
-#define BMI160_ACCEL_MAX_OFFSET INT8_C(127)
-
-/** BMI160 offset values for xyz axes of gyro */
-#define BMI160_GYRO_MIN_OFFSET INT16_C(-512)
-#define BMI160_GYRO_MAX_OFFSET INT16_C(511)
-
-/** BMI160 fifo full interrupt position and mask */
-#define BMI160_FIFO_FULL_INT_POS UINT8_C(5)
-#define BMI160_FIFO_FULL_INT_MSK UINT8_C(0x20)
-#define BMI160_FIFO_WTM_INT_POS UINT8_C(6)
-#define BMI160_FIFO_WTM_INT_MSK UINT8_C(0x40)
-
-#define BMI160_FIFO_FULL_INT_PIN1_POS UINT8_C(5)
-#define BMI160_FIFO_FULL_INT_PIN1_MSK UINT8_C(0x20)
-#define BMI160_FIFO_FULL_INT_PIN2_POS UINT8_C(1)
-#define BMI160_FIFO_FULL_INT_PIN2_MSK UINT8_C(0x02)
-
-#define BMI160_FIFO_WTM_INT_PIN1_POS UINT8_C(6)
-#define BMI160_FIFO_WTM_INT_PIN1_MSK UINT8_C(0x40)
-#define BMI160_FIFO_WTM_INT_PIN2_POS UINT8_C(2)
-#define BMI160_FIFO_WTM_INT_PIN2_MSK UINT8_C(0x04)
-
-#define BMI160_MANUAL_MODE_EN_POS UINT8_C(7)
-#define BMI160_MANUAL_MODE_EN_MSK UINT8_C(0x80)
-#define BMI160_AUX_READ_BURST_POS UINT8_C(0)
-#define BMI160_AUX_READ_BURST_MSK UINT8_C(0x03)
-
-#define BMI160_GYRO_SELF_TEST_POS UINT8_C(4)
-#define BMI160_GYRO_SELF_TEST_MSK UINT8_C(0x10)
-#define BMI160_GYRO_SELF_TEST_STATUS_POS UINT8_C(1)
-#define BMI160_GYRO_SELF_TEST_STATUS_MSK UINT8_C(0x02)
-
-#define BMI160_GYRO_FOC_EN_POS UINT8_C(6)
-#define BMI160_GYRO_FOC_EN_MSK UINT8_C(0x40)
-
-#define BMI160_ACCEL_FOC_X_CONF_POS UINT8_C(4)
-#define BMI160_ACCEL_FOC_X_CONF_MSK UINT8_C(0x30)
-
-#define BMI160_ACCEL_FOC_Y_CONF_POS UINT8_C(2)
-#define BMI160_ACCEL_FOC_Y_CONF_MSK UINT8_C(0x0C)
-
-#define BMI160_ACCEL_FOC_Z_CONF_MSK UINT8_C(0x03)
-
-#define BMI160_FOC_STATUS_POS UINT8_C(3)
-#define BMI160_FOC_STATUS_MSK UINT8_C(0x08)
-
-#define BMI160_GYRO_OFFSET_X_MSK UINT8_C(0x03)
-
-#define BMI160_GYRO_OFFSET_Y_POS UINT8_C(2)
-#define BMI160_GYRO_OFFSET_Y_MSK UINT8_C(0x0C)
-
-#define BMI160_GYRO_OFFSET_Z_POS UINT8_C(4)
-#define BMI160_GYRO_OFFSET_Z_MSK UINT8_C(0x30)
-
-#define BMI160_GYRO_OFFSET_EN_POS UINT8_C(7)
-#define BMI160_GYRO_OFFSET_EN_MSK UINT8_C(0x80)
-
-#define BMI160_ACCEL_OFFSET_EN_POS UINT8_C(6)
-#define BMI160_ACCEL_OFFSET_EN_MSK UINT8_C(0x40)
-
-#define BMI160_GYRO_OFFSET_POS UINT16_C(8)
-#define BMI160_GYRO_OFFSET_MSK UINT16_C(0x0300)
-
-#define BMI160_NVM_UPDATE_POS UINT8_C(1)
-#define BMI160_NVM_UPDATE_MSK UINT8_C(0x02)
-
-#define BMI160_NVM_STATUS_POS UINT8_C(4)
-#define BMI160_NVM_STATUS_MSK UINT8_C(0x10)
-
-#define BMI160_MAG_POWER_MODE_MSK UINT8_C(0x03)
-
-#define BMI160_ACCEL_POWER_MODE_MSK UINT8_C(0x30)
-#define BMI160_ACCEL_POWER_MODE_POS UINT8_C(4)
-
-#define BMI160_GYRO_POWER_MODE_MSK UINT8_C(0x0C)
-#define BMI160_GYRO_POWER_MODE_POS UINT8_C(2)
-
-/* BIT SLICE GET AND SET FUNCTIONS */
-#define BMI160_GET_BITS(regvar, bitname) ((regvar & bitname##_MSK) >> bitname##_POS)
-#define BMI160_SET_BITS(regvar, bitname, val) \
-    ((regvar & ~bitname##_MSK) | ((val << bitname##_POS) & bitname##_MSK))
-
-#define BMI160_SET_BITS_POS_0(reg_data, bitname, data) \
-    ((reg_data & ~(bitname##_MSK)) | (data & bitname##_MSK))
-
-#define BMI160_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK))
-
-/**\name UTILITY MACROS */
-#define BMI160_SET_LOW_BYTE UINT16_C(0x00FF)
-#define BMI160_SET_HIGH_BYTE UINT16_C(0xFF00)
-
-#define BMI160_GET_LSB(var) (uint8_t)(var & BMI160_SET_LOW_BYTE)
-#define BMI160_GET_MSB(var) (uint8_t)((var & BMI160_SET_HIGH_BYTE) >> 8)
-
-/*****************************************************************************/
-/* type definitions */
-
-/*!
- * @brief Bus communication function pointer which should be mapped to
- * the platform specific read functions of the user
- */
-typedef int8_t (
-    *bmi160_read_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, uint8_t* data, uint16_t len);
-
-/*!
- * @brief Bus communication function pointer which should be mapped to
- * the platform specific write functions of the user
- */
-typedef int8_t (
-    *bmi160_write_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, uint8_t* read_data, uint16_t len);
-typedef void (*bmi160_delay_fptr_t)(uint32_t period);
-
-/*************************** Data structures *********************************/
-
-/*!
- * @brief bmi160 interrupt status selection enum.
- */
-enum bmi160_int_status_sel {
-    BMI160_INT_STATUS_0 = 1,
-    BMI160_INT_STATUS_1 = 2,
-    BMI160_INT_STATUS_2 = 4,
-    BMI160_INT_STATUS_3 = 8,
-    BMI160_INT_STATUS_ALL = 15
-};
-
-/*!
- * @brief bmi160 interrupt status bits structure
- */
-struct bmi160_int_status_bits {
-#ifdef LITTLE_ENDIAN
-
-    uint32_t step : 1;
-    uint32_t sigmot : 1;
-    uint32_t anym : 1;
-
-    /* pmu trigger will be handled later */
-    uint32_t pmu_trigger_reserved : 1;
-    uint32_t d_tap : 1;
-    uint32_t s_tap : 1;
-    uint32_t orient : 1;
-    uint32_t flat_int : 1;
-    uint32_t reserved : 2;
-    uint32_t high_g : 1;
-    uint32_t low_g : 1;
-    uint32_t drdy : 1;
-    uint32_t ffull : 1;
-    uint32_t fwm : 1;
-    uint32_t nomo : 1;
-    uint32_t anym_first_x : 1;
-    uint32_t anym_first_y : 1;
-    uint32_t anym_first_z : 1;
-    uint32_t anym_sign : 1;
-    uint32_t tap_first_x : 1;
-    uint32_t tap_first_y : 1;
-    uint32_t tap_first_z : 1;
-    uint32_t tap_sign : 1;
-    uint32_t high_first_x : 1;
-    uint32_t high_first_y : 1;
-    uint32_t high_first_z : 1;
-    uint32_t high_sign : 1;
-    uint32_t orient_1_0 : 2;
-    uint32_t orient_2 : 1;
-    uint32_t flat : 1;
-#else
-    uint32_t high_first_x : 1;
-    uint32_t high_first_y : 1;
-    uint32_t high_first_z : 1;
-    uint32_t high_sign : 1;
-    uint32_t orient_1_0 : 2;
-    uint32_t orient_2 : 1;
-    uint32_t flat : 1;
-    uint32_t anym_first_x : 1;
-    uint32_t anym_first_y : 1;
-    uint32_t anym_first_z : 1;
-    uint32_t anym_sign : 1;
-    uint32_t tap_first_x : 1;
-    uint32_t tap_first_y : 1;
-    uint32_t tap_first_z : 1;
-    uint32_t tap_sign : 1;
-    uint32_t reserved : 2;
-    uint32_t high_g : 1;
-    uint32_t low_g : 1;
-    uint32_t drdy : 1;
-    uint32_t ffull : 1;
-    uint32_t fwm : 1;
-    uint32_t nomo : 1;
-    uint32_t step : 1;
-    uint32_t sigmot : 1;
-    uint32_t anym : 1;
-
-    /* pmu trigger will be handled later */
-    uint32_t pmu_trigger_reserved : 1;
-    uint32_t d_tap : 1;
-    uint32_t s_tap : 1;
-    uint32_t orient : 1;
-    uint32_t flat_int : 1;
-#endif
-};
-
-/*!
- * @brief bmi160 interrupt status structure
- */
-union bmi160_int_status {
-    uint8_t data[4];
-    struct bmi160_int_status_bits bit;
-};
-
-/*!
- * @brief bmi160 sensor data structure which comprises of accel data
- */
-struct bmi160_sensor_data {
-    /*! X-axis sensor data */
-    int16_t x;
-
-    /*! Y-axis sensor data */
-    int16_t y;
-
-    /*! Z-axis sensor data */
-    int16_t z;
-
-    /*! sensor time */
-    uint32_t sensortime;
-};
-
-/*!
- * @brief bmi160 aux data structure which comprises of 8 bytes of accel data
- */
-struct bmi160_aux_data {
-    /*! Auxiliary data */
-    uint8_t data[8];
-};
-
-/*!
- * @brief bmi160 FOC configuration structure
- */
-struct bmi160_foc_conf {
-    /*! Enabling FOC in gyro
-     * Assignable macros :
-     *  - BMI160_ENABLE
-     *  - BMI160_DISABLE
-     */
-    uint8_t foc_gyr_en;
-
-    /*! Accel FOC configurations
-     * Assignable macros :
-     *  - BMI160_FOC_ACCEL_DISABLED
-     *  - BMI160_FOC_ACCEL_POSITIVE_G
-     *  - BMI160_FOC_ACCEL_NEGATIVE_G
-     *  - BMI160_FOC_ACCEL_0G
-     */
-    uint8_t foc_acc_x;
-    uint8_t foc_acc_y;
-    uint8_t foc_acc_z;
-
-    /*! Enabling offset compensation for accel in data registers
-     * Assignable macros :
-     *  - BMI160_ENABLE
-     *  - BMI160_DISABLE
-     */
-    uint8_t acc_off_en;
-
-    /*! Enabling offset compensation for gyro in data registers
-     * Assignable macros :
-     *  - BMI160_ENABLE
-     *  - BMI160_DISABLE
-     */
-    uint8_t gyro_off_en;
-};
-
-/*!
- * @brief bmi160 accel gyro offsets
- */
-struct bmi160_offsets {
-    /*! Accel offset for x axis */
-    int8_t off_acc_x;
-
-    /*! Accel offset for y axis */
-    int8_t off_acc_y;
-
-    /*! Accel offset for z axis */
-    int8_t off_acc_z;
-
-    /*! Gyro offset for x axis */
-    int16_t off_gyro_x;
-
-    /*! Gyro offset for y axis */
-    int16_t off_gyro_y;
-
-    /*! Gyro offset for z axis */
-    int16_t off_gyro_z;
-};
-
-/*!
- * @brief FIFO aux. sensor data structure
- */
-struct bmi160_aux_fifo_data {
-    /*! The value of aux. sensor x LSB data */
-    uint8_t aux_x_lsb;
-
-    /*! The value of aux. sensor x MSB data */
-    uint8_t aux_x_msb;
-
-    /*! The value of aux. sensor y LSB data */
-    uint8_t aux_y_lsb;
-
-    /*! The value of aux. sensor y MSB data */
-    uint8_t aux_y_msb;
-
-    /*! The value of aux. sensor z LSB data */
-    uint8_t aux_z_lsb;
-
-    /*! The value of aux. sensor z MSB data */
-    uint8_t aux_z_msb;
-
-    /*! The value of aux. sensor r for BMM150 LSB data */
-    uint8_t aux_r_y2_lsb;
-
-    /*! The value of aux. sensor r for BMM150 MSB data */
-    uint8_t aux_r_y2_msb;
-};
-
-/*!
- * @brief bmi160 sensor select structure
- */
-enum bmi160_select_sensor { BMI160_ACCEL_ONLY = 1, BMI160_GYRO_ONLY, BMI160_BOTH_ACCEL_AND_GYRO };
-
-/*!
- * @brief bmi160 sensor step detector mode structure
- */
-enum bmi160_step_detect_mode {
-    BMI160_STEP_DETECT_NORMAL,
-    BMI160_STEP_DETECT_SENSITIVE,
-    BMI160_STEP_DETECT_ROBUST,
-
-    /*! Non recommended User defined setting */
-    BMI160_STEP_DETECT_USER_DEFINE
-};
-
-/*!
- * @brief enum for auxiliary burst read selection
- */
-enum bmi160_aux_read_len {
-    BMI160_AUX_READ_LEN_0,
-    BMI160_AUX_READ_LEN_1,
-    BMI160_AUX_READ_LEN_2,
-    BMI160_AUX_READ_LEN_3
-};
-
-/*!
- * @brief bmi160 sensor configuration structure
- */
-struct bmi160_cfg {
-    /*! power mode */
-    uint8_t power;
-
-    /*! output data rate */
-    uint8_t odr;
-
-    /*! range */
-    uint8_t range;
-
-    /*! bandwidth */
-    uint8_t bw;
-};
-
-/*!
- * @brief Aux sensor configuration structure
- */
-struct bmi160_aux_cfg {
-    /*! Aux sensor, 1 - enable 0 - disable */
-    uint8_t aux_sensor_enable : 1;
-
-    /*! Aux manual/auto mode status */
-    uint8_t manual_enable : 1;
-
-    /*! Aux read burst length */
-    uint8_t aux_rd_burst_len : 2;
-
-    /*! output data rate */
-    uint8_t aux_odr : 4;
-
-    /*! i2c addr of auxiliary sensor */
-    uint8_t aux_i2c_addr;
-};
-
-/*!
- * @brief bmi160 interrupt channel selection structure
- */
-enum bmi160_int_channel {
-    /*! Un-map both channels */
-    BMI160_INT_CHANNEL_NONE,
-
-    /*! interrupt Channel 1 */
-    BMI160_INT_CHANNEL_1,
-
-    /*! interrupt Channel 2 */
-    BMI160_INT_CHANNEL_2,
-
-    /*! Map both channels */
-    BMI160_INT_CHANNEL_BOTH
-};
-enum bmi160_int_types {
-    /*! Slope/Any-motion interrupt */
-    BMI160_ACC_ANY_MOTION_INT,
-
-    /*! Significant motion interrupt */
-    BMI160_ACC_SIG_MOTION_INT,
-
-    /*! Step detector interrupt */
-    BMI160_STEP_DETECT_INT,
-
-    /*! double tap interrupt */
-    BMI160_ACC_DOUBLE_TAP_INT,
-
-    /*! single tap interrupt */
-    BMI160_ACC_SINGLE_TAP_INT,
-
-    /*! orientation interrupt */
-    BMI160_ACC_ORIENT_INT,
-
-    /*! flat interrupt */
-    BMI160_ACC_FLAT_INT,
-
-    /*! high-g interrupt */
-    BMI160_ACC_HIGH_G_INT,
-
-    /*! low-g interrupt */
-    BMI160_ACC_LOW_G_INT,
-
-    /*! slow/no-motion interrupt */
-    BMI160_ACC_SLOW_NO_MOTION_INT,
-
-    /*! data ready interrupt  */
-    BMI160_ACC_GYRO_DATA_RDY_INT,
-
-    /*! fifo full interrupt */
-    BMI160_ACC_GYRO_FIFO_FULL_INT,
-
-    /*! fifo watermark interrupt */
-    BMI160_ACC_GYRO_FIFO_WATERMARK_INT,
-
-    /*! fifo tagging feature support */
-    BMI160_FIFO_TAG_INT_PIN
-};
-
-/*!
- * @brief bmi160 active state of any & sig motion interrupt.
- */
-enum bmi160_any_sig_motion_active_interrupt_state {
-    /*! Both any & sig motion are disabled */
-    BMI160_BOTH_ANY_SIG_MOTION_DISABLED = -1,
-
-    /*! Any-motion selected */
-    BMI160_ANY_MOTION_ENABLED,
-
-    /*! Sig-motion selected */
-    BMI160_SIG_MOTION_ENABLED
-};
-struct bmi160_acc_tap_int_cfg {
-#ifdef LITTLE_ENDIAN
-
-    /*! tap threshold */
-    uint16_t tap_thr : 5;
-
-    /*! tap shock */
-    uint16_t tap_shock : 1;
-
-    /*! tap quiet */
-    uint16_t tap_quiet : 1;
-
-    /*! tap duration */
-    uint16_t tap_dur : 3;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint16_t tap_data_src : 1;
-
-    /*! tap enable, 1 - enable, 0 - disable */
-    uint16_t tap_en : 1;
-#else
-
-    /*! tap enable, 1 - enable, 0 - disable */
-    uint16_t tap_en : 1;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint16_t tap_data_src : 1;
-
-    /*! tap duration */
-    uint16_t tap_dur : 3;
-
-    /*! tap quiet */
-    uint16_t tap_quiet : 1;
-
-    /*! tap shock */
-    uint16_t tap_shock : 1;
-
-    /*! tap threshold */
-    uint16_t tap_thr : 5;
-#endif
-};
-struct bmi160_acc_any_mot_int_cfg {
-#ifdef LITTLE_ENDIAN
-
-    /*! 1 any-motion enable, 0 - any-motion disable */
-    uint8_t anymotion_en : 1;
-
-    /*! slope interrupt x, 1 - enable, 0 - disable */
-    uint8_t anymotion_x : 1;
-
-    /*! slope interrupt y, 1 - enable, 0 - disable */
-    uint8_t anymotion_y : 1;
-
-    /*! slope interrupt z, 1 - enable, 0 - disable */
-    uint8_t anymotion_z : 1;
-
-    /*! slope duration */
-    uint8_t anymotion_dur : 2;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint8_t anymotion_data_src : 1;
-
-    /*! slope threshold */
-    uint8_t anymotion_thr;
-#else
-
-    /*! slope threshold */
-    uint8_t anymotion_thr;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint8_t anymotion_data_src : 1;
-
-    /*! slope duration */
-    uint8_t anymotion_dur : 2;
-
-    /*! slope interrupt z, 1 - enable, 0 - disable */
-    uint8_t anymotion_z : 1;
-
-    /*! slope interrupt y, 1 - enable, 0 - disable */
-    uint8_t anymotion_y : 1;
-
-    /*! slope interrupt x, 1 - enable, 0 - disable */
-    uint8_t anymotion_x : 1;
-
-    /*! 1 any-motion enable, 0 - any-motion disable */
-    uint8_t anymotion_en : 1;
-#endif
-};
-struct bmi160_acc_sig_mot_int_cfg {
-#ifdef LITTLE_ENDIAN
-
-    /*! skip time of sig-motion interrupt */
-    uint8_t sig_mot_skip : 2;
-
-    /*! proof time of sig-motion interrupt */
-    uint8_t sig_mot_proof : 2;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint8_t sig_data_src : 1;
-
-    /*! 1 - enable sig, 0 - disable sig & enable anymotion */
-    uint8_t sig_en : 1;
-
-    /*! sig-motion threshold */
-    uint8_t sig_mot_thres;
-#else
-
-    /*! sig-motion threshold */
-    uint8_t sig_mot_thres;
-
-    /*! 1 - enable sig, 0 - disable sig & enable anymotion */
-    uint8_t sig_en : 1;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint8_t sig_data_src : 1;
-
-    /*! proof time of sig-motion interrupt */
-    uint8_t sig_mot_proof : 2;
-
-    /*! skip time of sig-motion interrupt */
-    uint8_t sig_mot_skip : 2;
-#endif
-};
-struct bmi160_acc_step_detect_int_cfg {
-#ifdef LITTLE_ENDIAN
-
-    /*! 1- step detector enable, 0- step detector disable */
-    uint16_t step_detector_en : 1;
-
-    /*! minimum threshold */
-    uint16_t min_threshold : 2;
-
-    /*! minimal detectable step time */
-    uint16_t steptime_min : 3;
-
-    /*! enable step counter mode setting */
-    uint16_t step_detector_mode : 2;
-
-    /*! minimum step buffer size*/
-    uint16_t step_min_buf : 3;
-#else
-
-    /*! minimum step buffer size*/
-    uint16_t step_min_buf : 3;
-
-    /*! enable step counter mode setting */
-    uint16_t step_detector_mode : 2;
-
-    /*! minimal detectable step time */
-    uint16_t steptime_min : 3;
-
-    /*! minimum threshold */
-    uint16_t min_threshold : 2;
-
-    /*! 1- step detector enable, 0- step detector disable */
-    uint16_t step_detector_en : 1;
-#endif
-};
-struct bmi160_acc_no_motion_int_cfg {
-#ifdef LITTLE_ENDIAN
-
-    /*! no motion interrupt x */
-    uint16_t no_motion_x : 1;
-
-    /*! no motion interrupt y */
-    uint16_t no_motion_y : 1;
-
-    /*! no motion interrupt z */
-    uint16_t no_motion_z : 1;
-
-    /*! no motion duration */
-    uint16_t no_motion_dur : 6;
-
-    /*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */
-    uint16_t no_motion_sel : 1;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint16_t no_motion_src : 1;
-
-    /*! no motion threshold */
-    uint8_t no_motion_thres;
-#else
-
-    /*! no motion threshold */
-    uint8_t no_motion_thres;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint16_t no_motion_src : 1;
-
-    /*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */
-    uint16_t no_motion_sel : 1;
-
-    /*! no motion duration */
-    uint16_t no_motion_dur : 6;
-
-    /* no motion interrupt z */
-    uint16_t no_motion_z : 1;
-
-    /*! no motion interrupt y */
-    uint16_t no_motion_y : 1;
-
-    /*! no motion interrupt x */
-    uint16_t no_motion_x : 1;
-#endif
-};
-struct bmi160_acc_orient_int_cfg {
-#ifdef LITTLE_ENDIAN
-
-    /*! thresholds for switching between the different orientations */
-    uint16_t orient_mode : 2;
-
-    /*! blocking_mode */
-    uint16_t orient_blocking : 2;
-
-    /*! Orientation interrupt hysteresis */
-    uint16_t orient_hyst : 4;
-
-    /*! Orientation interrupt theta */
-    uint16_t orient_theta : 6;
-
-    /*! Enable/disable Orientation interrupt */
-    uint16_t orient_ud_en : 1;
-
-    /*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */
-    uint16_t axes_ex : 1;
-
-    /*! 1 - orient enable, 0 - orient disable */
-    uint8_t orient_en : 1;
-#else
-
-    /*! 1 - orient enable, 0 - orient disable */
-    uint8_t orient_en : 1;
-
-    /*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */
-    uint16_t axes_ex : 1;
-
-    /*! Enable/disable Orientation interrupt */
-    uint16_t orient_ud_en : 1;
-
-    /*! Orientation interrupt theta */
-    uint16_t orient_theta : 6;
-
-    /*! Orientation interrupt hysteresis */
-    uint16_t orient_hyst : 4;
-
-    /*! blocking_mode */
-    uint16_t orient_blocking : 2;
-
-    /*! thresholds for switching between the different orientations */
-    uint16_t orient_mode : 2;
-#endif
-};
-struct bmi160_acc_flat_detect_int_cfg {
-#ifdef LITTLE_ENDIAN
-
-    /*! flat threshold */
-    uint16_t flat_theta : 6;
-
-    /*! flat interrupt hysteresis */
-    uint16_t flat_hy : 3;
-
-    /*! delay time for which the flat value must remain stable for the
-     * flat interrupt to be generated */
-    uint16_t flat_hold_time : 2;
-
-    /*! 1 - flat enable, 0 - flat disable */
-    uint16_t flat_en : 1;
-#else
-
-    /*! 1 - flat enable, 0 - flat disable */
-    uint16_t flat_en : 1;
-
-    /*! delay time for which the flat value must remain stable for the
-     * flat interrupt to be generated */
-    uint16_t flat_hold_time : 2;
-
-    /*! flat interrupt hysteresis */
-    uint16_t flat_hy : 3;
-
-    /*! flat threshold */
-    uint16_t flat_theta : 6;
-#endif
-};
-struct bmi160_acc_low_g_int_cfg {
-#ifdef LITTLE_ENDIAN
-
-    /*! low-g interrupt trigger delay */
-    uint8_t low_dur;
-
-    /*! low-g interrupt trigger threshold */
-    uint8_t low_thres;
-
-    /*! hysteresis of low-g interrupt */
-    uint8_t low_hyst : 2;
-
-    /*! 0 - single-axis mode ,1 - axis-summing mode */
-    uint8_t low_mode : 1;
-
-    /*! data source 0- filter & 1 pre-filter */
-    uint8_t low_data_src : 1;
-
-    /*! 1 - enable low-g, 0 - disable low-g */
-    uint8_t low_en : 1;
-#else
-
-    /*! 1 - enable low-g, 0 - disable low-g */
-    uint8_t low_en : 1;
-
-    /*! data source 0- filter & 1 pre-filter */
-    uint8_t low_data_src : 1;
-
-    /*! 0 - single-axis mode ,1 - axis-summing mode */
-    uint8_t low_mode : 1;
-
-    /*! hysteresis of low-g interrupt */
-    uint8_t low_hyst : 2;
-
-    /*! low-g interrupt trigger threshold */
-    uint8_t low_thres;
-
-    /*! low-g interrupt trigger delay */
-    uint8_t low_dur;
-#endif
-};
-struct bmi160_acc_high_g_int_cfg {
-#ifdef LITTLE_ENDIAN
-
-    /*! High-g interrupt x, 1 - enable, 0 - disable */
-    uint8_t high_g_x : 1;
-
-    /*! High-g interrupt y, 1 - enable, 0 - disable */
-    uint8_t high_g_y : 1;
-
-    /*! High-g interrupt z, 1 - enable, 0 - disable */
-    uint8_t high_g_z : 1;
-
-    /*! High-g hysteresis  */
-    uint8_t high_hy : 2;
-
-    /*! data source 0- filter & 1 pre-filter */
-    uint8_t high_data_src : 1;
-
-    /*! High-g threshold */
-    uint8_t high_thres;
-
-    /*! High-g duration */
-    uint8_t high_dur;
-#else
-
-    /*! High-g duration */
-    uint8_t high_dur;
-
-    /*! High-g threshold */
-    uint8_t high_thres;
-
-    /*! data source 0- filter & 1 pre-filter */
-    uint8_t high_data_src : 1;
-
-    /*! High-g hysteresis  */
-    uint8_t high_hy : 2;
-
-    /*! High-g interrupt z, 1 - enable, 0 - disable */
-    uint8_t high_g_z : 1;
-
-    /*! High-g interrupt y, 1 - enable, 0 - disable */
-    uint8_t high_g_y : 1;
-
-    /*! High-g interrupt x, 1 - enable, 0 - disable */
-    uint8_t high_g_x : 1;
-#endif
-};
-struct bmi160_int_pin_settg {
-#ifdef LITTLE_ENDIAN
-
-    /*! To enable either INT1 or INT2 pin as output.
-     * 0- output disabled ,1- output enabled */
-    uint16_t output_en : 1;
-
-    /*! 0 - push-pull 1- open drain,only valid if output_en is set 1 */
-    uint16_t output_mode : 1;
-
-    /*! 0 - active low , 1 - active high level.
-     * if output_en is 1,this applies to interrupts,else PMU_trigger */
-    uint16_t output_type : 1;
-
-    /*! 0 - level trigger , 1 - edge trigger  */
-    uint16_t edge_ctrl : 1;
-
-    /*! To enable either INT1 or INT2 pin as input.
-     * 0 - input disabled ,1 - input enabled */
-    uint16_t input_en : 1;
-
-    /*! latch duration*/
-    uint16_t latch_dur : 4;
-#else
-
-    /*! latch duration*/
-    uint16_t latch_dur : 4;
-
-    /*! Latched,non-latched or temporary interrupt modes */
-    uint16_t input_en : 1;
-
-    /*! 1 - edge trigger, 0 - level trigger */
-    uint16_t edge_ctrl : 1;
-
-    /*! 0 - active low , 1 - active high level.
-     * if output_en is 1,this applies to interrupts,else PMU_trigger */
-    uint16_t output_type : 1;
-
-    /*! 0 - push-pull , 1 - open drain,only valid if output_en is set 1 */
-    uint16_t output_mode : 1;
-
-    /*! To enable either INT1 or INT2 pin as output.
-     * 0 - output disabled , 1 - output enabled */
-    uint16_t output_en : 1;
-#endif
-};
-union bmi160_int_type_cfg {
-    /*! Tap interrupt structure */
-    struct bmi160_acc_tap_int_cfg acc_tap_int;
-
-    /*! Slope interrupt structure */
-    struct bmi160_acc_any_mot_int_cfg acc_any_motion_int;
-
-    /*! Significant motion interrupt structure */
-    struct bmi160_acc_sig_mot_int_cfg acc_sig_motion_int;
-
-    /*! Step detector interrupt structure */
-    struct bmi160_acc_step_detect_int_cfg acc_step_detect_int;
-
-    /*! No motion interrupt structure */
-    struct bmi160_acc_no_motion_int_cfg acc_no_motion_int;
-
-    /*! Orientation interrupt structure */
-    struct bmi160_acc_orient_int_cfg acc_orient_int;
-
-    /*! Flat interrupt structure */
-    struct bmi160_acc_flat_detect_int_cfg acc_flat_int;
-
-    /*! Low-g interrupt structure */
-    struct bmi160_acc_low_g_int_cfg acc_low_g_int;
-
-    /*! High-g interrupt structure */
-    struct bmi160_acc_high_g_int_cfg acc_high_g_int;
-};
-struct bmi160_int_settg {
-    /*! Interrupt channel */
-    enum bmi160_int_channel int_channel;
-
-    /*! Select Interrupt */
-    enum bmi160_int_types int_type;
-
-    /*! Structure configuring Interrupt pins */
-    struct bmi160_int_pin_settg int_pin_settg;
-
-    /*! Union configures required interrupt */
-    union bmi160_int_type_cfg int_type_cfg;
-
-    /*! FIFO FULL INT 1-enable, 0-disable */
-    uint8_t fifo_full_int_en : 1;
-
-    /*! FIFO WTM INT 1-enable, 0-disable */
-    uint8_t fifo_wtm_int_en : 1;
-};
-
-/*!
- *  @brief This structure holds the information for usage of
- *  FIFO by the user.
- */
-struct bmi160_fifo_frame {
-    /*! Data buffer of user defined length is to be mapped here */
-    uint8_t* data;
-
-    /*! While calling the API  "bmi160_get_fifo_data" , length stores
-     *  number of bytes in FIFO to be read (specified by user as input)
-     *  and after execution of the API ,number of FIFO data bytes
-     *  available is provided as an output to user
-     */
-    uint16_t length;
-
-    /*! FIFO time enable */
-    uint8_t fifo_time_enable;
-
-    /*! Enabling of the FIFO header to stream in header mode */
-    uint8_t fifo_header_enable;
-
-    /*! Streaming of the Accelerometer, Gyroscope
-     * sensor data or both in FIFO */
-    uint8_t fifo_data_enable;
-
-    /*! Will be equal to length when no more frames are there to parse */
-    uint16_t accel_byte_start_idx;
-
-    /*! Will be equal to length when no more frames are there to parse */
-    uint16_t gyro_byte_start_idx;
-
-    /*! Will be equal to length when no more frames are there to parse */
-    uint16_t aux_byte_start_idx;
-
-    /*! Value of FIFO sensor time time */
-    uint32_t sensor_time;
-
-    /*! Value of Skipped frame counts */
-    uint8_t skipped_frame_count;
-};
-struct bmi160_dev {
-    /*! Chip Id */
-    uint8_t chip_id;
-
-    /*! Device Id */
-    uint8_t id;
-
-    /*! 0 - I2C , 1 - SPI Interface */
-    uint8_t intf;
-
-    /*! Hold active interrupts status for any and sig motion
-     *  0 - Any-motion enable, 1 - Sig-motion enable,
-     *  -1 neither any-motion nor sig-motion selected */
-    enum bmi160_any_sig_motion_active_interrupt_state any_sig_sel;
-
-    /*! Structure to configure Accel sensor */
-    struct bmi160_cfg accel_cfg;
-
-    /*! Structure to hold previous/old accel config parameters.
-     * This is used at driver level to prevent overwriting of same
-     * data, hence user does not change it in the code */
-    struct bmi160_cfg prev_accel_cfg;
-
-    /*! Structure to configure Gyro sensor */
-    struct bmi160_cfg gyro_cfg;
-
-    /*! Structure to hold previous/old gyro config parameters.
-     * This is used at driver level to prevent overwriting of same
-     * data, hence user does not change it in the code */
-    struct bmi160_cfg prev_gyro_cfg;
-
-    /*! Structure to configure the auxiliary sensor */
-    struct bmi160_aux_cfg aux_cfg;
-
-    /*! Structure to hold previous/old aux config parameters.
-     * This is used at driver level to prevent overwriting of same
-     * data, hence user does not change it in the code */
-    struct bmi160_aux_cfg prev_aux_cfg;
-
-    /*! FIFO related configurations */
-    struct bmi160_fifo_frame* fifo;
-
-    /*! Read function pointer */
-    bmi160_read_fptr_t read;
-
-    /*! Write function pointer */
-    bmi160_write_fptr_t write;
-
-    /*!  Delay function pointer */
-    bmi160_delay_fptr_t delay_ms;
-
-    /*! User set read/write length */
-    uint16_t read_write_len;
-};
-
-#endif /* BMI160_DEFS_H_ */

tracking/imu/imu.c

@@ -1,29 +1,53 @@
 #include "imu.h"
-#include <furi_hal.h>
 
-bool bmi160_begin();
-int bmi160_read(double* vec);
+struct imu_t* imu_types[] = {
+    &imu_bmi160,
+    &imu_lsm6ds3trc,
+    &imu_lsm6dso
+};
 
-bool lsm6ds3trc_begin();
-void lsm6ds3trc_end();
-int lsm6ds3trc_read(double* vec);
+struct imu_t* imu_found;
 
 bool imu_begin() {
     furi_hal_i2c_acquire(&furi_hal_i2c_handle_external);
-    bool ret = bmi160_begin(); // lsm6ds3trc_begin();
+    if (imu_found == NULL) {
+        imu_found = find_imu();
+        if (imu_found == NULL) {
+            furi_hal_i2c_release(&furi_hal_i2c_handle_external);
+            return false;
+        }
+        FURI_LOG_E(IMU_TAG, "Found Device %s", imu_found->name);
+    }
+    bool ret = 0;
+    if (imu_found != NULL) {
+        ret = imu_found->begin();
+    }
     furi_hal_i2c_release(&furi_hal_i2c_handle_external);
     return ret;
 }
 
 void imu_end() {
-    // furi_hal_i2c_acquire(&furi_hal_i2c_handle_external);
-    // lsm6ds3trc_end();
-    // furi_hal_i2c_release(&furi_hal_i2c_handle_external);
+    if (imu_found == NULL) return;
+    furi_hal_i2c_acquire(&furi_hal_i2c_handle_external);
+    imu_found->end();
+    furi_hal_i2c_release(&furi_hal_i2c_handle_external);
 }
 
 int imu_read(double* vec) {
+    if (imu_found == NULL) return 0;
     furi_hal_i2c_acquire(&furi_hal_i2c_handle_external);
-    int ret = bmi160_read(vec); // lsm6ds3trc_read(vec);
+    int ret = imu_found->read(vec);
     furi_hal_i2c_release(&furi_hal_i2c_handle_external);
     return ret;
 }
+
+struct imu_t* find_imu() {
+    unsigned int i;
+    for(i = 0; i < sizeof(imu_types) / sizeof(struct imu_t*); i++) {
+        if(furi_hal_i2c_is_device_ready(&furi_hal_i2c_handle_external, imu_types[i]->address, 50)) {
+            FURI_LOG_E(IMU_TAG, "found i2c device address 0x%X", imu_types[i]->address);
+            return imu_types[i];
+        }
+    }
+    return NULL;
+}

tracking/imu/imu.h

@@ -1,6 +1,13 @@
-#pragma once
+#ifndef IMU_H
+#define IMU_H
 
 #include <stdbool.h>
+#include <furi_hal.h>
+
+#include "imu_t.h"
+#include "bmi160.h"
+#include "lsm6ds3trc.h"
+#include "lsm6dso.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -9,10 +16,19 @@ extern "C" {
 #define ACC_DATA_READY (1 << 0)
 #define GYR_DATA_READY (1 << 1)
 
+#define IMU_TAG "IMU_H"
+
+static const double DEG_TO_RAD = 0.017453292519943295769236907684886;
+static const double GRAVITY = 9.81;
+
 bool imu_begin();
 void imu_end();
 int imu_read(double* vec);
+struct imu_t* get_imu(uint8_t address);
+unsigned int imu_scan_i2c();
+struct imu_t* find_imu();
 
 #ifdef __cplusplus
 }
 #endif
+#endif // IMU_H

tracking/imu/imu_bmi160.c

@@ -1,88 +0,0 @@
-#include "bmi160.h"
-
-#include <furi_hal.h>
-
-#include "imu.h"
-
-#define TAG "BMI160"
-
-#define BMI160_DEV_ADDR (0x69 << 1)
-
-static const double DEG_TO_RAD = 0.017453292519943295769236907684886;
-static const double G = 9.81;
-
-struct bmi160_dev bmi160dev;
-struct bmi160_sensor_data bmi160_accel;
-struct bmi160_sensor_data bmi160_gyro;
-
-int8_t bmi160_write_i2c(uint8_t dev_addr, uint8_t reg_addr, uint8_t* data, uint16_t len) {
-    if(furi_hal_i2c_write_mem(&furi_hal_i2c_handle_external, dev_addr, reg_addr, data, len, 50))
-        return BMI160_OK;
-    return BMI160_E_COM_FAIL;
-}
-
-int8_t bmi160_read_i2c(uint8_t dev_addr, uint8_t reg_addr, uint8_t* read_data, uint16_t len) {
-    if(furi_hal_i2c_read_mem(&furi_hal_i2c_handle_external, dev_addr, reg_addr, read_data, len, 50))
-        return BMI160_OK;
-    return BMI160_E_COM_FAIL;
-}
-
-bool bmi160_begin() {
-    FURI_LOG_I(TAG, "Init BMI160");
-
-    if(!furi_hal_i2c_is_device_ready(&furi_hal_i2c_handle_external, BMI160_DEV_ADDR, 50)) {
-        FURI_LOG_E(TAG, "Device not ready!");
-        return false;
-    }
-
-    FURI_LOG_I(TAG, "Device ready!");
-
-    bmi160dev.id = BMI160_DEV_ADDR;
-    bmi160dev.intf = BMI160_I2C_INTF;
-    bmi160dev.read = bmi160_read_i2c;
-    bmi160dev.write = bmi160_write_i2c;
-    bmi160dev.delay_ms = furi_delay_ms;
-
-    if(bmi160_init(&bmi160dev) != BMI160_OK) {
-        FURI_LOG_E(TAG, "Initialization failure!");
-        FURI_LOG_E(TAG, "Chip ID 0x%X", bmi160dev.chip_id);
-        return false;
-    }
-
-    bmi160dev.accel_cfg.odr = BMI160_ACCEL_ODR_400HZ;
-    bmi160dev.accel_cfg.range = BMI160_ACCEL_RANGE_4G;
-    bmi160dev.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
-    bmi160dev.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
-    bmi160dev.gyro_cfg.odr = BMI160_GYRO_ODR_400HZ;
-    bmi160dev.gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS;
-    bmi160dev.gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE;
-    bmi160dev.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE;
-
-    if(bmi160_set_sens_conf(&bmi160dev) != BMI160_OK) {
-        FURI_LOG_E(TAG, "Initialization failure!");
-        FURI_LOG_E(TAG, "Chip ID 0x%X", bmi160dev.chip_id);
-        return false;
-    }
-
-    FURI_LOG_I(TAG, "Initialization success!");
-    FURI_LOG_I(TAG, "Chip ID 0x%X", bmi160dev.chip_id);
-
-    return true;
-}
-
-int bmi160_read(double* vec) {
-    if(bmi160_get_sensor_data(
-           (BMI160_ACCEL_SEL | BMI160_GYRO_SEL), &bmi160_accel, &bmi160_gyro, &bmi160dev) !=
-       BMI160_OK) {
-        return 0;
-    }
-
-    vec[0] = ((double)bmi160_accel.x * 4 / 32768) * G;
-    vec[1] = ((double)bmi160_accel.y * 4 / 32768) * G;
-    vec[2] = ((double)bmi160_accel.z * 4 / 32768) * G;
-    vec[3] = ((double)bmi160_gyro.x * 2000 / 32768) * DEG_TO_RAD;
-    vec[4] = ((double)bmi160_gyro.y * 2000 / 32768) * DEG_TO_RAD;
-    vec[5] = ((double)bmi160_gyro.z * 2000 / 32768) * DEG_TO_RAD;
-
-    return ACC_DATA_READY | GYR_DATA_READY;
-}

tracking/imu/imu_t.h

@@ -0,0 +1,13 @@
+#ifndef IMU_T_H   /* Include guard */
+#define IMU_T_H
+
+struct imu_t
+{
+    unsigned int address;
+    bool (*begin)(void);
+    void (*end)(void);
+    int (*read)(double* vec);
+    char* name;
+};
+
+#endif

tracking/imu/lsm6ds3tr_c_reg.c

@@ -1,7105 +0,0 @@
-/**
-  ******************************************************************************
-  * @file    lsm6ds3tr_c_reg.c
-  * @author  Sensors Software Solution Team
-  * @brief   LSM6DS3TR_C driver file
-  ******************************************************************************
-  * @attention
-  *
-  * <h2><center>&copy; Copyright (c) 2021 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
-  *
-  ******************************************************************************
-  */
-
-#include "lsm6ds3tr_c_reg.h"
-
-/**
-  * @defgroup    LSM6DS3TR_C
-  * @brief       This file provides a set of functions needed to drive the
-  *              lsm6ds3tr_c enanced inertial module.
-  * @{
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_interfaces_functions
-  * @brief       This section provide a set of functions used to read and
-  *              write a generic register of the device.
-  *              MANDATORY: return 0 -> no Error.
-  * @{
-  *
-  */
-
-/**
-  * @brief  Read generic device register
-  *
-  * @param  ctx   read / write interface definitions(ptr)
-  * @param  reg   register to read
-  * @param  data  pointer to buffer that store the data read(ptr)
-  * @param  len   number of consecutive register to read
-  * @retval       interface status (MANDATORY: return 0 -> no Error)
-  *
-  */
-int32_t lsm6ds3tr_c_read_reg(stmdev_ctx_t* ctx, uint8_t reg, uint8_t* data, uint16_t len) {
-    int32_t ret;
-
-    ret = ctx->read_reg(ctx->handle, reg, data, len);
-
-    return ret;
-}
-
-/**
-  * @brief  Write generic device register
-  *
-  * @param  ctx   read / write interface definitions(ptr)
-  * @param  reg   register to write
-  * @param  data  pointer to data to write in register reg(ptr)
-  * @param  len   number of consecutive register to write
-  * @retval       interface status (MANDATORY: return 0 -> no Error)
-  *
-  */
-int32_t lsm6ds3tr_c_write_reg(stmdev_ctx_t* ctx, uint8_t reg, uint8_t* data, uint16_t len) {
-    int32_t ret;
-
-    ret = ctx->write_reg(ctx->handle, reg, data, len);
-
-    return ret;
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_Sensitivity
-  * @brief       These functions convert raw-data into engineering units.
-  * @{
-  *
-  */
-
-float_t lsm6ds3tr_c_from_fs2g_to_mg(int16_t lsb) {
-    return ((float_t)lsb * 0.061f);
-}
-
-float_t lsm6ds3tr_c_from_fs4g_to_mg(int16_t lsb) {
-    return ((float_t)lsb * 0.122f);
-}
-
-float_t lsm6ds3tr_c_from_fs8g_to_mg(int16_t lsb) {
-    return ((float_t)lsb * 0.244f);
-}
-
-float_t lsm6ds3tr_c_from_fs16g_to_mg(int16_t lsb) {
-    return ((float_t)lsb * 0.488f);
-}
-
-float_t lsm6ds3tr_c_from_fs125dps_to_mdps(int16_t lsb) {
-    return ((float_t)lsb * 4.375f);
-}
-
-float_t lsm6ds3tr_c_from_fs250dps_to_mdps(int16_t lsb) {
-    return ((float_t)lsb * 8.750f);
-}
-
-float_t lsm6ds3tr_c_from_fs500dps_to_mdps(int16_t lsb) {
-    return ((float_t)lsb * 17.50f);
-}
-
-float_t lsm6ds3tr_c_from_fs1000dps_to_mdps(int16_t lsb) {
-    return ((float_t)lsb * 35.0f);
-}
-
-float_t lsm6ds3tr_c_from_fs2000dps_to_mdps(int16_t lsb) {
-    return ((float_t)lsb * 70.0f);
-}
-
-float_t lsm6ds3tr_c_from_lsb_to_celsius(int16_t lsb) {
-    return (((float_t)lsb / 256.0f) + 25.0f);
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_data_generation
-  * @brief       This section groups all the functions concerning data
-  *              generation
-  * @{
-  *
-  */
-
-/**
-  * @brief  Accelerometer full-scale selection.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of fs_xl in reg CTRL1_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_full_scale_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_fs_xl_t val) {
-    lsm6ds3tr_c_ctrl1_xl_t ctrl1_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
-
-    if(ret == 0) {
-        ctrl1_xl.fs_xl = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Accelerometer full-scale selection.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of fs_xl in reg CTRL1_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_full_scale_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_fs_xl_t* val) {
-    lsm6ds3tr_c_ctrl1_xl_t ctrl1_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
-
-    switch(ctrl1_xl.fs_xl) {
-    case LSM6DS3TR_C_2g:
-        *val = LSM6DS3TR_C_2g;
-        break;
-
-    case LSM6DS3TR_C_16g:
-        *val = LSM6DS3TR_C_16g;
-        break;
-
-    case LSM6DS3TR_C_4g:
-        *val = LSM6DS3TR_C_4g;
-        break;
-
-    case LSM6DS3TR_C_8g:
-        *val = LSM6DS3TR_C_8g;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_XL_FS_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Accelerometer data rate selection.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of odr_xl in reg CTRL1_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_data_rate_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_odr_xl_t val) {
-    lsm6ds3tr_c_ctrl1_xl_t ctrl1_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
-
-    if(ret == 0) {
-        ctrl1_xl.odr_xl = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Accelerometer data rate selection.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of odr_xl in reg CTRL1_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_data_rate_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_odr_xl_t* val) {
-    lsm6ds3tr_c_ctrl1_xl_t ctrl1_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
-
-    switch(ctrl1_xl.odr_xl) {
-    case LSM6DS3TR_C_XL_ODR_OFF:
-        *val = LSM6DS3TR_C_XL_ODR_OFF;
-        break;
-
-    case LSM6DS3TR_C_XL_ODR_12Hz5:
-        *val = LSM6DS3TR_C_XL_ODR_12Hz5;
-        break;
-
-    case LSM6DS3TR_C_XL_ODR_26Hz:
-        *val = LSM6DS3TR_C_XL_ODR_26Hz;
-        break;
-
-    case LSM6DS3TR_C_XL_ODR_52Hz:
-        *val = LSM6DS3TR_C_XL_ODR_52Hz;
-        break;
-
-    case LSM6DS3TR_C_XL_ODR_104Hz:
-        *val = LSM6DS3TR_C_XL_ODR_104Hz;
-        break;
-
-    case LSM6DS3TR_C_XL_ODR_208Hz:
-        *val = LSM6DS3TR_C_XL_ODR_208Hz;
-        break;
-
-    case LSM6DS3TR_C_XL_ODR_416Hz:
-        *val = LSM6DS3TR_C_XL_ODR_416Hz;
-        break;
-
-    case LSM6DS3TR_C_XL_ODR_833Hz:
-        *val = LSM6DS3TR_C_XL_ODR_833Hz;
-        break;
-
-    case LSM6DS3TR_C_XL_ODR_1k66Hz:
-        *val = LSM6DS3TR_C_XL_ODR_1k66Hz;
-        break;
-
-    case LSM6DS3TR_C_XL_ODR_3k33Hz:
-        *val = LSM6DS3TR_C_XL_ODR_3k33Hz;
-        break;
-
-    case LSM6DS3TR_C_XL_ODR_6k66Hz:
-        *val = LSM6DS3TR_C_XL_ODR_6k66Hz;
-        break;
-
-    case LSM6DS3TR_C_XL_ODR_1Hz6:
-        *val = LSM6DS3TR_C_XL_ODR_1Hz6;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_XL_ODR_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Gyroscope chain full-scale selection.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of fs_g in reg CTRL2_G
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_gy_full_scale_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_fs_g_t val) {
-    lsm6ds3tr_c_ctrl2_g_t ctrl2_g;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL2_G, (uint8_t*)&ctrl2_g, 1);
-
-    if(ret == 0) {
-        ctrl2_g.fs_g = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL2_G, (uint8_t*)&ctrl2_g, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Gyroscope chain full-scale selection.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of fs_g in reg CTRL2_G
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_gy_full_scale_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_fs_g_t* val) {
-    lsm6ds3tr_c_ctrl2_g_t ctrl2_g;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL2_G, (uint8_t*)&ctrl2_g, 1);
-
-    switch(ctrl2_g.fs_g) {
-    case LSM6DS3TR_C_250dps:
-        *val = LSM6DS3TR_C_250dps;
-        break;
-
-    case LSM6DS3TR_C_125dps:
-        *val = LSM6DS3TR_C_125dps;
-        break;
-
-    case LSM6DS3TR_C_500dps:
-        *val = LSM6DS3TR_C_500dps;
-        break;
-
-    case LSM6DS3TR_C_1000dps:
-        *val = LSM6DS3TR_C_1000dps;
-        break;
-
-    case LSM6DS3TR_C_2000dps:
-        *val = LSM6DS3TR_C_2000dps;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_GY_FS_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Gyroscope data rate selection.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of odr_g in reg CTRL2_G
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_gy_data_rate_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_odr_g_t val) {
-    lsm6ds3tr_c_ctrl2_g_t ctrl2_g;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL2_G, (uint8_t*)&ctrl2_g, 1);
-
-    if(ret == 0) {
-        ctrl2_g.odr_g = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL2_G, (uint8_t*)&ctrl2_g, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Gyroscope data rate selection.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of odr_g in reg CTRL2_G
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_gy_data_rate_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_odr_g_t* val) {
-    lsm6ds3tr_c_ctrl2_g_t ctrl2_g;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL2_G, (uint8_t*)&ctrl2_g, 1);
-
-    switch(ctrl2_g.odr_g) {
-    case LSM6DS3TR_C_GY_ODR_OFF:
-        *val = LSM6DS3TR_C_GY_ODR_OFF;
-        break;
-
-    case LSM6DS3TR_C_GY_ODR_12Hz5:
-        *val = LSM6DS3TR_C_GY_ODR_12Hz5;
-        break;
-
-    case LSM6DS3TR_C_GY_ODR_26Hz:
-        *val = LSM6DS3TR_C_GY_ODR_26Hz;
-        break;
-
-    case LSM6DS3TR_C_GY_ODR_52Hz:
-        *val = LSM6DS3TR_C_GY_ODR_52Hz;
-        break;
-
-    case LSM6DS3TR_C_GY_ODR_104Hz:
-        *val = LSM6DS3TR_C_GY_ODR_104Hz;
-        break;
-
-    case LSM6DS3TR_C_GY_ODR_208Hz:
-        *val = LSM6DS3TR_C_GY_ODR_208Hz;
-        break;
-
-    case LSM6DS3TR_C_GY_ODR_416Hz:
-        *val = LSM6DS3TR_C_GY_ODR_416Hz;
-        break;
-
-    case LSM6DS3TR_C_GY_ODR_833Hz:
-        *val = LSM6DS3TR_C_GY_ODR_833Hz;
-        break;
-
-    case LSM6DS3TR_C_GY_ODR_1k66Hz:
-        *val = LSM6DS3TR_C_GY_ODR_1k66Hz;
-        break;
-
-    case LSM6DS3TR_C_GY_ODR_3k33Hz:
-        *val = LSM6DS3TR_C_GY_ODR_3k33Hz;
-        break;
-
-    case LSM6DS3TR_C_GY_ODR_6k66Hz:
-        *val = LSM6DS3TR_C_GY_ODR_6k66Hz;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_GY_ODR_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Block data update.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of bdu in reg CTRL3_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_block_data_update_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_ctrl3_c_t ctrl3_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-
-    if(ret == 0) {
-        ctrl3_c.bdu = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Block data update.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of bdu in reg CTRL3_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_block_data_update_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_ctrl3_c_t ctrl3_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-    *val = ctrl3_c.bdu;
-
-    return ret;
-}
-
-/**
-  * @brief  Weight of XL user offset bits of registers
-  *         X_OFS_USR(73h), Y_OFS_USR(74h), Z_OFS_USR(75h).[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of usr_off_w in reg CTRL6_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_offset_weight_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_usr_off_w_t val) {
-    lsm6ds3tr_c_ctrl6_c_t ctrl6_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
-
-    if(ret == 0) {
-        ctrl6_c.usr_off_w = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Weight of XL user offset bits of registers
-  *         X_OFS_USR(73h), Y_OFS_USR(74h), Z_OFS_USR(75h).[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of usr_off_w in reg CTRL6_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_offset_weight_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_usr_off_w_t* val) {
-    lsm6ds3tr_c_ctrl6_c_t ctrl6_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
-
-    switch(ctrl6_c.usr_off_w) {
-    case LSM6DS3TR_C_LSb_1mg:
-        *val = LSM6DS3TR_C_LSb_1mg;
-        break;
-
-    case LSM6DS3TR_C_LSb_16mg:
-        *val = LSM6DS3TR_C_LSb_16mg;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_WEIGHT_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  High-performance operating mode for accelerometer[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of xl_hm_mode in reg CTRL6_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_power_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_xl_hm_mode_t val) {
-    lsm6ds3tr_c_ctrl6_c_t ctrl6_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
-
-    if(ret == 0) {
-        ctrl6_c.xl_hm_mode = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  High-performance operating mode for accelerometer.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of xl_hm_mode in reg CTRL6_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_power_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_xl_hm_mode_t* val) {
-    lsm6ds3tr_c_ctrl6_c_t ctrl6_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
-
-    switch(ctrl6_c.xl_hm_mode) {
-    case LSM6DS3TR_C_XL_HIGH_PERFORMANCE:
-        *val = LSM6DS3TR_C_XL_HIGH_PERFORMANCE;
-        break;
-
-    case LSM6DS3TR_C_XL_NORMAL:
-        *val = LSM6DS3TR_C_XL_NORMAL;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_XL_PW_MODE_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Source register rounding function on WAKE_UP_SRC (1Bh),
-  *         TAP_SRC (1Ch), D6D_SRC (1Dh), STATUS_REG (1Eh) and
-  *         FUNC_SRC1 (53h) registers in the primary interface.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of rounding_status in reg CTRL7_G
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_rounding_on_status_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_rounding_status_t val) {
-    lsm6ds3tr_c_ctrl7_g_t ctrl7_g;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL7_G, (uint8_t*)&ctrl7_g, 1);
-
-    if(ret == 0) {
-        ctrl7_g.rounding_status = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL7_G, (uint8_t*)&ctrl7_g, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Source register rounding function on WAKE_UP_SRC (1Bh),
-  *         TAP_SRC (1Ch), D6D_SRC (1Dh), STATUS_REG (1Eh) and
-  *         FUNC_SRC1 (53h) registers in the primary interface.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of rounding_status in reg CTRL7_G
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_rounding_on_status_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_rounding_status_t* val) {
-    lsm6ds3tr_c_ctrl7_g_t ctrl7_g;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL7_G, (uint8_t*)&ctrl7_g, 1);
-
-    switch(ctrl7_g.rounding_status) {
-    case LSM6DS3TR_C_STAT_RND_DISABLE:
-        *val = LSM6DS3TR_C_STAT_RND_DISABLE;
-        break;
-
-    case LSM6DS3TR_C_STAT_RND_ENABLE:
-        *val = LSM6DS3TR_C_STAT_RND_ENABLE;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_STAT_RND_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  High-performance operating mode disable for gyroscope.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of g_hm_mode in reg CTRL7_G
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_gy_power_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_g_hm_mode_t val) {
-    lsm6ds3tr_c_ctrl7_g_t ctrl7_g;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL7_G, (uint8_t*)&ctrl7_g, 1);
-
-    if(ret == 0) {
-        ctrl7_g.g_hm_mode = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL7_G, (uint8_t*)&ctrl7_g, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  High-performance operating mode disable for gyroscope.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of g_hm_mode in reg CTRL7_G
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_gy_power_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_g_hm_mode_t* val) {
-    lsm6ds3tr_c_ctrl7_g_t ctrl7_g;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL7_G, (uint8_t*)&ctrl7_g, 1);
-
-    switch(ctrl7_g.g_hm_mode) {
-    case LSM6DS3TR_C_GY_HIGH_PERFORMANCE:
-        *val = LSM6DS3TR_C_GY_HIGH_PERFORMANCE;
-        break;
-
-    case LSM6DS3TR_C_GY_NORMAL:
-        *val = LSM6DS3TR_C_GY_NORMAL;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_GY_PW_MODE_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Read all the interrupt/status flag of the device.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    WAKE_UP_SRC, TAP_SRC, D6D_SRC, STATUS_REG,
-  *                FUNC_SRC1, FUNC_SRC2, WRIST_TILT_IA, A_WRIST_TILT_Mask
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_all_sources_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_all_sources_t* val) {
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_WAKE_UP_SRC, (uint8_t*)&(val->wake_up_src), 1);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_TAP_SRC, (uint8_t*)&(val->tap_src), 1);
-    }
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_D6D_SRC, (uint8_t*)&(val->d6d_src), 1);
-    }
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_STATUS_REG, (uint8_t*)&(val->status_reg), 1);
-    }
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FUNC_SRC1, (uint8_t*)&(val->func_src1), 1);
-    }
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FUNC_SRC2, (uint8_t*)&(val->func_src2), 1);
-    }
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(
-            ctx, LSM6DS3TR_C_WRIST_TILT_IA, (uint8_t*)&(val->wrist_tilt_ia), 1);
-    }
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_B);
-    }
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(
-            ctx, LSM6DS3TR_C_A_WRIST_TILT_MASK, (uint8_t*)&(val->a_wrist_tilt_mask), 1);
-    }
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-    }
-
-    return ret;
-}
-/**
-  * @brief  The STATUS_REG register is read by the primary interface[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Registers STATUS_REG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_status_reg_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_status_reg_t* val) {
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_STATUS_REG, (uint8_t*)val, 1);
-
-    return ret;
-}
-
-/**
-  * @brief  Accelerometer new data available.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of xlda in reg STATUS_REG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_flag_data_ready_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_status_reg_t status_reg;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_STATUS_REG, (uint8_t*)&status_reg, 1);
-    *val = status_reg.xlda;
-
-    return ret;
-}
-
-/**
-  * @brief  Gyroscope new data available.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of gda in reg STATUS_REG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_gy_flag_data_ready_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_status_reg_t status_reg;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_STATUS_REG, (uint8_t*)&status_reg, 1);
-    *val = status_reg.gda;
-
-    return ret;
-}
-
-/**
-  * @brief  Temperature new data available.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of tda in reg STATUS_REG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_temp_flag_data_ready_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_status_reg_t status_reg;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_STATUS_REG, (uint8_t*)&status_reg, 1);
-    *val = status_reg.tda;
-
-    return ret;
-}
-
-/**
-  * @brief  Accelerometer axis user offset correction expressed in two’s
-  *         complement, weight depends on USR_OFF_W in CTRL6_C.
-  *         The value must be in the range [-127 127].[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  buff   Buffer that contains data to write
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_usr_offset_set(stmdev_ctx_t* ctx, uint8_t* buff) {
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_X_OFS_USR, buff, 3);
-
-    return ret;
-}
-
-/**
-  * @brief  Accelerometer axis user offset correction xpressed in two’s
-  *         complement, weight depends on USR_OFF_W in CTRL6_C.
-  *         The value must be in the range [-127 127].[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  buff   Buffer that stores data read
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_usr_offset_get(stmdev_ctx_t* ctx, uint8_t* buff) {
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_X_OFS_USR, buff, 3);
-
-    return ret;
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_Timestamp
-  * @brief       This section groups all the functions that manage the
-  *              timestamp generation.
-  * @{
-  *
-  */
-
-/**
-  * @brief  Enable timestamp count. The count is saved in TIMESTAMP0_REG (40h),
-  *         TIMESTAMP1_REG (41h) and TIMESTAMP2_REG (42h).[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of timer_en in reg CTRL10_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_timestamp_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_ctrl10_c_t ctrl10_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
-
-    if(ret == 0) {
-        ctrl10_c.timer_en = val;
-
-        if(val != 0x00U) {
-            ctrl10_c.func_en = val;
-            ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Enable timestamp count. The count is saved in TIMESTAMP0_REG (40h),
-  *         TIMESTAMP1_REG (41h) and TIMESTAMP2_REG (42h).[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of timer_en in reg CTRL10_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_timestamp_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_ctrl10_c_t ctrl10_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
-    *val = ctrl10_c.timer_en;
-
-    return ret;
-}
-
-/**
-  * @brief  Timestamp register resolution setting.
-  *         Configuration of this bit affects
-  *         TIMESTAMP0_REG(40h), TIMESTAMP1_REG(41h),
-  *         TIMESTAMP2_REG(42h), STEP_TIMESTAMP_L(49h),
-  *         STEP_TIMESTAMP_H(4Ah) and
-  *         STEP_COUNT_DELTA(15h) registers.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of timer_hr in reg WAKE_UP_DUR
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_timestamp_res_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_timer_hr_t val) {
-    lsm6ds3tr_c_wake_up_dur_t wake_up_dur;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_WAKE_UP_DUR, (uint8_t*)&wake_up_dur, 1);
-
-    if(ret == 0) {
-        wake_up_dur.timer_hr = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_WAKE_UP_DUR, (uint8_t*)&wake_up_dur, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Timestamp register resolution setting.
-  *         Configuration of this bit affects
-  *         TIMESTAMP0_REG(40h), TIMESTAMP1_REG(41h),
-  *         TIMESTAMP2_REG(42h), STEP_TIMESTAMP_L(49h),
-  *         STEP_TIMESTAMP_H(4Ah) and
-  *         STEP_COUNT_DELTA(15h) registers.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of timer_hr in reg WAKE_UP_DUR
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_timestamp_res_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_timer_hr_t* val) {
-    lsm6ds3tr_c_wake_up_dur_t wake_up_dur;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_WAKE_UP_DUR, (uint8_t*)&wake_up_dur, 1);
-
-    switch(wake_up_dur.timer_hr) {
-    case LSM6DS3TR_C_LSB_6ms4:
-        *val = LSM6DS3TR_C_LSB_6ms4;
-        break;
-
-    case LSM6DS3TR_C_LSB_25us:
-        *val = LSM6DS3TR_C_LSB_25us;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_TS_RES_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_Dataoutput
-  * @brief       This section groups all the data output functions.
-  * @{
-  *
-  */
-
-/**
-  * @brief  Circular burst-mode (rounding) read from output registers
-  *         through the primary interface.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of rounding in reg CTRL5_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_rounding_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_rounding_t val) {
-    lsm6ds3tr_c_ctrl5_c_t ctrl5_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
-
-    if(ret == 0) {
-        ctrl5_c.rounding = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Circular burst-mode (rounding) read from output registers
-  *         through the primary interface.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of rounding in reg CTRL5_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_rounding_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_rounding_t* val) {
-    lsm6ds3tr_c_ctrl5_c_t ctrl5_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
-
-    switch(ctrl5_c.rounding) {
-    case LSM6DS3TR_C_ROUND_DISABLE:
-        *val = LSM6DS3TR_C_ROUND_DISABLE;
-        break;
-
-    case LSM6DS3TR_C_ROUND_XL:
-        *val = LSM6DS3TR_C_ROUND_XL;
-        break;
-
-    case LSM6DS3TR_C_ROUND_GY:
-        *val = LSM6DS3TR_C_ROUND_GY;
-        break;
-
-    case LSM6DS3TR_C_ROUND_GY_XL:
-        *val = LSM6DS3TR_C_ROUND_GY_XL;
-        break;
-
-    case LSM6DS3TR_C_ROUND_SH1_TO_SH6:
-        *val = LSM6DS3TR_C_ROUND_SH1_TO_SH6;
-        break;
-
-    case LSM6DS3TR_C_ROUND_XL_SH1_TO_SH6:
-        *val = LSM6DS3TR_C_ROUND_XL_SH1_TO_SH6;
-        break;
-
-    case LSM6DS3TR_C_ROUND_GY_XL_SH1_TO_SH12:
-        *val = LSM6DS3TR_C_ROUND_GY_XL_SH1_TO_SH12;
-        break;
-
-    case LSM6DS3TR_C_ROUND_GY_XL_SH1_TO_SH6:
-        *val = LSM6DS3TR_C_ROUND_GY_XL_SH1_TO_SH6;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_ROUND_OUT_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Temperature data output register (r). L and H registers together
-  *         express a 16-bit word in two’s complement.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  buff   Buffer that stores data read
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_temperature_raw_get(stmdev_ctx_t* ctx, int16_t* val) {
-    uint8_t buff[2];
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_OUT_TEMP_L, buff, 2);
-    *val = (int16_t)buff[1];
-    *val = (*val * 256) + (int16_t)buff[0];
-
-    return ret;
-}
-
-/**
-  * @brief  Angular rate sensor. The value is expressed as a 16-bit word in
-  *         two’s complement.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  buff   Buffer that stores data read
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_angular_rate_raw_get(stmdev_ctx_t* ctx, int16_t* val) {
-    uint8_t buff[6];
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_OUTX_L_G, buff, 6);
-    val[0] = (int16_t)buff[1];
-    val[0] = (val[0] * 256) + (int16_t)buff[0];
-    val[1] = (int16_t)buff[3];
-    val[1] = (val[1] * 256) + (int16_t)buff[2];
-    val[2] = (int16_t)buff[5];
-    val[2] = (val[2] * 256) + (int16_t)buff[4];
-
-    return ret;
-}
-
-/**
-  * @brief  Linear acceleration output register. The value is expressed
-  *         as a 16-bit word in two’s complement.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  buff   Buffer that stores data read
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_acceleration_raw_get(stmdev_ctx_t* ctx, int16_t* val) {
-    uint8_t buff[6];
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_OUTX_L_XL, buff, 6);
-    val[0] = (int16_t)buff[1];
-    val[0] = (val[0] * 256) + (int16_t)buff[0];
-    val[1] = (int16_t)buff[3];
-    val[1] = (val[1] * 256) + (int16_t)buff[2];
-    val[2] = (int16_t)buff[5];
-    val[2] = (val[2] * 256) + (int16_t)buff[4];
-
-    return ret;
-}
-
-/**
-  * @brief  External magnetometer raw data.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  buff   Buffer that stores data read
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_mag_calibrated_raw_get(stmdev_ctx_t* ctx, int16_t* val) {
-    uint8_t buff[6];
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_OUT_MAG_RAW_X_L, buff, 6);
-    val[0] = (int16_t)buff[1];
-    val[0] = (val[0] * 256) + (int16_t)buff[0];
-    val[1] = (int16_t)buff[3];
-    val[1] = (val[1] * 256) + (int16_t)buff[2];
-    val[2] = (int16_t)buff[5];
-    val[2] = (val[2] * 256) + (int16_t)buff[4];
-
-    return ret;
-}
-
-/**
-  * @brief  Read data in FIFO.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  buffer Data buffer to store FIFO data.
-  * @param  len    Number of data to read from FIFO.
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_raw_data_get(stmdev_ctx_t* ctx, uint8_t* buffer, uint8_t len) {
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_DATA_OUT_L, buffer, len);
-
-    return ret;
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_common
-  * @brief       This section groups common useful functions.
-  * @{
-  *
-  */
-
-/**
-  * @brief  Enable access to the embedded functions/sensor hub
-  *         configuration registers[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of func_cfg_en in reg FUNC_CFG_ACCESS
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_mem_bank_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_func_cfg_en_t val) {
-    lsm6ds3tr_c_func_cfg_access_t func_cfg_access;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FUNC_CFG_ACCESS, (uint8_t*)&func_cfg_access, 1);
-
-    if(ret == 0) {
-        func_cfg_access.func_cfg_en = (uint8_t)val;
-        ret =
-            lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_FUNC_CFG_ACCESS, (uint8_t*)&func_cfg_access, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Enable access to the embedded functions/sensor hub configuration
-  *         registers[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of func_cfg_en in reg FUNC_CFG_ACCESS
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_mem_bank_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_func_cfg_en_t* val) {
-    lsm6ds3tr_c_func_cfg_access_t func_cfg_access;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FUNC_CFG_ACCESS, (uint8_t*)&func_cfg_access, 1);
-
-    switch(func_cfg_access.func_cfg_en) {
-    case LSM6DS3TR_C_USER_BANK:
-        *val = LSM6DS3TR_C_USER_BANK;
-        break;
-
-    case LSM6DS3TR_C_BANK_B:
-        *val = LSM6DS3TR_C_BANK_B;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_BANK_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Data-ready pulsed / letched mode[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of drdy_pulsed in reg DRDY_PULSE_CFG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_data_ready_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_drdy_pulsed_g_t val) {
-    lsm6ds3tr_c_drdy_pulse_cfg_g_t drdy_pulse_cfg_g;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_DRDY_PULSE_CFG_G, (uint8_t*)&drdy_pulse_cfg_g, 1);
-
-    if(ret == 0) {
-        drdy_pulse_cfg_g.drdy_pulsed = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(
-            ctx, LSM6DS3TR_C_DRDY_PULSE_CFG_G, (uint8_t*)&drdy_pulse_cfg_g, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Data-ready pulsed / letched mode[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of drdy_pulsed in reg DRDY_PULSE_CFG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_data_ready_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_drdy_pulsed_g_t* val) {
-    lsm6ds3tr_c_drdy_pulse_cfg_g_t drdy_pulse_cfg_g;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_DRDY_PULSE_CFG_G, (uint8_t*)&drdy_pulse_cfg_g, 1);
-
-    switch(drdy_pulse_cfg_g.drdy_pulsed) {
-    case LSM6DS3TR_C_DRDY_LATCHED:
-        *val = LSM6DS3TR_C_DRDY_LATCHED;
-        break;
-
-    case LSM6DS3TR_C_DRDY_PULSED:
-        *val = LSM6DS3TR_C_DRDY_PULSED;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_DRDY_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  DeviceWhoamI.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  buff   Buffer that stores data read
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_device_id_get(stmdev_ctx_t* ctx, uint8_t* buff) {
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_WHO_AM_I, buff, 1);
-
-    return ret;
-}
-
-/**
-  * @brief  Software reset. Restore the default values in user registers[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of sw_reset in reg CTRL3_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_reset_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_ctrl3_c_t ctrl3_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-
-    if(ret == 0) {
-        ctrl3_c.sw_reset = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Software reset. Restore the default values in user registers[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of sw_reset in reg CTRL3_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_reset_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_ctrl3_c_t ctrl3_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-    *val = ctrl3_c.sw_reset;
-
-    return ret;
-}
-
-/**
-  * @brief  Big/Little Endian Data selection.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of ble in reg CTRL3_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_data_format_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_ble_t val) {
-    lsm6ds3tr_c_ctrl3_c_t ctrl3_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-
-    if(ret == 0) {
-        ctrl3_c.ble = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Big/Little Endian Data selection.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of ble in reg CTRL3_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_data_format_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_ble_t* val) {
-    lsm6ds3tr_c_ctrl3_c_t ctrl3_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-
-    switch(ctrl3_c.ble) {
-    case LSM6DS3TR_C_LSB_AT_LOW_ADD:
-        *val = LSM6DS3TR_C_LSB_AT_LOW_ADD;
-        break;
-
-    case LSM6DS3TR_C_MSB_AT_LOW_ADD:
-        *val = LSM6DS3TR_C_MSB_AT_LOW_ADD;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_DATA_FMT_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Register address automatically incremented during a multiple byte
-  *         access with a serial interface.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of if_inc in reg CTRL3_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_auto_increment_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_ctrl3_c_t ctrl3_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-
-    if(ret == 0) {
-        ctrl3_c.if_inc = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Register address automatically incremented during a multiple byte
-  *         access with a serial interface.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of if_inc in reg CTRL3_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_auto_increment_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_ctrl3_c_t ctrl3_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-    *val = ctrl3_c.if_inc;
-
-    return ret;
-}
-
-/**
-  * @brief  Reboot memory content. Reload the calibration parameters.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of boot in reg CTRL3_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_boot_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_ctrl3_c_t ctrl3_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-
-    if(ret == 0) {
-        ctrl3_c.boot = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Reboot memory content. Reload the calibration parameters.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of boot in reg CTRL3_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_boot_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_ctrl3_c_t ctrl3_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-    *val = ctrl3_c.boot;
-
-    return ret;
-}
-
-/**
-  * @brief  Linear acceleration sensor self-test enable.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of st_xl in reg CTRL5_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_self_test_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_st_xl_t val) {
-    lsm6ds3tr_c_ctrl5_c_t ctrl5_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
-
-    if(ret == 0) {
-        ctrl5_c.st_xl = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Linear acceleration sensor self-test enable.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of st_xl in reg CTRL5_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_self_test_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_st_xl_t* val) {
-    lsm6ds3tr_c_ctrl5_c_t ctrl5_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
-
-    switch(ctrl5_c.st_xl) {
-    case LSM6DS3TR_C_XL_ST_DISABLE:
-        *val = LSM6DS3TR_C_XL_ST_DISABLE;
-        break;
-
-    case LSM6DS3TR_C_XL_ST_POSITIVE:
-        *val = LSM6DS3TR_C_XL_ST_POSITIVE;
-        break;
-
-    case LSM6DS3TR_C_XL_ST_NEGATIVE:
-        *val = LSM6DS3TR_C_XL_ST_NEGATIVE;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_XL_ST_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Angular rate sensor self-test enable.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of st_g in reg CTRL5_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_gy_self_test_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_st_g_t val) {
-    lsm6ds3tr_c_ctrl5_c_t ctrl5_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
-
-    if(ret == 0) {
-        ctrl5_c.st_g = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Angular rate sensor self-test enable.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of st_g in reg CTRL5_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_gy_self_test_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_st_g_t* val) {
-    lsm6ds3tr_c_ctrl5_c_t ctrl5_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
-
-    switch(ctrl5_c.st_g) {
-    case LSM6DS3TR_C_GY_ST_DISABLE:
-        *val = LSM6DS3TR_C_GY_ST_DISABLE;
-        break;
-
-    case LSM6DS3TR_C_GY_ST_POSITIVE:
-        *val = LSM6DS3TR_C_GY_ST_POSITIVE;
-        break;
-
-    case LSM6DS3TR_C_GY_ST_NEGATIVE:
-        *val = LSM6DS3TR_C_GY_ST_NEGATIVE;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_GY_ST_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_filters
-  * @brief       This section group all the functions concerning the filters
-  *              configuration that impact both accelerometer and gyro.
-  * @{
-  *
-  */
-
-/**
-  * @brief  Mask DRDY on pin (both XL & Gyro) until filter settling ends
-  *         (XL and Gyro independently masked).[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of drdy_mask in reg CTRL4_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_filter_settling_mask_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_ctrl4_c_t ctrl4_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
-
-    if(ret == 0) {
-        ctrl4_c.drdy_mask = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Mask DRDY on pin (both XL & Gyro) until filter settling ends
-  *         (XL and Gyro independently masked).[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of drdy_mask in reg CTRL4_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_filter_settling_mask_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_ctrl4_c_t ctrl4_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
-    *val = ctrl4_c.drdy_mask;
-
-    return ret;
-}
-
-/**
-  * @brief  HPF or SLOPE filter selection on wake-up and Activity/Inactivity
-  *         functions.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of slope_fds in reg TAP_CFG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_hp_path_internal_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_slope_fds_t val) {
-    lsm6ds3tr_c_tap_cfg_t tap_cfg;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_TAP_CFG, (uint8_t*)&tap_cfg, 1);
-
-    if(ret == 0) {
-        tap_cfg.slope_fds = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_TAP_CFG, (uint8_t*)&tap_cfg, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  HPF or SLOPE filter selection on wake-up and Activity/Inactivity
-  *         functions.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of slope_fds in reg TAP_CFG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_hp_path_internal_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_slope_fds_t* val) {
-    lsm6ds3tr_c_tap_cfg_t tap_cfg;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_TAP_CFG, (uint8_t*)&tap_cfg, 1);
-
-    switch(tap_cfg.slope_fds) {
-    case LSM6DS3TR_C_USE_SLOPE:
-        *val = LSM6DS3TR_C_USE_SLOPE;
-        break;
-
-    case LSM6DS3TR_C_USE_HPF:
-        *val = LSM6DS3TR_C_USE_HPF;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_HP_PATH_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_accelerometer_filters
-  * @brief       This section group all the functions concerning the filters
-  *              configuration that impact accelerometer in every mode.
-  * @{
-  *
-  */
-
-/**
-  * @brief  Accelerometer analog chain bandwidth selection (only for
-  *         accelerometer ODR ≥ 1.67 kHz).[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of bw0_xl in reg CTRL1_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_filter_analog_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_bw0_xl_t val) {
-    lsm6ds3tr_c_ctrl1_xl_t ctrl1_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
-
-    if(ret == 0) {
-        ctrl1_xl.bw0_xl = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Accelerometer analog chain bandwidth selection (only for
-  *         accelerometer ODR ≥ 1.67 kHz).[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of bw0_xl in reg CTRL1_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_filter_analog_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_bw0_xl_t* val) {
-    lsm6ds3tr_c_ctrl1_xl_t ctrl1_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
-
-    switch(ctrl1_xl.bw0_xl) {
-    case LSM6DS3TR_C_XL_ANA_BW_1k5Hz:
-        *val = LSM6DS3TR_C_XL_ANA_BW_1k5Hz;
-        break;
-
-    case LSM6DS3TR_C_XL_ANA_BW_400Hz:
-        *val = LSM6DS3TR_C_XL_ANA_BW_400Hz;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_XL_ANA_BW_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_accelerometer_filters
-  * @brief       This section group all the functions concerning the filters
-  *              configuration that impact accelerometer.
-  * @{
-  *
-  */
-
-/**
-  * @brief  Accelerometer digital LPF (LPF1) bandwidth selection LPF2 is
-  *         not used.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of lpf1_bw_sel in reg CTRL1_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_lp1_bandwidth_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_lpf1_bw_sel_t val) {
-    lsm6ds3tr_c_ctrl1_xl_t ctrl1_xl;
-    lsm6ds3tr_c_ctrl8_xl_t ctrl8_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
-
-    if(ret == 0) {
-        ctrl1_xl.lpf1_bw_sel = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
-
-            if(ret == 0) {
-                ctrl8_xl.lpf2_xl_en = 0;
-                ctrl8_xl.hp_slope_xl_en = 0;
-                ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Accelerometer digital LPF (LPF1) bandwidth selection LPF2
-  *         is not used.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of lpf1_bw_sel in reg CTRL1_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_lp1_bandwidth_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_lpf1_bw_sel_t* val) {
-    lsm6ds3tr_c_ctrl1_xl_t ctrl1_xl;
-    lsm6ds3tr_c_ctrl8_xl_t ctrl8_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
-
-    if(ret == 0) {
-        if((ctrl8_xl.lpf2_xl_en != 0x00U) || (ctrl8_xl.hp_slope_xl_en != 0x00U)) {
-            *val = LSM6DS3TR_C_XL_LP1_NA;
-        }
-
-        else {
-            ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
-
-            switch(ctrl1_xl.lpf1_bw_sel) {
-            case LSM6DS3TR_C_XL_LP1_ODR_DIV_2:
-                *val = LSM6DS3TR_C_XL_LP1_ODR_DIV_2;
-                break;
-
-            case LSM6DS3TR_C_XL_LP1_ODR_DIV_4:
-                *val = LSM6DS3TR_C_XL_LP1_ODR_DIV_4;
-                break;
-
-            default:
-                *val = LSM6DS3TR_C_XL_LP1_NA;
-                break;
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  LPF2 on outputs[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of input_composite in reg CTRL8_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_lp2_bandwidth_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_input_composite_t val) {
-    lsm6ds3tr_c_ctrl8_xl_t ctrl8_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
-
-    if(ret == 0) {
-        ctrl8_xl.input_composite = ((uint8_t)val & 0x10U) >> 4;
-        ctrl8_xl.hpcf_xl = (uint8_t)val & 0x03U;
-        ctrl8_xl.lpf2_xl_en = 1;
-        ctrl8_xl.hp_slope_xl_en = 0;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  LPF2 on outputs[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of input_composite in reg CTRL8_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_lp2_bandwidth_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_input_composite_t* val) {
-    lsm6ds3tr_c_ctrl8_xl_t ctrl8_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
-
-    if(ret == 0) {
-        if((ctrl8_xl.lpf2_xl_en == 0x00U) || (ctrl8_xl.hp_slope_xl_en != 0x00U)) {
-            *val = LSM6DS3TR_C_XL_LP_NA;
-        }
-
-        else {
-            switch((ctrl8_xl.input_composite << 4) + ctrl8_xl.hpcf_xl) {
-            case LSM6DS3TR_C_XL_LOW_LAT_LP_ODR_DIV_50:
-                *val = LSM6DS3TR_C_XL_LOW_LAT_LP_ODR_DIV_50;
-                break;
-
-            case LSM6DS3TR_C_XL_LOW_LAT_LP_ODR_DIV_100:
-                *val = LSM6DS3TR_C_XL_LOW_LAT_LP_ODR_DIV_100;
-                break;
-
-            case LSM6DS3TR_C_XL_LOW_LAT_LP_ODR_DIV_9:
-                *val = LSM6DS3TR_C_XL_LOW_LAT_LP_ODR_DIV_9;
-                break;
-
-            case LSM6DS3TR_C_XL_LOW_LAT_LP_ODR_DIV_400:
-                *val = LSM6DS3TR_C_XL_LOW_LAT_LP_ODR_DIV_400;
-                break;
-
-            case LSM6DS3TR_C_XL_LOW_NOISE_LP_ODR_DIV_50:
-                *val = LSM6DS3TR_C_XL_LOW_NOISE_LP_ODR_DIV_50;
-                break;
-
-            case LSM6DS3TR_C_XL_LOW_NOISE_LP_ODR_DIV_100:
-                *val = LSM6DS3TR_C_XL_LOW_NOISE_LP_ODR_DIV_100;
-                break;
-
-            case LSM6DS3TR_C_XL_LOW_NOISE_LP_ODR_DIV_9:
-                *val = LSM6DS3TR_C_XL_LOW_NOISE_LP_ODR_DIV_9;
-                break;
-
-            case LSM6DS3TR_C_XL_LOW_NOISE_LP_ODR_DIV_400:
-                *val = LSM6DS3TR_C_XL_LOW_NOISE_LP_ODR_DIV_400;
-                break;
-
-            default:
-                *val = LSM6DS3TR_C_XL_LP_NA;
-                break;
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Enable HP filter reference mode.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of hp_ref_mode in reg CTRL8_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_reference_mode_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_ctrl8_xl_t ctrl8_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
-
-    if(ret == 0) {
-        ctrl8_xl.hp_ref_mode = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Enable HP filter reference mode.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of hp_ref_mode in reg CTRL8_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_reference_mode_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_ctrl8_xl_t ctrl8_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
-    *val = ctrl8_xl.hp_ref_mode;
-
-    return ret;
-}
-
-/**
-  * @brief  High pass/Slope on outputs.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of hpcf_xl in reg CTRL8_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_hp_bandwidth_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_hpcf_xl_t val) {
-    lsm6ds3tr_c_ctrl8_xl_t ctrl8_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
-
-    if(ret == 0) {
-        ctrl8_xl.input_composite = 0;
-        ctrl8_xl.hpcf_xl = (uint8_t)val & 0x03U;
-        ctrl8_xl.hp_slope_xl_en = 1;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  High pass/Slope on outputs.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of hpcf_xl in reg CTRL8_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_xl_hp_bandwidth_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_hpcf_xl_t* val) {
-    lsm6ds3tr_c_ctrl8_xl_t ctrl8_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
-
-    if(ctrl8_xl.hp_slope_xl_en == 0x00U) {
-        *val = LSM6DS3TR_C_XL_HP_NA;
-    }
-
-    switch(ctrl8_xl.hpcf_xl) {
-    case LSM6DS3TR_C_XL_HP_ODR_DIV_4:
-        *val = LSM6DS3TR_C_XL_HP_ODR_DIV_4;
-        break;
-
-    case LSM6DS3TR_C_XL_HP_ODR_DIV_100:
-        *val = LSM6DS3TR_C_XL_HP_ODR_DIV_100;
-        break;
-
-    case LSM6DS3TR_C_XL_HP_ODR_DIV_9:
-        *val = LSM6DS3TR_C_XL_HP_ODR_DIV_9;
-        break;
-
-    case LSM6DS3TR_C_XL_HP_ODR_DIV_400:
-        *val = LSM6DS3TR_C_XL_HP_ODR_DIV_400;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_XL_HP_NA;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_gyroscope_filters
-  * @brief       This section group all the functions concerning the filters
-  *              configuration that impact gyroscope.
-  * @{
-  *
-  */
-
-/**
-  * @brief  Gyroscope low pass path bandwidth.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    gyroscope filtering chain configuration.
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_gy_band_pass_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_lpf1_sel_g_t val) {
-    lsm6ds3tr_c_ctrl4_c_t ctrl4_c;
-    lsm6ds3tr_c_ctrl6_c_t ctrl6_c;
-    lsm6ds3tr_c_ctrl7_g_t ctrl7_g;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL7_G, (uint8_t*)&ctrl7_g, 1);
-
-    if(ret == 0) {
-        ctrl7_g.hpm_g = ((uint8_t)val & 0x30U) >> 4;
-        ctrl7_g.hp_en_g = ((uint8_t)val & 0x80U) >> 7;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL7_G, (uint8_t*)&ctrl7_g, 1);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
-
-            if(ret == 0) {
-                ctrl6_c.ftype = (uint8_t)val & 0x03U;
-                ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
-
-                if(ret == 0) {
-                    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
-
-                    if(ret == 0) {
-                        ctrl4_c.lpf1_sel_g = ((uint8_t)val & 0x08U) >> 3;
-                        ret =
-                            lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
-                    }
-                }
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Gyroscope low pass path bandwidth.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    gyroscope filtering chain
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_gy_band_pass_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_lpf1_sel_g_t* val) {
-    lsm6ds3tr_c_ctrl4_c_t ctrl4_c;
-    lsm6ds3tr_c_ctrl6_c_t ctrl6_c;
-    lsm6ds3tr_c_ctrl7_g_t ctrl7_g;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL7_G, (uint8_t*)&ctrl7_g, 1);
-
-            switch((ctrl7_g.hp_en_g << 7) + (ctrl7_g.hpm_g << 4) + (ctrl4_c.lpf1_sel_g << 3) +
-                   ctrl6_c.ftype) {
-            case LSM6DS3TR_C_HP_16mHz_LP2:
-                *val = LSM6DS3TR_C_HP_16mHz_LP2;
-                break;
-
-            case LSM6DS3TR_C_HP_65mHz_LP2:
-                *val = LSM6DS3TR_C_HP_65mHz_LP2;
-                break;
-
-            case LSM6DS3TR_C_HP_260mHz_LP2:
-                *val = LSM6DS3TR_C_HP_260mHz_LP2;
-                break;
-
-            case LSM6DS3TR_C_HP_1Hz04_LP2:
-                *val = LSM6DS3TR_C_HP_1Hz04_LP2;
-                break;
-
-            case LSM6DS3TR_C_HP_DISABLE_LP1_LIGHT:
-                *val = LSM6DS3TR_C_HP_DISABLE_LP1_LIGHT;
-                break;
-
-            case LSM6DS3TR_C_HP_DISABLE_LP1_NORMAL:
-                *val = LSM6DS3TR_C_HP_DISABLE_LP1_NORMAL;
-                break;
-
-            case LSM6DS3TR_C_HP_DISABLE_LP_STRONG:
-                *val = LSM6DS3TR_C_HP_DISABLE_LP_STRONG;
-                break;
-
-            case LSM6DS3TR_C_HP_DISABLE_LP1_AGGRESSIVE:
-                *val = LSM6DS3TR_C_HP_DISABLE_LP1_AGGRESSIVE;
-                break;
-
-            case LSM6DS3TR_C_HP_16mHz_LP1_LIGHT:
-                *val = LSM6DS3TR_C_HP_16mHz_LP1_LIGHT;
-                break;
-
-            case LSM6DS3TR_C_HP_65mHz_LP1_NORMAL:
-                *val = LSM6DS3TR_C_HP_65mHz_LP1_NORMAL;
-                break;
-
-            case LSM6DS3TR_C_HP_260mHz_LP1_STRONG:
-                *val = LSM6DS3TR_C_HP_260mHz_LP1_STRONG;
-                break;
-
-            case LSM6DS3TR_C_HP_1Hz04_LP1_AGGRESSIVE:
-                *val = LSM6DS3TR_C_HP_1Hz04_LP1_AGGRESSIVE;
-                break;
-
-            default:
-                *val = LSM6DS3TR_C_HP_GY_BAND_NA;
-                break;
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_serial_interface
-  * @brief       This section groups all the functions concerning serial
-  *              interface management
-  * @{
-  *
-  */
-
-/**
-  * @brief  SPI Serial Interface Mode selection.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of sim in reg CTRL3_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_spi_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_sim_t val) {
-    lsm6ds3tr_c_ctrl3_c_t ctrl3_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-
-    if(ret == 0) {
-        ctrl3_c.sim = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  SPI Serial Interface Mode selection.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of sim in reg CTRL3_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_spi_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_sim_t* val) {
-    lsm6ds3tr_c_ctrl3_c_t ctrl3_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-
-    switch(ctrl3_c.sim) {
-    case LSM6DS3TR_C_SPI_4_WIRE:
-        *val = LSM6DS3TR_C_SPI_4_WIRE;
-        break;
-
-    case LSM6DS3TR_C_SPI_3_WIRE:
-        *val = LSM6DS3TR_C_SPI_3_WIRE;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_SPI_MODE_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Disable / Enable I2C interface.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of i2c_disable in reg CTRL4_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_i2c_interface_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_i2c_disable_t val) {
-    lsm6ds3tr_c_ctrl4_c_t ctrl4_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
-
-    if(ret == 0) {
-        ctrl4_c.i2c_disable = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Disable / Enable I2C interface.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of i2c_disable in reg CTRL4_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_i2c_interface_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_i2c_disable_t* val) {
-    lsm6ds3tr_c_ctrl4_c_t ctrl4_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
-
-    switch(ctrl4_c.i2c_disable) {
-    case LSM6DS3TR_C_I2C_ENABLE:
-        *val = LSM6DS3TR_C_I2C_ENABLE;
-        break;
-
-    case LSM6DS3TR_C_I2C_DISABLE:
-        *val = LSM6DS3TR_C_I2C_DISABLE;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_I2C_MODE_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_interrupt_pins
-  * @brief       This section groups all the functions that manage
-  *              interrupt pins
-  * @{
-  *
-  */
-
-/**
-  * @brief  Select the signal that need to route on int1 pad[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    configure INT1_CTRL, MD1_CFG, CTRL4_C(den_drdy_int1),
-  *                MASTER_CONFIG(drdy_on_int1)
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_pin_int1_route_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_int1_route_t val) {
-    lsm6ds3tr_c_master_config_t master_config;
-    lsm6ds3tr_c_int1_ctrl_t int1_ctrl;
-    lsm6ds3tr_c_md1_cfg_t md1_cfg;
-    lsm6ds3tr_c_md2_cfg_t md2_cfg;
-    lsm6ds3tr_c_ctrl4_c_t ctrl4_c;
-    lsm6ds3tr_c_tap_cfg_t tap_cfg;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_INT1_CTRL, (uint8_t*)&int1_ctrl, 1);
-
-    if(ret == 0) {
-        int1_ctrl.int1_drdy_xl = val.int1_drdy_xl;
-        int1_ctrl.int1_drdy_g = val.int1_drdy_g;
-        int1_ctrl.int1_boot = val.int1_boot;
-        int1_ctrl.int1_fth = val.int1_fth;
-        int1_ctrl.int1_fifo_ovr = val.int1_fifo_ovr;
-        int1_ctrl.int1_full_flag = val.int1_full_flag;
-        int1_ctrl.int1_sign_mot = val.int1_sign_mot;
-        int1_ctrl.int1_step_detector = val.int1_step_detector;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_INT1_CTRL, (uint8_t*)&int1_ctrl, 1);
-    }
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MD1_CFG, (uint8_t*)&md1_cfg, 1);
-    }
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MD2_CFG, (uint8_t*)&md2_cfg, 1);
-    }
-
-    if(ret == 0) {
-        md1_cfg.int1_timer = val.int1_timer;
-        md1_cfg.int1_tilt = val.int1_tilt;
-        md1_cfg.int1_6d = val.int1_6d;
-        md1_cfg.int1_double_tap = val.int1_double_tap;
-        md1_cfg.int1_ff = val.int1_ff;
-        md1_cfg.int1_wu = val.int1_wu;
-        md1_cfg.int1_single_tap = val.int1_single_tap;
-        md1_cfg.int1_inact_state = val.int1_inact_state;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_MD1_CFG, (uint8_t*)&md1_cfg, 1);
-    }
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
-    }
-
-    if(ret == 0) {
-        ctrl4_c.den_drdy_int1 = val.den_drdy_int1;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
-    }
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-    }
-
-    if(ret == 0) {
-        master_config.drdy_on_int1 = val.den_drdy_int1;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-    }
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_TAP_CFG, (uint8_t*)&tap_cfg, 1);
-
-        if((val.int1_6d != 0x00U) || (val.int1_ff != 0x00U) || (val.int1_wu != 0x00U) ||
-           (val.int1_single_tap != 0x00U) || (val.int1_double_tap != 0x00U) ||
-           (val.int1_inact_state != 0x00U) || (md2_cfg.int2_6d != 0x00U) ||
-           (md2_cfg.int2_ff != 0x00U) || (md2_cfg.int2_wu != 0x00U) ||
-           (md2_cfg.int2_single_tap != 0x00U) || (md2_cfg.int2_double_tap != 0x00U) ||
-           (md2_cfg.int2_inact_state != 0x00U)) {
-            tap_cfg.interrupts_enable = PROPERTY_ENABLE;
-        }
-
-        else {
-            tap_cfg.interrupts_enable = PROPERTY_DISABLE;
-        }
-    }
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_TAP_CFG, (uint8_t*)&tap_cfg, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Select the signal that need to route on int1 pad[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    read INT1_CTRL, MD1_CFG, CTRL4_C(den_drdy_int1),
-  *                MASTER_CONFIG(drdy_on_int1)
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_pin_int1_route_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_int1_route_t* val) {
-    lsm6ds3tr_c_master_config_t master_config;
-    lsm6ds3tr_c_int1_ctrl_t int1_ctrl;
-    lsm6ds3tr_c_md1_cfg_t md1_cfg;
-    lsm6ds3tr_c_ctrl4_c_t ctrl4_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_INT1_CTRL, (uint8_t*)&int1_ctrl, 1);
-
-    if(ret == 0) {
-        val->int1_drdy_xl = int1_ctrl.int1_drdy_xl;
-        val->int1_drdy_g = int1_ctrl.int1_drdy_g;
-        val->int1_boot = int1_ctrl.int1_boot;
-        val->int1_fth = int1_ctrl.int1_fth;
-        val->int1_fifo_ovr = int1_ctrl.int1_fifo_ovr;
-        val->int1_full_flag = int1_ctrl.int1_full_flag;
-        val->int1_sign_mot = int1_ctrl.int1_sign_mot;
-        val->int1_step_detector = int1_ctrl.int1_step_detector;
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MD1_CFG, (uint8_t*)&md1_cfg, 1);
-
-        if(ret == 0) {
-            val->int1_timer = md1_cfg.int1_timer;
-            val->int1_tilt = md1_cfg.int1_tilt;
-            val->int1_6d = md1_cfg.int1_6d;
-            val->int1_double_tap = md1_cfg.int1_double_tap;
-            val->int1_ff = md1_cfg.int1_ff;
-            val->int1_wu = md1_cfg.int1_wu;
-            val->int1_single_tap = md1_cfg.int1_single_tap;
-            val->int1_inact_state = md1_cfg.int1_inact_state;
-            ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
-
-            if(ret == 0) {
-                val->den_drdy_int1 = ctrl4_c.den_drdy_int1;
-                ret = lsm6ds3tr_c_read_reg(
-                    ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-                val->den_drdy_int1 = master_config.drdy_on_int1;
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Select the signal that need to route on int2 pad[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    INT2_CTRL, DRDY_PULSE_CFG(int2_wrist_tilt), MD2_CFG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_pin_int2_route_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_int2_route_t val) {
-    lsm6ds3tr_c_int2_ctrl_t int2_ctrl;
-    lsm6ds3tr_c_md1_cfg_t md1_cfg;
-    lsm6ds3tr_c_md2_cfg_t md2_cfg;
-    lsm6ds3tr_c_drdy_pulse_cfg_g_t drdy_pulse_cfg_g;
-    lsm6ds3tr_c_tap_cfg_t tap_cfg;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_INT2_CTRL, (uint8_t*)&int2_ctrl, 1);
-
-    if(ret == 0) {
-        int2_ctrl.int2_drdy_xl = val.int2_drdy_xl;
-        int2_ctrl.int2_drdy_g = val.int2_drdy_g;
-        int2_ctrl.int2_drdy_temp = val.int2_drdy_temp;
-        int2_ctrl.int2_fth = val.int2_fth;
-        int2_ctrl.int2_fifo_ovr = val.int2_fifo_ovr;
-        int2_ctrl.int2_full_flag = val.int2_full_flag;
-        int2_ctrl.int2_step_count_ov = val.int2_step_count_ov;
-        int2_ctrl.int2_step_delta = val.int2_step_delta;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_INT2_CTRL, (uint8_t*)&int2_ctrl, 1);
-    }
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MD1_CFG, (uint8_t*)&md1_cfg, 1);
-    }
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MD2_CFG, (uint8_t*)&md2_cfg, 1);
-    }
-
-    if(ret == 0) {
-        md2_cfg.int2_iron = val.int2_iron;
-        md2_cfg.int2_tilt = val.int2_tilt;
-        md2_cfg.int2_6d = val.int2_6d;
-        md2_cfg.int2_double_tap = val.int2_double_tap;
-        md2_cfg.int2_ff = val.int2_ff;
-        md2_cfg.int2_wu = val.int2_wu;
-        md2_cfg.int2_single_tap = val.int2_single_tap;
-        md2_cfg.int2_inact_state = val.int2_inact_state;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_MD2_CFG, (uint8_t*)&md2_cfg, 1);
-    }
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(
-            ctx, LSM6DS3TR_C_DRDY_PULSE_CFG_G, (uint8_t*)&drdy_pulse_cfg_g, 1);
-    }
-
-    if(ret == 0) {
-        drdy_pulse_cfg_g.int2_wrist_tilt = val.int2_wrist_tilt;
-        ret = lsm6ds3tr_c_write_reg(
-            ctx, LSM6DS3TR_C_DRDY_PULSE_CFG_G, (uint8_t*)&drdy_pulse_cfg_g, 1);
-    }
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_TAP_CFG, (uint8_t*)&tap_cfg, 1);
-
-        if((md1_cfg.int1_6d != 0x00U) || (md1_cfg.int1_ff != 0x00U) ||
-           (md1_cfg.int1_wu != 0x00U) || (md1_cfg.int1_single_tap != 0x00U) ||
-           (md1_cfg.int1_double_tap != 0x00U) || (md1_cfg.int1_inact_state != 0x00U) ||
-           (val.int2_6d != 0x00U) || (val.int2_ff != 0x00U) || (val.int2_wu != 0x00U) ||
-           (val.int2_single_tap != 0x00U) || (val.int2_double_tap != 0x00U) ||
-           (val.int2_inact_state != 0x00U)) {
-            tap_cfg.interrupts_enable = PROPERTY_ENABLE;
-        }
-
-        else {
-            tap_cfg.interrupts_enable = PROPERTY_DISABLE;
-        }
-    }
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_TAP_CFG, (uint8_t*)&tap_cfg, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Select the signal that need to route on int2 pad[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    INT2_CTRL, DRDY_PULSE_CFG(int2_wrist_tilt), MD2_CFG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_pin_int2_route_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_int2_route_t* val) {
-    lsm6ds3tr_c_int2_ctrl_t int2_ctrl;
-    lsm6ds3tr_c_md2_cfg_t md2_cfg;
-    lsm6ds3tr_c_drdy_pulse_cfg_g_t drdy_pulse_cfg_g;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_INT2_CTRL, (uint8_t*)&int2_ctrl, 1);
-
-    if(ret == 0) {
-        val->int2_drdy_xl = int2_ctrl.int2_drdy_xl;
-        val->int2_drdy_g = int2_ctrl.int2_drdy_g;
-        val->int2_drdy_temp = int2_ctrl.int2_drdy_temp;
-        val->int2_fth = int2_ctrl.int2_fth;
-        val->int2_fifo_ovr = int2_ctrl.int2_fifo_ovr;
-        val->int2_full_flag = int2_ctrl.int2_full_flag;
-        val->int2_step_count_ov = int2_ctrl.int2_step_count_ov;
-        val->int2_step_delta = int2_ctrl.int2_step_delta;
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MD2_CFG, (uint8_t*)&md2_cfg, 1);
-
-        if(ret == 0) {
-            val->int2_iron = md2_cfg.int2_iron;
-            val->int2_tilt = md2_cfg.int2_tilt;
-            val->int2_6d = md2_cfg.int2_6d;
-            val->int2_double_tap = md2_cfg.int2_double_tap;
-            val->int2_ff = md2_cfg.int2_ff;
-            val->int2_wu = md2_cfg.int2_wu;
-            val->int2_single_tap = md2_cfg.int2_single_tap;
-            val->int2_inact_state = md2_cfg.int2_inact_state;
-            ret = lsm6ds3tr_c_read_reg(
-                ctx, LSM6DS3TR_C_DRDY_PULSE_CFG_G, (uint8_t*)&drdy_pulse_cfg_g, 1);
-            val->int2_wrist_tilt = drdy_pulse_cfg_g.int2_wrist_tilt;
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Push-pull/open drain selection on interrupt pads.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of pp_od in reg CTRL3_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_pin_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_pp_od_t val) {
-    lsm6ds3tr_c_ctrl3_c_t ctrl3_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-
-    if(ret == 0) {
-        ctrl3_c.pp_od = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Push-pull/open drain selection on interrupt pads.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of pp_od in reg CTRL3_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_pin_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_pp_od_t* val) {
-    lsm6ds3tr_c_ctrl3_c_t ctrl3_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-
-    switch(ctrl3_c.pp_od) {
-    case LSM6DS3TR_C_PUSH_PULL:
-        *val = LSM6DS3TR_C_PUSH_PULL;
-        break;
-
-    case LSM6DS3TR_C_OPEN_DRAIN:
-        *val = LSM6DS3TR_C_OPEN_DRAIN;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_PIN_MODE_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Interrupt active-high/low.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of h_lactive in reg CTRL3_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_pin_polarity_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_h_lactive_t val) {
-    lsm6ds3tr_c_ctrl3_c_t ctrl3_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-
-    if(ret == 0) {
-        ctrl3_c.h_lactive = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Interrupt active-high/low.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of h_lactive in reg CTRL3_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_pin_polarity_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_h_lactive_t* val) {
-    lsm6ds3tr_c_ctrl3_c_t ctrl3_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
-
-    switch(ctrl3_c.h_lactive) {
-    case LSM6DS3TR_C_ACTIVE_HIGH:
-        *val = LSM6DS3TR_C_ACTIVE_HIGH;
-        break;
-
-    case LSM6DS3TR_C_ACTIVE_LOW:
-        *val = LSM6DS3TR_C_ACTIVE_LOW;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_POLARITY_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  All interrupt signals become available on INT1 pin.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of int2_on_int1 in reg CTRL4_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_all_on_int1_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_ctrl4_c_t ctrl4_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
-
-    if(ret == 0) {
-        ctrl4_c.int2_on_int1 = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  All interrupt signals become available on INT1 pin.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of int2_on_int1 in reg CTRL4_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_all_on_int1_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_ctrl4_c_t ctrl4_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
-    *val = ctrl4_c.int2_on_int1;
-
-    return ret;
-}
-
-/**
-  * @brief  Latched/pulsed interrupt.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of lir in reg TAP_CFG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_int_notification_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_lir_t val) {
-    lsm6ds3tr_c_tap_cfg_t tap_cfg;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_TAP_CFG, (uint8_t*)&tap_cfg, 1);
-
-    if(ret == 0) {
-        tap_cfg.lir = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_TAP_CFG, (uint8_t*)&tap_cfg, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Latched/pulsed interrupt.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of lir in reg TAP_CFG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_int_notification_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_lir_t* val) {
-    lsm6ds3tr_c_tap_cfg_t tap_cfg;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_TAP_CFG, (uint8_t*)&tap_cfg, 1);
-
-    switch(tap_cfg.lir) {
-    case LSM6DS3TR_C_INT_PULSED:
-        *val = LSM6DS3TR_C_INT_PULSED;
-        break;
-
-    case LSM6DS3TR_C_INT_LATCHED:
-        *val = LSM6DS3TR_C_INT_LATCHED;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_INT_MODE;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_Wake_Up_event
-  * @brief       This section groups all the functions that manage the
-  *              Wake Up event generation.
-  * @{
-  *
-  */
-
-/**
-  * @brief  Threshold for wakeup.1 LSB = FS_XL / 64.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of wk_ths in reg WAKE_UP_THS
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_wkup_threshold_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_wake_up_ths_t wake_up_ths;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_WAKE_UP_THS, (uint8_t*)&wake_up_ths, 1);
-
-    if(ret == 0) {
-        wake_up_ths.wk_ths = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_WAKE_UP_THS, (uint8_t*)&wake_up_ths, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Threshold for wakeup.1 LSB = FS_XL / 64.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of wk_ths in reg WAKE_UP_THS
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_wkup_threshold_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_wake_up_ths_t wake_up_ths;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_WAKE_UP_THS, (uint8_t*)&wake_up_ths, 1);
-    *val = wake_up_ths.wk_ths;
-
-    return ret;
-}
-
-/**
-  * @brief  Wake up duration event.1LSb = 1 / ODR[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of wake_dur in reg WAKE_UP_DUR
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_wkup_dur_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_wake_up_dur_t wake_up_dur;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_WAKE_UP_DUR, (uint8_t*)&wake_up_dur, 1);
-
-    if(ret == 0) {
-        wake_up_dur.wake_dur = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_WAKE_UP_DUR, (uint8_t*)&wake_up_dur, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Wake up duration event.1LSb = 1 / ODR[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of wake_dur in reg WAKE_UP_DUR
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_wkup_dur_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_wake_up_dur_t wake_up_dur;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_WAKE_UP_DUR, (uint8_t*)&wake_up_dur, 1);
-    *val = wake_up_dur.wake_dur;
-
-    return ret;
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_Activity/Inactivity_detection
-  * @brief       This section groups all the functions concerning
-  *              activity/inactivity detection.
-  * @{
-  *
-  */
-
-/**
-  * @brief  Enables gyroscope Sleep mode.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of sleep in reg CTRL4_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_gy_sleep_mode_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_ctrl4_c_t ctrl4_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
-
-    if(ret == 0) {
-        ctrl4_c.sleep = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Enables gyroscope Sleep mode.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of sleep in reg CTRL4_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_gy_sleep_mode_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_ctrl4_c_t ctrl4_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
-    *val = ctrl4_c.sleep;
-
-    return ret;
-}
-
-/**
-  * @brief  Enable inactivity function.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of inact_en in reg TAP_CFG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_act_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_inact_en_t val) {
-    lsm6ds3tr_c_tap_cfg_t tap_cfg;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_TAP_CFG, (uint8_t*)&tap_cfg, 1);
-
-    if(ret == 0) {
-        tap_cfg.inact_en = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_TAP_CFG, (uint8_t*)&tap_cfg, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Enable inactivity function.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of inact_en in reg TAP_CFG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_act_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_inact_en_t* val) {
-    lsm6ds3tr_c_tap_cfg_t tap_cfg;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_TAP_CFG, (uint8_t*)&tap_cfg, 1);
-
-    switch(tap_cfg.inact_en) {
-    case LSM6DS3TR_C_PROPERTY_DISABLE:
-        *val = LSM6DS3TR_C_PROPERTY_DISABLE;
-        break;
-
-    case LSM6DS3TR_C_XL_12Hz5_GY_NOT_AFFECTED:
-        *val = LSM6DS3TR_C_XL_12Hz5_GY_NOT_AFFECTED;
-        break;
-
-    case LSM6DS3TR_C_XL_12Hz5_GY_SLEEP:
-        *val = LSM6DS3TR_C_XL_12Hz5_GY_SLEEP;
-        break;
-
-    case LSM6DS3TR_C_XL_12Hz5_GY_PD:
-        *val = LSM6DS3TR_C_XL_12Hz5_GY_PD;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_ACT_MODE_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Duration to go in sleep mode.1 LSb = 512 / ODR[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of sleep_dur in reg WAKE_UP_DUR
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_act_sleep_dur_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_wake_up_dur_t wake_up_dur;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_WAKE_UP_DUR, (uint8_t*)&wake_up_dur, 1);
-
-    if(ret == 0) {
-        wake_up_dur.sleep_dur = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_WAKE_UP_DUR, (uint8_t*)&wake_up_dur, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Duration to go in sleep mode. 1 LSb = 512 / ODR[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of sleep_dur in reg WAKE_UP_DUR
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_act_sleep_dur_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_wake_up_dur_t wake_up_dur;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_WAKE_UP_DUR, (uint8_t*)&wake_up_dur, 1);
-    *val = wake_up_dur.sleep_dur;
-
-    return ret;
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_tap_generator
-  * @brief       This section groups all the functions that manage the
-  *              tap and double tap event generation.
-  * @{
-  *
-  */
-
-/**
-  * @brief  Read the tap / double tap source register.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Structure of registers from TAP_SRC
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tap_src_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_tap_src_t* val) {
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_TAP_SRC, (uint8_t*)val, 1);
-
-    return ret;
-}
-
-/**
-  * @brief  Enable Z direction in tap recognition.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of tap_z_en in reg TAP_CFG
-  *
-  */
-int32_t lsm6ds3tr_c_tap_detection_on_z_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_tap_cfg_t tap_cfg;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_TAP_CFG, (uint8_t*)&tap_cfg, 1);
-
-    if(ret == 0) {
-        tap_cfg.tap_z_en = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_TAP_CFG, (uint8_t*)&tap_cfg, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Enable Z direction in tap recognition.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of tap_z_en in reg TAP_CFG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tap_detection_on_z_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_tap_cfg_t tap_cfg;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_TAP_CFG, (uint8_t*)&tap_cfg, 1);
-    *val = tap_cfg.tap_z_en;
-
-    return ret;
-}
-
-/**
-  * @brief  Enable Y direction in tap recognition.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of tap_y_en in reg TAP_CFG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tap_detection_on_y_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_tap_cfg_t tap_cfg;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_TAP_CFG, (uint8_t*)&tap_cfg, 1);
-
-    if(ret == 0) {
-        tap_cfg.tap_y_en = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_TAP_CFG, (uint8_t*)&tap_cfg, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Enable Y direction in tap recognition.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of tap_y_en in reg TAP_CFG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tap_detection_on_y_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_tap_cfg_t tap_cfg;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_TAP_CFG, (uint8_t*)&tap_cfg, 1);
-    *val = tap_cfg.tap_y_en;
-
-    return ret;
-}
-
-/**
-  * @brief  Enable X direction in tap recognition.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of tap_x_en in reg TAP_CFG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tap_detection_on_x_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_tap_cfg_t tap_cfg;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_TAP_CFG, (uint8_t*)&tap_cfg, 1);
-
-    if(ret == 0) {
-        tap_cfg.tap_x_en = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_TAP_CFG, (uint8_t*)&tap_cfg, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Enable X direction in tap recognition.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of tap_x_en in reg TAP_CFG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tap_detection_on_x_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_tap_cfg_t tap_cfg;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_TAP_CFG, (uint8_t*)&tap_cfg, 1);
-    *val = tap_cfg.tap_x_en;
-
-    return ret;
-}
-
-/**
-  * @brief  Threshold for tap recognition.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of tap_ths in reg TAP_THS_6D
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tap_threshold_x_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_tap_ths_6d_t tap_ths_6d;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_TAP_THS_6D, (uint8_t*)&tap_ths_6d, 1);
-
-    if(ret == 0) {
-        tap_ths_6d.tap_ths = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_TAP_THS_6D, (uint8_t*)&tap_ths_6d, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Threshold for tap recognition.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of tap_ths in reg TAP_THS_6D
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tap_threshold_x_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_tap_ths_6d_t tap_ths_6d;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_TAP_THS_6D, (uint8_t*)&tap_ths_6d, 1);
-    *val = tap_ths_6d.tap_ths;
-
-    return ret;
-}
-
-/**
-  * @brief  Maximum duration is the maximum time of an overthreshold signal
-  *         detection to be recognized as a tap event.
-  *         The default value of these bits is 00b which corresponds to
-  *         4*ODR_XL time.
-  *         If the SHOCK[1:0] bits are set to a different
-  *         value, 1LSB corresponds to 8*ODR_XL time.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of shock in reg INT_DUR2
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tap_shock_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_int_dur2_t int_dur2;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_INT_DUR2, (uint8_t*)&int_dur2, 1);
-
-    if(ret == 0) {
-        int_dur2.shock = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_INT_DUR2, (uint8_t*)&int_dur2, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Maximum duration is the maximum time of an overthreshold signal
-  *         detection to be recognized as a tap event.
-  *         The default value of these bits is 00b which corresponds to
-  *         4*ODR_XL time.
-  *         If the SHOCK[1:0] bits are set to a different value, 1LSB
-  *         corresponds to 8*ODR_XL time.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of shock in reg INT_DUR2
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tap_shock_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_int_dur2_t int_dur2;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_INT_DUR2, (uint8_t*)&int_dur2, 1);
-    *val = int_dur2.shock;
-
-    return ret;
-}
-
-/**
-  * @brief  Quiet time is the time after the first detected tap in which there
-  *         must not be any overthreshold event.
-  *         The default value of these bits is 00b which corresponds to
-  *         2*ODR_XL time.
-  *         If the QUIET[1:0] bits are set to a different value, 1LSB
-  *         corresponds to 4*ODR_XL time.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of quiet in reg INT_DUR2
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tap_quiet_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_int_dur2_t int_dur2;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_INT_DUR2, (uint8_t*)&int_dur2, 1);
-
-    if(ret == 0) {
-        int_dur2.quiet = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_INT_DUR2, (uint8_t*)&int_dur2, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Quiet time is the time after the first detected tap in which there
-  *         must not be any overthreshold event.
-  *         The default value of these bits is 00b which corresponds to
-  *         2*ODR_XL time.
-  *         If the QUIET[1:0] bits are set to a different value, 1LSB
-  *         corresponds to 4*ODR_XL time.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of quiet in reg INT_DUR2
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tap_quiet_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_int_dur2_t int_dur2;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_INT_DUR2, (uint8_t*)&int_dur2, 1);
-    *val = int_dur2.quiet;
-
-    return ret;
-}
-
-/**
-  * @brief  When double tap recognition is enabled, this register expresses the
-  *         maximum time between two consecutive detected taps to determine a
-  *         double tap event.
-  *         The default value of these bits is 0000b which corresponds to
-  *         16*ODR_XL time.
-  *         If the DUR[3:0] bits are set to a different value,1LSB corresponds
-  *         to 32*ODR_XL time.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of dur in reg INT_DUR2
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tap_dur_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_int_dur2_t int_dur2;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_INT_DUR2, (uint8_t*)&int_dur2, 1);
-
-    if(ret == 0) {
-        int_dur2.dur = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_INT_DUR2, (uint8_t*)&int_dur2, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  When double tap recognition is enabled, this register expresses the
-  *         maximum time between two consecutive detected taps to determine a
-  *         double tap event.
-  *         The default value of these bits is 0000b which corresponds to
-  *         16*ODR_XL time.
-  *         If the DUR[3:0] bits are set to a different value,1LSB corresponds
-  *         to 32*ODR_XL time.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of dur in reg INT_DUR2
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tap_dur_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_int_dur2_t int_dur2;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_INT_DUR2, (uint8_t*)&int_dur2, 1);
-    *val = int_dur2.dur;
-
-    return ret;
-}
-
-/**
-  * @brief  Single/double-tap event enable/disable.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of
-  *                                      single_double_tap in reg WAKE_UP_THS
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tap_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_single_double_tap_t val) {
-    lsm6ds3tr_c_wake_up_ths_t wake_up_ths;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_WAKE_UP_THS, (uint8_t*)&wake_up_ths, 1);
-
-    if(ret == 0) {
-        wake_up_ths.single_double_tap = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_WAKE_UP_THS, (uint8_t*)&wake_up_ths, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Single/double-tap event enable/disable.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of single_double_tap
-  *                                      in reg WAKE_UP_THS
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tap_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_single_double_tap_t* val) {
-    lsm6ds3tr_c_wake_up_ths_t wake_up_ths;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_WAKE_UP_THS, (uint8_t*)&wake_up_ths, 1);
-
-    switch(wake_up_ths.single_double_tap) {
-    case LSM6DS3TR_C_ONLY_SINGLE:
-        *val = LSM6DS3TR_C_ONLY_SINGLE;
-        break;
-
-    case LSM6DS3TR_C_BOTH_SINGLE_DOUBLE:
-        *val = LSM6DS3TR_C_BOTH_SINGLE_DOUBLE;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_TAP_MODE_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_ Six_position_detection(6D/4D)
-  * @brief       This section groups all the functions concerning six
-  *              position detection (6D).
-  * @{
-  *
-  */
-
-/**
-  * @brief  LPF2 feed 6D function selection.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of low_pass_on_6d in
-  *                                   reg CTRL8_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_6d_feed_data_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_low_pass_on_6d_t val) {
-    lsm6ds3tr_c_ctrl8_xl_t ctrl8_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
-
-    if(ret == 0) {
-        ctrl8_xl.low_pass_on_6d = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  LPF2 feed 6D function selection.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of low_pass_on_6d in reg CTRL8_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_6d_feed_data_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_low_pass_on_6d_t* val) {
-    lsm6ds3tr_c_ctrl8_xl_t ctrl8_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
-
-    switch(ctrl8_xl.low_pass_on_6d) {
-    case LSM6DS3TR_C_ODR_DIV_2_FEED:
-        *val = LSM6DS3TR_C_ODR_DIV_2_FEED;
-        break;
-
-    case LSM6DS3TR_C_LPF2_FEED:
-        *val = LSM6DS3TR_C_LPF2_FEED;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_6D_FEED_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Threshold for 4D/6D function.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of sixd_ths in reg TAP_THS_6D
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_6d_threshold_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_sixd_ths_t val) {
-    lsm6ds3tr_c_tap_ths_6d_t tap_ths_6d;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_TAP_THS_6D, (uint8_t*)&tap_ths_6d, 1);
-
-    if(ret == 0) {
-        tap_ths_6d.sixd_ths = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_TAP_THS_6D, (uint8_t*)&tap_ths_6d, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Threshold for 4D/6D function.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of sixd_ths in reg TAP_THS_6D
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_6d_threshold_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_sixd_ths_t* val) {
-    lsm6ds3tr_c_tap_ths_6d_t tap_ths_6d;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_TAP_THS_6D, (uint8_t*)&tap_ths_6d, 1);
-
-    switch(tap_ths_6d.sixd_ths) {
-    case LSM6DS3TR_C_DEG_80:
-        *val = LSM6DS3TR_C_DEG_80;
-        break;
-
-    case LSM6DS3TR_C_DEG_70:
-        *val = LSM6DS3TR_C_DEG_70;
-        break;
-
-    case LSM6DS3TR_C_DEG_60:
-        *val = LSM6DS3TR_C_DEG_60;
-        break;
-
-    case LSM6DS3TR_C_DEG_50:
-        *val = LSM6DS3TR_C_DEG_50;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_6D_TH_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  4D orientation detection enable.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of d4d_en in reg TAP_THS_6D
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_4d_mode_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_tap_ths_6d_t tap_ths_6d;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_TAP_THS_6D, (uint8_t*)&tap_ths_6d, 1);
-
-    if(ret == 0) {
-        tap_ths_6d.d4d_en = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_TAP_THS_6D, (uint8_t*)&tap_ths_6d, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  4D orientation detection enable.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of d4d_en in reg TAP_THS_6D
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_4d_mode_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_tap_ths_6d_t tap_ths_6d;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_TAP_THS_6D, (uint8_t*)&tap_ths_6d, 1);
-    *val = tap_ths_6d.d4d_en;
-
-    return ret;
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_free_fall
-  * @brief       This section group all the functions concerning the free
-  *              fall detection.
-  * @{
-  *
-  */
-
-/**
-  * @brief Free-fall duration event. 1LSb = 1 / ODR[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of ff_dur in reg WAKE_UP_DUR
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_ff_dur_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_wake_up_dur_t wake_up_dur;
-    lsm6ds3tr_c_free_fall_t free_fall;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FREE_FALL, (uint8_t*)&free_fall, 1);
-
-    if(ret == 0) {
-        free_fall.ff_dur = (val & 0x1FU);
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_FREE_FALL, (uint8_t*)&free_fall, 1);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_WAKE_UP_DUR, (uint8_t*)&wake_up_dur, 1);
-
-            if(ret == 0) {
-                wake_up_dur.ff_dur = (val & 0x20U) >> 5;
-                ret =
-                    lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_WAKE_UP_DUR, (uint8_t*)&wake_up_dur, 1);
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Free-fall duration event. 1LSb = 1 / ODR[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of ff_dur in reg WAKE_UP_DUR
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_ff_dur_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_wake_up_dur_t wake_up_dur;
-    lsm6ds3tr_c_free_fall_t free_fall;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_WAKE_UP_DUR, (uint8_t*)&wake_up_dur, 1);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FREE_FALL, (uint8_t*)&free_fall, 1);
-    }
-
-    *val = (wake_up_dur.ff_dur << 5) + free_fall.ff_dur;
-
-    return ret;
-}
-
-/**
-  * @brief  Free fall threshold setting.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of ff_ths in reg FREE_FALL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_ff_threshold_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_ff_ths_t val) {
-    lsm6ds3tr_c_free_fall_t free_fall;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FREE_FALL, (uint8_t*)&free_fall, 1);
-
-    if(ret == 0) {
-        free_fall.ff_ths = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_FREE_FALL, (uint8_t*)&free_fall, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Free fall threshold setting.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of ff_ths in reg FREE_FALL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_ff_threshold_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_ff_ths_t* val) {
-    lsm6ds3tr_c_free_fall_t free_fall;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FREE_FALL, (uint8_t*)&free_fall, 1);
-
-    switch(free_fall.ff_ths) {
-    case LSM6DS3TR_C_FF_TSH_156mg:
-        *val = LSM6DS3TR_C_FF_TSH_156mg;
-        break;
-
-    case LSM6DS3TR_C_FF_TSH_219mg:
-        *val = LSM6DS3TR_C_FF_TSH_219mg;
-        break;
-
-    case LSM6DS3TR_C_FF_TSH_250mg:
-        *val = LSM6DS3TR_C_FF_TSH_250mg;
-        break;
-
-    case LSM6DS3TR_C_FF_TSH_312mg:
-        *val = LSM6DS3TR_C_FF_TSH_312mg;
-        break;
-
-    case LSM6DS3TR_C_FF_TSH_344mg:
-        *val = LSM6DS3TR_C_FF_TSH_344mg;
-        break;
-
-    case LSM6DS3TR_C_FF_TSH_406mg:
-        *val = LSM6DS3TR_C_FF_TSH_406mg;
-        break;
-
-    case LSM6DS3TR_C_FF_TSH_469mg:
-        *val = LSM6DS3TR_C_FF_TSH_469mg;
-        break;
-
-    case LSM6DS3TR_C_FF_TSH_500mg:
-        *val = LSM6DS3TR_C_FF_TSH_500mg;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_FF_TSH_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_fifo
-  * @brief       This section group all the functions concerning the
-  *              fifo usage
-  * @{
-  *
-  */
-
-/**
-  * @brief  FIFO watermark level selection.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of fth in reg FIFO_CTRL1
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_watermark_set(stmdev_ctx_t* ctx, uint16_t val) {
-    lsm6ds3tr_c_fifo_ctrl1_t fifo_ctrl1;
-    lsm6ds3tr_c_fifo_ctrl2_t fifo_ctrl2;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL2, (uint8_t*)&fifo_ctrl2, 1);
-
-    if(ret == 0) {
-        fifo_ctrl1.fth = (uint8_t)(0x00FFU & val);
-        fifo_ctrl2.fth = (uint8_t)((0x0700U & val) >> 8);
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_FIFO_CTRL1, (uint8_t*)&fifo_ctrl1, 1);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_FIFO_CTRL2, (uint8_t*)&fifo_ctrl2, 1);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  FIFO watermark level selection.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of fth in reg FIFO_CTRL1
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_watermark_get(stmdev_ctx_t* ctx, uint16_t* val) {
-    lsm6ds3tr_c_fifo_ctrl1_t fifo_ctrl1;
-    lsm6ds3tr_c_fifo_ctrl2_t fifo_ctrl2;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL1, (uint8_t*)&fifo_ctrl1, 1);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL2, (uint8_t*)&fifo_ctrl2, 1);
-    }
-
-    *val = ((uint16_t)fifo_ctrl2.fth << 8) + (uint16_t)fifo_ctrl1.fth;
-
-    return ret;
-}
-
-/**
-  * @brief  FIFO data level.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    get the values of diff_fifo in reg  FIFO_STATUS1 and
-  *                FIFO_STATUS2(diff_fifo), it is recommended to set the
-  *                BDU bit.
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_data_level_get(stmdev_ctx_t* ctx, uint16_t* val) {
-    lsm6ds3tr_c_fifo_status1_t fifo_status1;
-    lsm6ds3tr_c_fifo_status2_t fifo_status2;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_STATUS1, (uint8_t*)&fifo_status1, 1);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_STATUS2, (uint8_t*)&fifo_status2, 1);
-        *val = ((uint16_t)fifo_status2.diff_fifo << 8) + (uint16_t)fifo_status1.diff_fifo;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  FIFO watermark.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    get the values of watermark in reg  FIFO_STATUS2 and
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_wtm_flag_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_fifo_status2_t fifo_status2;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_STATUS2, (uint8_t*)&fifo_status2, 1);
-    *val = fifo_status2.waterm;
-
-    return ret;
-}
-
-/**
-  * @brief  FIFO pattern.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    get the values of fifo_pattern in reg  FIFO_STATUS3 and
-  *                FIFO_STATUS4, it is recommended to set the BDU bit
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_pattern_get(stmdev_ctx_t* ctx, uint16_t* val) {
-    lsm6ds3tr_c_fifo_status3_t fifo_status3;
-    lsm6ds3tr_c_fifo_status4_t fifo_status4;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_STATUS3, (uint8_t*)&fifo_status3, 1);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_STATUS4, (uint8_t*)&fifo_status4, 1);
-        *val = ((uint16_t)fifo_status4.fifo_pattern << 8) + fifo_status3.fifo_pattern;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Batching of temperature data[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of fifo_temp_en in reg FIFO_CTRL2
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_temp_batch_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_fifo_ctrl2_t fifo_ctrl2;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL2, (uint8_t*)&fifo_ctrl2, 1);
-
-    if(ret == 0) {
-        fifo_ctrl2.fifo_temp_en = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_FIFO_CTRL2, (uint8_t*)&fifo_ctrl2, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Batching of temperature data[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of fifo_temp_en in reg FIFO_CTRL2
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_temp_batch_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_fifo_ctrl2_t fifo_ctrl2;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL2, (uint8_t*)&fifo_ctrl2, 1);
-    *val = fifo_ctrl2.fifo_temp_en;
-
-    return ret;
-}
-
-/**
-  * @brief  Trigger signal for FIFO write operation.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    act on FIFO_CTRL2(timer_pedo_fifo_drdy)
-  *                and MASTER_CONFIG(data_valid_sel_fifo)
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_write_trigger_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_trigger_fifo_t val) {
-    lsm6ds3tr_c_fifo_ctrl2_t fifo_ctrl2;
-    lsm6ds3tr_c_master_config_t master_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL2, (uint8_t*)&fifo_ctrl2, 1);
-
-    if(ret == 0) {
-        fifo_ctrl2.timer_pedo_fifo_drdy = (uint8_t)val & 0x01U;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_FIFO_CTRL2, (uint8_t*)&fifo_ctrl2, 1);
-
-        if(ret == 0) {
-            ret =
-                lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-
-            if(ret == 0) {
-                master_config.data_valid_sel_fifo = (((uint8_t)val & 0x02U) >> 1);
-                ret = lsm6ds3tr_c_write_reg(
-                    ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Trigger signal for FIFO write operation.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    act on FIFO_CTRL2(timer_pedo_fifo_drdy)
-  *                and MASTER_CONFIG(data_valid_sel_fifo)
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_write_trigger_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_trigger_fifo_t* val) {
-    lsm6ds3tr_c_fifo_ctrl2_t fifo_ctrl2;
-    lsm6ds3tr_c_master_config_t master_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL2, (uint8_t*)&fifo_ctrl2, 1);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-
-        switch((fifo_ctrl2.timer_pedo_fifo_drdy << 1) + fifo_ctrl2.timer_pedo_fifo_drdy) {
-        case LSM6DS3TR_C_TRG_XL_GY_DRDY:
-            *val = LSM6DS3TR_C_TRG_XL_GY_DRDY;
-            break;
-
-        case LSM6DS3TR_C_TRG_STEP_DETECT:
-            *val = LSM6DS3TR_C_TRG_STEP_DETECT;
-            break;
-
-        case LSM6DS3TR_C_TRG_SH_DRDY:
-            *val = LSM6DS3TR_C_TRG_SH_DRDY;
-            break;
-
-        default:
-            *val = LSM6DS3TR_C_TRG_SH_ND;
-            break;
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief   Enable pedometer step counter and timestamp as 4th
-  *          FIFO data set.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of timer_pedo_fifo_en in reg FIFO_CTRL2
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_pedo_and_timestamp_batch_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_fifo_ctrl2_t fifo_ctrl2;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL2, (uint8_t*)&fifo_ctrl2, 1);
-
-    if(ret == 0) {
-        fifo_ctrl2.timer_pedo_fifo_en = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_FIFO_CTRL2, (uint8_t*)&fifo_ctrl2, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Enable pedometer step counter and timestamp as 4th
-  *         FIFO data set.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of timer_pedo_fifo_en in reg FIFO_CTRL2
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_pedo_and_timestamp_batch_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_fifo_ctrl2_t fifo_ctrl2;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL2, (uint8_t*)&fifo_ctrl2, 1);
-    *val = fifo_ctrl2.timer_pedo_fifo_en;
-
-    return ret;
-}
-
-/**
-  * @brief  Selects Batching Data Rate (writing frequency in FIFO) for
-  *         accelerometer data.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of dec_fifo_xl in reg FIFO_CTRL3
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_xl_batch_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_dec_fifo_xl_t val) {
-    lsm6ds3tr_c_fifo_ctrl3_t fifo_ctrl3;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL3, (uint8_t*)&fifo_ctrl3, 1);
-
-    if(ret == 0) {
-        fifo_ctrl3.dec_fifo_xl = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_FIFO_CTRL3, (uint8_t*)&fifo_ctrl3, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Selects Batching Data Rate (writing frequency in FIFO) for
-  *         accelerometer data.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of dec_fifo_xl in reg FIFO_CTRL3
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_xl_batch_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_dec_fifo_xl_t* val) {
-    lsm6ds3tr_c_fifo_ctrl3_t fifo_ctrl3;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL3, (uint8_t*)&fifo_ctrl3, 1);
-
-    switch(fifo_ctrl3.dec_fifo_xl) {
-    case LSM6DS3TR_C_FIFO_XL_DISABLE:
-        *val = LSM6DS3TR_C_FIFO_XL_DISABLE;
-        break;
-
-    case LSM6DS3TR_C_FIFO_XL_NO_DEC:
-        *val = LSM6DS3TR_C_FIFO_XL_NO_DEC;
-        break;
-
-    case LSM6DS3TR_C_FIFO_XL_DEC_2:
-        *val = LSM6DS3TR_C_FIFO_XL_DEC_2;
-        break;
-
-    case LSM6DS3TR_C_FIFO_XL_DEC_3:
-        *val = LSM6DS3TR_C_FIFO_XL_DEC_3;
-        break;
-
-    case LSM6DS3TR_C_FIFO_XL_DEC_4:
-        *val = LSM6DS3TR_C_FIFO_XL_DEC_4;
-        break;
-
-    case LSM6DS3TR_C_FIFO_XL_DEC_8:
-        *val = LSM6DS3TR_C_FIFO_XL_DEC_8;
-        break;
-
-    case LSM6DS3TR_C_FIFO_XL_DEC_16:
-        *val = LSM6DS3TR_C_FIFO_XL_DEC_16;
-        break;
-
-    case LSM6DS3TR_C_FIFO_XL_DEC_32:
-        *val = LSM6DS3TR_C_FIFO_XL_DEC_32;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_FIFO_XL_DEC_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Selects Batching Data Rate (writing frequency in FIFO)
-  *         for gyroscope data.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of dec_fifo_gyro in reg FIFO_CTRL3
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_gy_batch_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_dec_fifo_gyro_t val) {
-    lsm6ds3tr_c_fifo_ctrl3_t fifo_ctrl3;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL3, (uint8_t*)&fifo_ctrl3, 1);
-
-    if(ret == 0) {
-        fifo_ctrl3.dec_fifo_gyro = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_FIFO_CTRL3, (uint8_t*)&fifo_ctrl3, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Selects Batching Data Rate (writing frequency in FIFO)
-  *         for gyroscope data.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of dec_fifo_gyro in reg FIFO_CTRL3
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_gy_batch_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_dec_fifo_gyro_t* val) {
-    lsm6ds3tr_c_fifo_ctrl3_t fifo_ctrl3;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL3, (uint8_t*)&fifo_ctrl3, 1);
-
-    switch(fifo_ctrl3.dec_fifo_gyro) {
-    case LSM6DS3TR_C_FIFO_GY_DISABLE:
-        *val = LSM6DS3TR_C_FIFO_GY_DISABLE;
-        break;
-
-    case LSM6DS3TR_C_FIFO_GY_NO_DEC:
-        *val = LSM6DS3TR_C_FIFO_GY_NO_DEC;
-        break;
-
-    case LSM6DS3TR_C_FIFO_GY_DEC_2:
-        *val = LSM6DS3TR_C_FIFO_GY_DEC_2;
-        break;
-
-    case LSM6DS3TR_C_FIFO_GY_DEC_3:
-        *val = LSM6DS3TR_C_FIFO_GY_DEC_3;
-        break;
-
-    case LSM6DS3TR_C_FIFO_GY_DEC_4:
-        *val = LSM6DS3TR_C_FIFO_GY_DEC_4;
-        break;
-
-    case LSM6DS3TR_C_FIFO_GY_DEC_8:
-        *val = LSM6DS3TR_C_FIFO_GY_DEC_8;
-        break;
-
-    case LSM6DS3TR_C_FIFO_GY_DEC_16:
-        *val = LSM6DS3TR_C_FIFO_GY_DEC_16;
-        break;
-
-    case LSM6DS3TR_C_FIFO_GY_DEC_32:
-        *val = LSM6DS3TR_C_FIFO_GY_DEC_32;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_FIFO_GY_DEC_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief   Selects Batching Data Rate (writing frequency in FIFO)
-  *          for third data set.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of dec_ds3_fifo in reg FIFO_CTRL4
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_dataset_3_batch_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_dec_ds3_fifo_t val) {
-    lsm6ds3tr_c_fifo_ctrl4_t fifo_ctrl4;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL4, (uint8_t*)&fifo_ctrl4, 1);
-
-    if(ret == 0) {
-        fifo_ctrl4.dec_ds3_fifo = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_FIFO_CTRL4, (uint8_t*)&fifo_ctrl4, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief   Selects Batching Data Rate (writing frequency in FIFO)
-  *          for third data set.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of dec_ds3_fifo in reg FIFO_CTRL4
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_dataset_3_batch_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_dec_ds3_fifo_t* val) {
-    lsm6ds3tr_c_fifo_ctrl4_t fifo_ctrl4;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL4, (uint8_t*)&fifo_ctrl4, 1);
-
-    switch(fifo_ctrl4.dec_ds3_fifo) {
-    case LSM6DS3TR_C_FIFO_DS3_DISABLE:
-        *val = LSM6DS3TR_C_FIFO_DS3_DISABLE;
-        break;
-
-    case LSM6DS3TR_C_FIFO_DS3_NO_DEC:
-        *val = LSM6DS3TR_C_FIFO_DS3_NO_DEC;
-        break;
-
-    case LSM6DS3TR_C_FIFO_DS3_DEC_2:
-        *val = LSM6DS3TR_C_FIFO_DS3_DEC_2;
-        break;
-
-    case LSM6DS3TR_C_FIFO_DS3_DEC_3:
-        *val = LSM6DS3TR_C_FIFO_DS3_DEC_3;
-        break;
-
-    case LSM6DS3TR_C_FIFO_DS3_DEC_4:
-        *val = LSM6DS3TR_C_FIFO_DS3_DEC_4;
-        break;
-
-    case LSM6DS3TR_C_FIFO_DS3_DEC_8:
-        *val = LSM6DS3TR_C_FIFO_DS3_DEC_8;
-        break;
-
-    case LSM6DS3TR_C_FIFO_DS3_DEC_16:
-        *val = LSM6DS3TR_C_FIFO_DS3_DEC_16;
-        break;
-
-    case LSM6DS3TR_C_FIFO_DS3_DEC_32:
-        *val = LSM6DS3TR_C_FIFO_DS3_DEC_32;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_FIFO_DS3_DEC_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief   Selects Batching Data Rate (writing frequency in FIFO)
-  *          for fourth data set.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of dec_ds4_fifo in reg FIFO_CTRL4
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_dataset_4_batch_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_dec_ds4_fifo_t val) {
-    lsm6ds3tr_c_fifo_ctrl4_t fifo_ctrl4;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL4, (uint8_t*)&fifo_ctrl4, 1);
-
-    if(ret == 0) {
-        fifo_ctrl4.dec_ds4_fifo = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_FIFO_CTRL4, (uint8_t*)&fifo_ctrl4, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief   Selects Batching Data Rate (writing frequency in FIFO) for
-  *          fourth data set.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of dec_ds4_fifo in reg FIFO_CTRL4
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_dataset_4_batch_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_dec_ds4_fifo_t* val) {
-    lsm6ds3tr_c_fifo_ctrl4_t fifo_ctrl4;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL4, (uint8_t*)&fifo_ctrl4, 1);
-
-    switch(fifo_ctrl4.dec_ds4_fifo) {
-    case LSM6DS3TR_C_FIFO_DS4_DISABLE:
-        *val = LSM6DS3TR_C_FIFO_DS4_DISABLE;
-        break;
-
-    case LSM6DS3TR_C_FIFO_DS4_NO_DEC:
-        *val = LSM6DS3TR_C_FIFO_DS4_NO_DEC;
-        break;
-
-    case LSM6DS3TR_C_FIFO_DS4_DEC_2:
-        *val = LSM6DS3TR_C_FIFO_DS4_DEC_2;
-        break;
-
-    case LSM6DS3TR_C_FIFO_DS4_DEC_3:
-        *val = LSM6DS3TR_C_FIFO_DS4_DEC_3;
-        break;
-
-    case LSM6DS3TR_C_FIFO_DS4_DEC_4:
-        *val = LSM6DS3TR_C_FIFO_DS4_DEC_4;
-        break;
-
-    case LSM6DS3TR_C_FIFO_DS4_DEC_8:
-        *val = LSM6DS3TR_C_FIFO_DS4_DEC_8;
-        break;
-
-    case LSM6DS3TR_C_FIFO_DS4_DEC_16:
-        *val = LSM6DS3TR_C_FIFO_DS4_DEC_16;
-        break;
-
-    case LSM6DS3TR_C_FIFO_DS4_DEC_32:
-        *val = LSM6DS3TR_C_FIFO_DS4_DEC_32;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_FIFO_DS4_DEC_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief   8-bit data storage in FIFO.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of only_high_data in reg FIFO_CTRL4
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_xl_gy_8bit_format_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_fifo_ctrl4_t fifo_ctrl4;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL4, (uint8_t*)&fifo_ctrl4, 1);
-
-    if(ret == 0) {
-        fifo_ctrl4.only_high_data = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_FIFO_CTRL4, (uint8_t*)&fifo_ctrl4, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  8-bit data storage in FIFO.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of only_high_data in reg FIFO_CTRL4
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_xl_gy_8bit_format_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_fifo_ctrl4_t fifo_ctrl4;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL4, (uint8_t*)&fifo_ctrl4, 1);
-    *val = fifo_ctrl4.only_high_data;
-
-    return ret;
-}
-
-/**
-  * @brief  Sensing chain FIFO stop values memorization at threshold
-  *         level.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of stop_on_fth in reg FIFO_CTRL4
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_stop_on_wtm_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_fifo_ctrl4_t fifo_ctrl4;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL4, (uint8_t*)&fifo_ctrl4, 1);
-
-    if(ret == 0) {
-        fifo_ctrl4.stop_on_fth = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_FIFO_CTRL4, (uint8_t*)&fifo_ctrl4, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Sensing chain FIFO stop values memorization at threshold
-  *         level.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of stop_on_fth in reg FIFO_CTRL4
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_stop_on_wtm_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_fifo_ctrl4_t fifo_ctrl4;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL4, (uint8_t*)&fifo_ctrl4, 1);
-    *val = fifo_ctrl4.stop_on_fth;
-
-    return ret;
-}
-
-/**
-  * @brief  FIFO mode selection.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of fifo_mode in reg FIFO_CTRL5
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_fifo_mode_t val) {
-    lsm6ds3tr_c_fifo_ctrl5_t fifo_ctrl5;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL5, (uint8_t*)&fifo_ctrl5, 1);
-
-    if(ret == 0) {
-        fifo_ctrl5.fifo_mode = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_FIFO_CTRL5, (uint8_t*)&fifo_ctrl5, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  FIFO mode selection.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of fifo_mode in reg FIFO_CTRL5
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_fifo_mode_t* val) {
-    lsm6ds3tr_c_fifo_ctrl5_t fifo_ctrl5;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL5, (uint8_t*)&fifo_ctrl5, 1);
-
-    switch(fifo_ctrl5.fifo_mode) {
-    case LSM6DS3TR_C_BYPASS_MODE:
-        *val = LSM6DS3TR_C_BYPASS_MODE;
-        break;
-
-    case LSM6DS3TR_C_FIFO_MODE:
-        *val = LSM6DS3TR_C_FIFO_MODE;
-        break;
-
-    case LSM6DS3TR_C_STREAM_TO_FIFO_MODE:
-        *val = LSM6DS3TR_C_STREAM_TO_FIFO_MODE;
-        break;
-
-    case LSM6DS3TR_C_BYPASS_TO_STREAM_MODE:
-        *val = LSM6DS3TR_C_BYPASS_TO_STREAM_MODE;
-        break;
-
-    case LSM6DS3TR_C_STREAM_MODE:
-        *val = LSM6DS3TR_C_STREAM_MODE;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_FIFO_MODE_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  FIFO ODR selection, setting FIFO_MODE also.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of odr_fifo in reg FIFO_CTRL5
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_data_rate_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_odr_fifo_t val) {
-    lsm6ds3tr_c_fifo_ctrl5_t fifo_ctrl5;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL5, (uint8_t*)&fifo_ctrl5, 1);
-
-    if(ret == 0) {
-        fifo_ctrl5.odr_fifo = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_FIFO_CTRL5, (uint8_t*)&fifo_ctrl5, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  FIFO ODR selection, setting FIFO_MODE also.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of odr_fifo in reg FIFO_CTRL5
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_fifo_data_rate_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_odr_fifo_t* val) {
-    lsm6ds3tr_c_fifo_ctrl5_t fifo_ctrl5;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_FIFO_CTRL5, (uint8_t*)&fifo_ctrl5, 1);
-
-    switch(fifo_ctrl5.odr_fifo) {
-    case LSM6DS3TR_C_FIFO_DISABLE:
-        *val = LSM6DS3TR_C_FIFO_DISABLE;
-        break;
-
-    case LSM6DS3TR_C_FIFO_12Hz5:
-        *val = LSM6DS3TR_C_FIFO_12Hz5;
-        break;
-
-    case LSM6DS3TR_C_FIFO_26Hz:
-        *val = LSM6DS3TR_C_FIFO_26Hz;
-        break;
-
-    case LSM6DS3TR_C_FIFO_52Hz:
-        *val = LSM6DS3TR_C_FIFO_52Hz;
-        break;
-
-    case LSM6DS3TR_C_FIFO_104Hz:
-        *val = LSM6DS3TR_C_FIFO_104Hz;
-        break;
-
-    case LSM6DS3TR_C_FIFO_208Hz:
-        *val = LSM6DS3TR_C_FIFO_208Hz;
-        break;
-
-    case LSM6DS3TR_C_FIFO_416Hz:
-        *val = LSM6DS3TR_C_FIFO_416Hz;
-        break;
-
-    case LSM6DS3TR_C_FIFO_833Hz:
-        *val = LSM6DS3TR_C_FIFO_833Hz;
-        break;
-
-    case LSM6DS3TR_C_FIFO_1k66Hz:
-        *val = LSM6DS3TR_C_FIFO_1k66Hz;
-        break;
-
-    case LSM6DS3TR_C_FIFO_3k33Hz:
-        *val = LSM6DS3TR_C_FIFO_3k33Hz;
-        break;
-
-    case LSM6DS3TR_C_FIFO_6k66Hz:
-        *val = LSM6DS3TR_C_FIFO_6k66Hz;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_FIFO_RATE_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_DEN_functionality
-  * @brief       This section groups all the functions concerning DEN
-  *              functionality.
-  * @{
-  *
-  */
-
-/**
-  * @brief  DEN active level configuration.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of den_lh in reg CTRL5_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_den_polarity_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_den_lh_t val) {
-    lsm6ds3tr_c_ctrl5_c_t ctrl5_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
-
-    if(ret == 0) {
-        ctrl5_c.den_lh = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  DEN active level configuration.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of den_lh in reg CTRL5_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_den_polarity_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_den_lh_t* val) {
-    lsm6ds3tr_c_ctrl5_c_t ctrl5_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
-
-    switch(ctrl5_c.den_lh) {
-    case LSM6DS3TR_C_DEN_ACT_LOW:
-        *val = LSM6DS3TR_C_DEN_ACT_LOW;
-        break;
-
-    case LSM6DS3TR_C_DEN_ACT_HIGH:
-        *val = LSM6DS3TR_C_DEN_ACT_HIGH;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_DEN_POL_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  DEN functionality marking mode[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of den_mode in reg CTRL6_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_den_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_den_mode_t val) {
-    lsm6ds3tr_c_ctrl6_c_t ctrl6_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
-
-    if(ret == 0) {
-        ctrl6_c.den_mode = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  DEN functionality marking mode[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of den_mode in reg CTRL6_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_den_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_den_mode_t* val) {
-    lsm6ds3tr_c_ctrl6_c_t ctrl6_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
-
-    switch(ctrl6_c.den_mode) {
-    case LSM6DS3TR_C_DEN_DISABLE:
-        *val = LSM6DS3TR_C_DEN_DISABLE;
-        break;
-
-    case LSM6DS3TR_C_LEVEL_LETCHED:
-        *val = LSM6DS3TR_C_LEVEL_LETCHED;
-        break;
-
-    case LSM6DS3TR_C_LEVEL_TRIGGER:
-        *val = LSM6DS3TR_C_LEVEL_TRIGGER;
-        break;
-
-    case LSM6DS3TR_C_EDGE_TRIGGER:
-        *val = LSM6DS3TR_C_EDGE_TRIGGER;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_DEN_MODE_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Extend DEN functionality to accelerometer sensor.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of den_xl_g in reg CTRL9_XL
-  *                             and den_xl_en in CTRL4_C.
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_den_enable_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_den_xl_en_t val) {
-    lsm6ds3tr_c_ctrl4_c_t ctrl4_c;
-    lsm6ds3tr_c_ctrl9_xl_t ctrl9_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
-
-    if(ret == 0) {
-        ctrl9_xl.den_xl_g = (uint8_t)val & 0x01U;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
-
-            if(ret == 0) {
-                ctrl4_c.den_xl_en = (uint8_t)val & 0x02U;
-                ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Extend DEN functionality to accelerometer sensor. [get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of den_xl_g in reg CTRL9_XL
-  *                             and den_xl_en in CTRL4_C.
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_den_enable_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_den_xl_en_t* val) {
-    lsm6ds3tr_c_ctrl4_c_t ctrl4_c;
-    lsm6ds3tr_c_ctrl9_xl_t ctrl9_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
-
-        switch((ctrl4_c.den_xl_en << 1) + ctrl9_xl.den_xl_g) {
-        case LSM6DS3TR_C_STAMP_IN_GY_DATA:
-            *val = LSM6DS3TR_C_STAMP_IN_GY_DATA;
-            break;
-
-        case LSM6DS3TR_C_STAMP_IN_XL_DATA:
-            *val = LSM6DS3TR_C_STAMP_IN_XL_DATA;
-            break;
-
-        case LSM6DS3TR_C_STAMP_IN_GY_XL_DATA:
-            *val = LSM6DS3TR_C_STAMP_IN_GY_XL_DATA;
-            break;
-
-        default:
-            *val = LSM6DS3TR_C_DEN_STAMP_ND;
-            break;
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  DEN value stored in LSB of Z-axis.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of den_z in reg CTRL9_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_den_mark_axis_z_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_ctrl9_xl_t ctrl9_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
-
-    if(ret == 0) {
-        ctrl9_xl.den_z = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  DEN value stored in LSB of Z-axis.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of den_z in reg CTRL9_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_den_mark_axis_z_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_ctrl9_xl_t ctrl9_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
-    *val = ctrl9_xl.den_z;
-
-    return ret;
-}
-
-/**
-  * @brief  DEN value stored in LSB of Y-axis.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of den_y in reg CTRL9_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_den_mark_axis_y_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_ctrl9_xl_t ctrl9_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
-
-    if(ret == 0) {
-        ctrl9_xl.den_y = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  DEN value stored in LSB of Y-axis.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of den_y in reg CTRL9_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_den_mark_axis_y_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_ctrl9_xl_t ctrl9_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
-    *val = ctrl9_xl.den_y;
-
-    return ret;
-}
-
-/**
-  * @brief  DEN value stored in LSB of X-axis.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of den_x in reg CTRL9_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_den_mark_axis_x_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_ctrl9_xl_t ctrl9_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
-
-    if(ret == 0) {
-        ctrl9_xl.den_x = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  DEN value stored in LSB of X-axis.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of den_x in reg CTRL9_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_den_mark_axis_x_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_ctrl9_xl_t ctrl9_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
-    *val = ctrl9_xl.den_x;
-
-    return ret;
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_Pedometer
-  * @brief       This section groups all the functions that manage pedometer.
-  * @{
-  *
-  */
-
-/**
-  * @brief  Reset pedometer step counter.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of pedo_rst_step in reg CTRL10_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_pedo_step_reset_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_ctrl10_c_t ctrl10_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
-
-    if(ret == 0) {
-        ctrl10_c.pedo_rst_step = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Reset pedometer step counter.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of pedo_rst_step in reg CTRL10_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_pedo_step_reset_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_ctrl10_c_t ctrl10_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
-    *val = ctrl10_c.pedo_rst_step;
-
-    return ret;
-}
-
-/**
-  * @brief  Enable pedometer algorithm.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of pedo_en in reg CTRL10_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_pedo_sens_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_ctrl10_c_t ctrl10_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
-
-    if(ret == 0) {
-        ctrl10_c.pedo_en = val;
-
-        if(val != 0x00U) {
-            ctrl10_c.func_en = val;
-        }
-
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  pedo_sens:   Enable pedometer algorithm.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of pedo_en in reg CTRL10_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_pedo_sens_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_ctrl10_c_t ctrl10_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
-    *val = ctrl10_c.pedo_en;
-
-    return ret;
-}
-
-/**
-  * @brief  Minimum threshold to detect a peak. Default is 10h.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of ths_min in reg
-  *                      CONFIG_PEDO_THS_MIN
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_pedo_threshold_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_config_pedo_ths_min_t config_pedo_ths_min;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(
-            ctx, LSM6DS3TR_C_CONFIG_PEDO_THS_MIN, (uint8_t*)&config_pedo_ths_min, 1);
-
-        if(ret == 0) {
-            config_pedo_ths_min.ths_min = val;
-            ret = lsm6ds3tr_c_write_reg(
-                ctx, LSM6DS3TR_C_CONFIG_PEDO_THS_MIN, (uint8_t*)&config_pedo_ths_min, 1);
-
-            if(ret == 0) {
-                ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Minimum threshold to detect a peak. Default is 10h.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of ths_min in reg  CONFIG_PEDO_THS_MIN
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_pedo_threshold_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_config_pedo_ths_min_t config_pedo_ths_min;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(
-            ctx, LSM6DS3TR_C_CONFIG_PEDO_THS_MIN, (uint8_t*)&config_pedo_ths_min, 1);
-
-        if(ret == 0) {
-            *val = config_pedo_ths_min.ths_min;
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  pedo_full_scale:   Pedometer data range.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of pedo_fs in
-  *                            reg CONFIG_PEDO_THS_MIN
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_pedo_full_scale_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_pedo_fs_t val) {
-    lsm6ds3tr_c_config_pedo_ths_min_t config_pedo_ths_min;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(
-            ctx, LSM6DS3TR_C_CONFIG_PEDO_THS_MIN, (uint8_t*)&config_pedo_ths_min, 1);
-
-        if(ret == 0) {
-            config_pedo_ths_min.pedo_fs = (uint8_t)val;
-            ret = lsm6ds3tr_c_write_reg(
-                ctx, LSM6DS3TR_C_CONFIG_PEDO_THS_MIN, (uint8_t*)&config_pedo_ths_min, 1);
-
-            if(ret == 0) {
-                ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Pedometer data range.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of pedo_fs in
-  *                            reg CONFIG_PEDO_THS_MIN
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_pedo_full_scale_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_pedo_fs_t* val) {
-    lsm6ds3tr_c_config_pedo_ths_min_t config_pedo_ths_min;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(
-            ctx, LSM6DS3TR_C_CONFIG_PEDO_THS_MIN, (uint8_t*)&config_pedo_ths_min, 1);
-
-        if(ret == 0) {
-            switch(config_pedo_ths_min.pedo_fs) {
-            case LSM6DS3TR_C_PEDO_AT_2g:
-                *val = LSM6DS3TR_C_PEDO_AT_2g;
-                break;
-
-            case LSM6DS3TR_C_PEDO_AT_4g:
-                *val = LSM6DS3TR_C_PEDO_AT_4g;
-                break;
-
-            default:
-                *val = LSM6DS3TR_C_PEDO_FS_ND;
-                break;
-            }
-
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Pedometer debounce configuration register (r/w).[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of deb_step in reg PEDO_DEB_REG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_pedo_debounce_steps_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_pedo_deb_reg_t pedo_deb_reg;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_PEDO_DEB_REG, (uint8_t*)&pedo_deb_reg, 1);
-
-        if(ret == 0) {
-            pedo_deb_reg.deb_step = val;
-            ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_PEDO_DEB_REG, (uint8_t*)&pedo_deb_reg, 1);
-
-            if(ret == 0) {
-                ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Pedometer debounce configuration register (r/w).[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of deb_step in reg PEDO_DEB_REG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_pedo_debounce_steps_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_pedo_deb_reg_t pedo_deb_reg;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_PEDO_DEB_REG, (uint8_t*)&pedo_deb_reg, 1);
-
-        if(ret == 0) {
-            *val = pedo_deb_reg.deb_step;
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Debounce time. If the time between two consecutive steps is
-  *         greater than  DEB_TIME*80ms, the debouncer is reactivated.
-  *         Default value: 01101[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of deb_time in reg PEDO_DEB_REG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_pedo_timeout_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_pedo_deb_reg_t pedo_deb_reg;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_PEDO_DEB_REG, (uint8_t*)&pedo_deb_reg, 1);
-
-        if(ret == 0) {
-            pedo_deb_reg.deb_time = val;
-            ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_PEDO_DEB_REG, (uint8_t*)&pedo_deb_reg, 1);
-
-            if(ret == 0) {
-                ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Debounce time. If the time between two consecutive steps is
-  *         greater than  DEB_TIME*80ms, the debouncer is reactivated.
-  *         Default value: 01101[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of deb_time in reg PEDO_DEB_REG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_pedo_timeout_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_pedo_deb_reg_t pedo_deb_reg;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_PEDO_DEB_REG, (uint8_t*)&pedo_deb_reg, 1);
-
-        if(ret == 0) {
-            *val = pedo_deb_reg.deb_time;
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Time period register for step detection on delta time (r/w).[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  buff   Buffer that contains data to write
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_pedo_steps_period_set(stmdev_ctx_t* ctx, uint8_t* buff) {
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_STEP_COUNT_DELTA, buff, 1);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Time period register for step detection on delta time (r/w).[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  buff   Buffer that stores data read
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_pedo_steps_period_get(stmdev_ctx_t* ctx, uint8_t* buff) {
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_STEP_COUNT_DELTA, buff, 1);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_significant_motion
-  * @brief       This section groups all the functions that manage the
-  *              significant motion detection.
-  * @{
-  *
-  */
-
-/**
-  * @brief  Enable significant motion detection function.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of sign_motion_en in reg CTRL10_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_motion_sens_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_ctrl10_c_t ctrl10_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
-
-    if(ret == 0) {
-        ctrl10_c.sign_motion_en = val;
-
-        if(val != 0x00U) {
-            ctrl10_c.func_en = val;
-            ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Enable significant motion detection function.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of sign_motion_en in reg CTRL10_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_motion_sens_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_ctrl10_c_t ctrl10_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
-    *val = ctrl10_c.sign_motion_en;
-
-    return ret;
-}
-
-/**
-  * @brief  Significant motion threshold.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  buff   Buffer that store significant motion threshold.
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_motion_threshold_set(stmdev_ctx_t* ctx, uint8_t* buff) {
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_SM_THS, buff, 1);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Significant motion threshold.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  buff   Buffer that store significant motion threshold.
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_motion_threshold_get(stmdev_ctx_t* ctx, uint8_t* buff) {
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_SM_THS, buff, 1);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_tilt_detection
-  * @brief       This section groups all the functions that manage the tilt
-  *              event detection.
-  * @{
-  *
-  */
-
-/**
-  * @brief  Enable tilt calculation.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of tilt_en in reg CTRL10_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tilt_sens_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_ctrl10_c_t ctrl10_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
-
-    if(ret == 0) {
-        ctrl10_c.tilt_en = val;
-
-        if(val != 0x00U) {
-            ctrl10_c.func_en = val;
-        }
-
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Enable tilt calculation.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of tilt_en in reg CTRL10_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tilt_sens_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_ctrl10_c_t ctrl10_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
-    *val = ctrl10_c.tilt_en;
-
-    return ret;
-}
-
-/**
-  * @brief  Enable tilt calculation.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of tilt_en in reg CTRL10_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_wrist_tilt_sens_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_ctrl10_c_t ctrl10_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
-
-    if(ret == 0) {
-        ctrl10_c.wrist_tilt_en = val;
-
-        if(val != 0x00U) {
-            ctrl10_c.func_en = val;
-        }
-
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Enable tilt calculation.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of tilt_en in reg CTRL10_C
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_wrist_tilt_sens_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_ctrl10_c_t ctrl10_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
-    *val = ctrl10_c.wrist_tilt_en;
-
-    return ret;
-}
-
-/**
-  * @brief  Absolute Wrist Tilt latency register (r/w).
-  *         Absolute wrist tilt latency parameters.
-  *         1 LSB = 40 ms. Default value: 0Fh (600 ms).[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  buff   Buffer that contains data to write
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tilt_latency_set(stmdev_ctx_t* ctx, uint8_t* buff) {
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_B);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_A_WRIST_TILT_LAT, buff, 1);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Absolute Wrist Tilt latency register (r/w).
-  *         Absolute wrist tilt latency parameters.
-  *         1 LSB = 40 ms. Default value: 0Fh (600 ms).[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  buff   Buffer that stores data read
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tilt_latency_get(stmdev_ctx_t* ctx, uint8_t* buff) {
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_B);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_A_WRIST_TILT_LAT, buff, 1);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Absolute Wrist Tilt threshold register(r/w).
-  *         Absolute wrist tilt threshold parameters.
-  *         1 LSB = 15.625 mg.Default value: 20h (500 mg).[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  buff   Buffer that contains data to write
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tilt_threshold_set(stmdev_ctx_t* ctx, uint8_t* buff) {
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_B);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_A_WRIST_TILT_THS, buff, 1);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Absolute Wrist Tilt threshold register(r/w).
-  *         Absolute wrist tilt threshold parameters.
-  *         1 LSB = 15.625 mg.Default value: 20h (500 mg).[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  buff   Buffer that stores data read
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tilt_threshold_get(stmdev_ctx_t* ctx, uint8_t* buff) {
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_B);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_A_WRIST_TILT_THS, buff, 1);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Absolute Wrist Tilt mask register (r/w).[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Registers A_WRIST_TILT_MASK
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tilt_src_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_a_wrist_tilt_mask_t* val) {
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_B);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_A_WRIST_TILT_MASK, (uint8_t*)val, 1);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Absolute Wrist Tilt mask register (r/w).[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Registers A_WRIST_TILT_MASK
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_tilt_src_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_a_wrist_tilt_mask_t* val) {
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_B);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_A_WRIST_TILT_MASK, (uint8_t*)val, 1);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_ magnetometer_sensor
-  * @brief       This section groups all the functions that manage additional
-  *              magnetometer sensor.
-  * @{
-  *
-  */
-
-/**
-  * @brief  Enable soft-iron correction algorithm for magnetometer.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of soft_en in reg CTRL9_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_mag_soft_iron_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_ctrl9_xl_t ctrl9_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
-
-    if(ret == 0) {
-        ctrl9_xl.soft_en = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Enable soft-iron correction algorithm for magnetometer.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of soft_en in reg CTRL9_XL
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_mag_soft_iron_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_ctrl9_xl_t ctrl9_xl;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
-    *val = ctrl9_xl.soft_en;
-
-    return ret;
-}
-
-/**
-  * @brief  Enable hard-iron correction algorithm for magnetometer.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of iron_en in reg MASTER_CONFIG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_mag_hard_iron_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_master_config_t master_config;
-    lsm6ds3tr_c_ctrl10_c_t ctrl10_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-
-    if(ret == 0) {
-        master_config.iron_en = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
-
-            if(ret == 0) {
-                if(val != 0x00U) {
-                    ctrl10_c.func_en = val;
-                }
-
-                ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Enable hard-iron correction algorithm for magnetometer.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of iron_en in reg MASTER_CONFIG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_mag_hard_iron_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_master_config_t master_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-    *val = master_config.iron_en;
-
-    return ret;
-}
-
-/**
-  * @brief  Soft iron 3x3 matrix. Value are expressed in sign-module format.
-  *         (Es. SVVVVVVVb where S is the sign 0/+1/- and V is the value).[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  buff   Buffer that contains data to write
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_mag_soft_iron_mat_set(stmdev_ctx_t* ctx, uint8_t* buff) {
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_MAG_SI_XX, buff, 9);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Soft iron 3x3 matrix. Value are expressed in sign-module format.
-  *         (Es. SVVVVVVVb where S is the sign 0/+1/- and V is the value).[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  buff   Buffer that stores data read
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_mag_soft_iron_mat_get(stmdev_ctx_t* ctx, uint8_t* buff) {
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MAG_SI_XX, buff, 9);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Offset for hard-iron compensation register (r/w). The value is
-  *         expressed as a 16-bit word in two’s complement.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  buff   Buffer that contains data to write
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_mag_offset_set(stmdev_ctx_t* ctx, int16_t* val) {
-    uint8_t buff[6];
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        buff[1] = (uint8_t)((uint16_t)val[0] / 256U);
-        buff[0] = (uint8_t)((uint16_t)val[0] - (buff[1] * 256U));
-        buff[3] = (uint8_t)((uint16_t)val[1] / 256U);
-        buff[2] = (uint8_t)((uint16_t)val[1] - (buff[3] * 256U));
-        buff[5] = (uint8_t)((uint16_t)val[2] / 256U);
-        buff[4] = (uint8_t)((uint16_t)val[2] - (buff[5] * 256U));
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_MAG_OFFX_L, buff, 6);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Offset for hard-iron compensation register(r/w).
-  *         The value is expressed as a 16-bit word in two’s complement.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  buff   Buffer that stores data read
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_mag_offset_get(stmdev_ctx_t* ctx, int16_t* val) {
-    uint8_t buff[6];
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MAG_OFFX_L, buff, 6);
-
-        if(ret == 0) {
-            val[0] = (int16_t)buff[1];
-            val[0] = (val[0] * 256) + (int16_t)buff[0];
-            val[1] = (int16_t)buff[3];
-            val[1] = (val[1] * 256) + (int16_t)buff[2];
-            val[2] = (int16_t)buff[5];
-            val[2] = (val[2] * 256) + (int16_t)buff[4];
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @defgroup    LSM6DS3TR_C_Sensor_hub
-  * @brief       This section groups all the functions that manage the sensor
-  *              hub functionality.
-  * @{
-  *
-  */
-
-/**
-  * @brief  Enable function.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values func_en
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_func_en_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_ctrl10_c_t ctrl10_c;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
-
-    if(ret == 0) {
-        ctrl10_c.func_en = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Sensor synchronization time frame with the step of 500 ms and
-  *         full range of 5s. Unsigned 8-bit.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of tph in reg SENSOR_SYNC_TIME_FRAME
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_sync_sens_frame_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_sensor_sync_time_frame_t sensor_sync_time_frame;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(
-        ctx, LSM6DS3TR_C_SENSOR_SYNC_TIME_FRAME, (uint8_t*)&sensor_sync_time_frame, 1);
-
-    if(ret == 0) {
-        sensor_sync_time_frame.tph = val;
-        ret = lsm6ds3tr_c_write_reg(
-            ctx, LSM6DS3TR_C_SENSOR_SYNC_TIME_FRAME, (uint8_t*)&sensor_sync_time_frame, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Sensor synchronization time frame with the step of 500 ms and
-  *         full range of 5s. Unsigned 8-bit.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of tph in reg  SENSOR_SYNC_TIME_FRAME
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_sync_sens_frame_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_sensor_sync_time_frame_t sensor_sync_time_frame;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(
-        ctx, LSM6DS3TR_C_SENSOR_SYNC_TIME_FRAME, (uint8_t*)&sensor_sync_time_frame, 1);
-    *val = sensor_sync_time_frame.tph;
-
-    return ret;
-}
-
-/**
-  * @brief  Resolution ratio of error code for sensor synchronization.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of rr in reg  SENSOR_SYNC_RES_RATIO
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_sync_sens_ratio_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_rr_t val) {
-    lsm6ds3tr_c_sensor_sync_res_ratio_t sensor_sync_res_ratio;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(
-        ctx, LSM6DS3TR_C_SENSOR_SYNC_RES_RATIO, (uint8_t*)&sensor_sync_res_ratio, 1);
-
-    if(ret == 0) {
-        sensor_sync_res_ratio.rr = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(
-            ctx, LSM6DS3TR_C_SENSOR_SYNC_RES_RATIO, (uint8_t*)&sensor_sync_res_ratio, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Resolution ratio of error code for sensor synchronization.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of rr in reg  SENSOR_SYNC_RES_RATIO
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_sync_sens_ratio_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_rr_t* val) {
-    lsm6ds3tr_c_sensor_sync_res_ratio_t sensor_sync_res_ratio;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(
-        ctx, LSM6DS3TR_C_SENSOR_SYNC_RES_RATIO, (uint8_t*)&sensor_sync_res_ratio, 1);
-
-    switch(sensor_sync_res_ratio.rr) {
-    case LSM6DS3TR_C_RES_RATIO_2_11:
-        *val = LSM6DS3TR_C_RES_RATIO_2_11;
-        break;
-
-    case LSM6DS3TR_C_RES_RATIO_2_12:
-        *val = LSM6DS3TR_C_RES_RATIO_2_12;
-        break;
-
-    case LSM6DS3TR_C_RES_RATIO_2_13:
-        *val = LSM6DS3TR_C_RES_RATIO_2_13;
-        break;
-
-    case LSM6DS3TR_C_RES_RATIO_2_14:
-        *val = LSM6DS3TR_C_RES_RATIO_2_14;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_RES_RATIO_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Sensor hub I2C master enable.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of master_on in reg MASTER_CONFIG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_master_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_master_config_t master_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-
-    if(ret == 0) {
-        master_config.master_on = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Sensor hub I2C master enable.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of master_on in reg MASTER_CONFIG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_master_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_master_config_t master_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-    *val = master_config.master_on;
-
-    return ret;
-}
-
-/**
-  * @brief  I2C interface pass-through.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of pass_through_mode in reg MASTER_CONFIG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_pass_through_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_master_config_t master_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-
-    if(ret == 0) {
-        master_config.pass_through_mode = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  I2C interface pass-through.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of pass_through_mode in reg MASTER_CONFIG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_pass_through_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_master_config_t master_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-    *val = master_config.pass_through_mode;
-
-    return ret;
-}
-
-/**
-  * @brief  Master I2C pull-up enable/disable.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of pull_up_en in reg MASTER_CONFIG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_pin_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_pull_up_en_t val) {
-    lsm6ds3tr_c_master_config_t master_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-
-    if(ret == 0) {
-        master_config.pull_up_en = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Master I2C pull-up enable/disable.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of pull_up_en in reg MASTER_CONFIG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_pin_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_pull_up_en_t* val) {
-    lsm6ds3tr_c_master_config_t master_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-
-    switch(master_config.pull_up_en) {
-    case LSM6DS3TR_C_EXT_PULL_UP:
-        *val = LSM6DS3TR_C_EXT_PULL_UP;
-        break;
-
-    case LSM6DS3TR_C_INTERNAL_PULL_UP:
-        *val = LSM6DS3TR_C_INTERNAL_PULL_UP;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_SH_PIN_MODE;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Sensor hub trigger signal selection.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of start_config in reg MASTER_CONFIG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_syncro_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_start_config_t val) {
-    lsm6ds3tr_c_master_config_t master_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-
-    if(ret == 0) {
-        master_config.start_config = (uint8_t)val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Sensor hub trigger signal selection.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of start_config in reg MASTER_CONFIG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_syncro_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_start_config_t* val) {
-    lsm6ds3tr_c_master_config_t master_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-
-    switch(master_config.start_config) {
-    case LSM6DS3TR_C_XL_GY_DRDY:
-        *val = LSM6DS3TR_C_XL_GY_DRDY;
-        break;
-
-    case LSM6DS3TR_C_EXT_ON_INT2_PIN:
-        *val = LSM6DS3TR_C_EXT_ON_INT2_PIN;
-        break;
-
-    default:
-        *val = LSM6DS3TR_C_SH_SYNCRO_ND;
-        break;
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Manage the Master DRDY signal on INT1 pad.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of drdy_on_int1 in reg MASTER_CONFIG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_drdy_on_int1_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_master_config_t master_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-
-    if(ret == 0) {
-        master_config.drdy_on_int1 = val;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Manage the Master DRDY signal on INT1 pad.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of drdy_on_int1 in reg MASTER_CONFIG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_drdy_on_int1_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_master_config_t master_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MASTER_CONFIG, (uint8_t*)&master_config, 1);
-    *val = master_config.drdy_on_int1;
-
-    return ret;
-}
-
-/**
-  * @brief  Sensor hub output registers.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Structure of registers from SENSORHUB1_REG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_read_data_raw_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_emb_sh_read_t* val) {
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_SENSORHUB1_REG, (uint8_t*)&(val->sh_byte_1), 12);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(
-            ctx, LSM6DS3TR_C_SENSORHUB13_REG, (uint8_t*)&(val->sh_byte_13), 6);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Master command code used for stamping for sensor sync.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of master_cmd_code in
-  *                reg MASTER_CMD_CODE
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_cmd_sens_sync_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_master_cmd_code_t master_cmd_code;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MASTER_CMD_CODE, (uint8_t*)&master_cmd_code, 1);
-
-    if(ret == 0) {
-        master_cmd_code.master_cmd_code = val;
-        ret =
-            lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_MASTER_CMD_CODE, (uint8_t*)&master_cmd_code, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Master command code used for stamping for sensor sync.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of master_cmd_code in
-  *                reg MASTER_CMD_CODE
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_cmd_sens_sync_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_master_cmd_code_t master_cmd_code;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_MASTER_CMD_CODE, (uint8_t*)&master_cmd_code, 1);
-    *val = master_cmd_code.master_cmd_code;
-
-    return ret;
-}
-
-/**
-  * @brief  Error code used for sensor synchronization.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of error_code in
-  *                reg SENS_SYNC_SPI_ERROR_CODE.
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_spi_sync_error_set(stmdev_ctx_t* ctx, uint8_t val) {
-    lsm6ds3tr_c_sens_sync_spi_error_code_t sens_sync_spi_error_code;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(
-        ctx, LSM6DS3TR_C_SENS_SYNC_SPI_ERROR_CODE, (uint8_t*)&sens_sync_spi_error_code, 1);
-
-    if(ret == 0) {
-        sens_sync_spi_error_code.error_code = val;
-        ret = lsm6ds3tr_c_write_reg(
-            ctx, LSM6DS3TR_C_SENS_SYNC_SPI_ERROR_CODE, (uint8_t*)&sens_sync_spi_error_code, 1);
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Error code used for sensor synchronization.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of error_code in
-  *                reg SENS_SYNC_SPI_ERROR_CODE.
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_spi_sync_error_get(stmdev_ctx_t* ctx, uint8_t* val) {
-    lsm6ds3tr_c_sens_sync_spi_error_code_t sens_sync_spi_error_code;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_read_reg(
-        ctx, LSM6DS3TR_C_SENS_SYNC_SPI_ERROR_CODE, (uint8_t*)&sens_sync_spi_error_code, 1);
-    *val = sens_sync_spi_error_code.error_code;
-
-    return ret;
-}
-
-/**
-  * @brief   Number of external sensors to be read by the sensor hub.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of aux_sens_on in reg SLAVE0_CONFIG.
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_num_of_dev_connected_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_aux_sens_on_t val) {
-    lsm6ds3tr_c_slave0_config_t slave0_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_SLAVE0_CONFIG, (uint8_t*)&slave0_config, 1);
-
-        if(ret == 0) {
-            slave0_config.aux_sens_on = (uint8_t)val;
-            ret =
-                lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_SLAVE0_CONFIG, (uint8_t*)&slave0_config, 1);
-
-            if(ret == 0) {
-                ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief   Number of external sensors to be read by the sensor hub.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of aux_sens_on in reg SLAVE0_CONFIG.
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t
-    lsm6ds3tr_c_sh_num_of_dev_connected_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_aux_sens_on_t* val) {
-    lsm6ds3tr_c_slave0_config_t slave0_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_SLAVE0_CONFIG, (uint8_t*)&slave0_config, 1);
-
-        if(ret == 0) {
-            switch(slave0_config.aux_sens_on) {
-            case LSM6DS3TR_C_SLV_0:
-                *val = LSM6DS3TR_C_SLV_0;
-                break;
-
-            case LSM6DS3TR_C_SLV_0_1:
-                *val = LSM6DS3TR_C_SLV_0_1;
-                break;
-
-            case LSM6DS3TR_C_SLV_0_1_2:
-                *val = LSM6DS3TR_C_SLV_0_1_2;
-                break;
-
-            case LSM6DS3TR_C_SLV_0_1_2_3:
-                *val = LSM6DS3TR_C_SLV_0_1_2_3;
-                break;
-
-            default:
-                *val = LSM6DS3TR_C_SLV_EN_ND;
-                break;
-            }
-
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Configure slave 0 for perform a write.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Structure that contain:
-  *                  - uint8_t slv_add;    8 bit i2c device address
-  *                  - uint8_t slv_subadd; 8 bit register device address
-  *                  - uint8_t slv_data;   8 bit data to write
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_cfg_write(stmdev_ctx_t* ctx, lsm6ds3tr_c_sh_cfg_write_t* val) {
-    lsm6ds3tr_c_slv0_add_t slv0_add;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        slv0_add.slave0_add = val->slv0_add;
-        slv0_add.rw_0 = 0;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_SLV0_ADD, (uint8_t*)&slv0_add, 1);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_SLV0_SUBADD, &(val->slv0_subadd), 1);
-
-            if(ret == 0) {
-                ret = lsm6ds3tr_c_write_reg(
-                    ctx, LSM6DS3TR_C_DATAWRITE_SRC_MODE_SUB_SLV0, &(val->slv0_data), 1);
-
-                if(ret == 0) {
-                    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-                }
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Configure slave 0 for perform a read.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Structure that contain:
-  *                  - uint8_t slv_add;    8 bit i2c device address
-  *                  - uint8_t slv_subadd; 8 bit register device address
-  *                  - uint8_t slv_len;    num of bit to read
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_slv0_cfg_read(stmdev_ctx_t* ctx, lsm6ds3tr_c_sh_cfg_read_t* val) {
-    lsm6ds3tr_c_slave0_config_t slave0_config;
-    lsm6ds3tr_c_slv0_add_t slv0_add;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        slv0_add.slave0_add = val->slv_add;
-        slv0_add.rw_0 = 1;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_SLV0_ADD, (uint8_t*)&slv0_add, 1);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_SLV0_SUBADD, &(val->slv_subadd), 1);
-
-            if(ret == 0) {
-                ret = lsm6ds3tr_c_read_reg(
-                    ctx, LSM6DS3TR_C_SLAVE0_CONFIG, (uint8_t*)&slave0_config, 1);
-                slave0_config.slave0_numop = val->slv_len;
-
-                if(ret == 0) {
-                    ret = lsm6ds3tr_c_write_reg(
-                        ctx, LSM6DS3TR_C_SLAVE0_CONFIG, (uint8_t*)&slave0_config, 1);
-
-                    if(ret == 0) {
-                        ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-                    }
-                }
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Configure slave 1 for perform a read.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Structure that contain:
-  *                  - uint8_t slv_add;    8 bit i2c device address
-  *                  - uint8_t slv_subadd; 8 bit register device address
-  *                  - uint8_t slv_len;    num of bit to read
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_slv1_cfg_read(stmdev_ctx_t* ctx, lsm6ds3tr_c_sh_cfg_read_t* val) {
-    lsm6ds3tr_c_slave1_config_t slave1_config;
-    lsm6ds3tr_c_slv1_add_t slv1_add;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        slv1_add.slave1_add = val->slv_add;
-        slv1_add.r_1 = 1;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_SLV1_ADD, (uint8_t*)&slv1_add, 1);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_SLV1_SUBADD, &(val->slv_subadd), 1);
-
-            if(ret == 0) {
-                ret = lsm6ds3tr_c_read_reg(
-                    ctx, LSM6DS3TR_C_SLAVE1_CONFIG, (uint8_t*)&slave1_config, 1);
-                slave1_config.slave1_numop = val->slv_len;
-
-                if(ret == 0) {
-                    ret = lsm6ds3tr_c_write_reg(
-                        ctx, LSM6DS3TR_C_SLAVE1_CONFIG, (uint8_t*)&slave1_config, 1);
-
-                    if(ret == 0) {
-                        ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-                    }
-                }
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Configure slave 2 for perform a read.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Structure that contain:
-  *                  - uint8_t slv_add;    8 bit i2c device address
-  *                  - uint8_t slv_subadd; 8 bit register device address
-  *                  - uint8_t slv_len;    num of bit to read
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_slv2_cfg_read(stmdev_ctx_t* ctx, lsm6ds3tr_c_sh_cfg_read_t* val) {
-    lsm6ds3tr_c_slv2_add_t slv2_add;
-    lsm6ds3tr_c_slave2_config_t slave2_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        slv2_add.slave2_add = val->slv_add;
-        slv2_add.r_2 = 1;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_SLV2_ADD, (uint8_t*)&slv2_add, 1);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_SLV2_SUBADD, &(val->slv_subadd), 1);
-
-            if(ret == 0) {
-                ret = lsm6ds3tr_c_read_reg(
-                    ctx, LSM6DS3TR_C_SLAVE2_CONFIG, (uint8_t*)&slave2_config, 1);
-
-                if(ret == 0) {
-                    slave2_config.slave2_numop = val->slv_len;
-                    ret = lsm6ds3tr_c_write_reg(
-                        ctx, LSM6DS3TR_C_SLAVE2_CONFIG, (uint8_t*)&slave2_config, 1);
-
-                    if(ret == 0) {
-                        ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-                    }
-                }
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Configure slave 3 for perform a read.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Structure that contain:
-  *                  - uint8_t slv_add;    8 bit i2c device address
-  *                  - uint8_t slv_subadd; 8 bit register device address
-  *                  - uint8_t slv_len;    num of bit to read
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_slv3_cfg_read(stmdev_ctx_t* ctx, lsm6ds3tr_c_sh_cfg_read_t* val) {
-    lsm6ds3tr_c_slave3_config_t slave3_config;
-    lsm6ds3tr_c_slv3_add_t slv3_add;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        slv3_add.slave3_add = val->slv_add;
-        slv3_add.r_3 = 1;
-        ret = lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_SLV3_ADD, (uint8_t*)&slv3_add, 1);
-
-        if(ret == 0) {
-            ret = lsm6ds3tr_c_write_reg(
-                ctx, LSM6DS3TR_C_SLV3_SUBADD, (uint8_t*)&(val->slv_subadd), 1);
-
-            if(ret == 0) {
-                ret = lsm6ds3tr_c_read_reg(
-                    ctx, LSM6DS3TR_C_SLAVE3_CONFIG, (uint8_t*)&slave3_config, 1);
-
-                if(ret == 0) {
-                    slave3_config.slave3_numop = val->slv_len;
-                    ret = lsm6ds3tr_c_write_reg(
-                        ctx, LSM6DS3TR_C_SLAVE3_CONFIG, (uint8_t*)&slave3_config, 1);
-
-                    if(ret == 0) {
-                        ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-                    }
-                }
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Decimation of read operation on Slave 0 starting from the
-  *         sensor hub trigger.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of slave0_rate in reg SLAVE0_CONFIG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_slave_0_dec_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_slave0_rate_t val) {
-    lsm6ds3tr_c_slave0_config_t slave0_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_SLAVE0_CONFIG, (uint8_t*)&slave0_config, 1);
-
-        if(ret == 0) {
-            slave0_config.slave0_rate = (uint8_t)val;
-            ret =
-                lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_SLAVE0_CONFIG, (uint8_t*)&slave0_config, 1);
-
-            if(ret == 0) {
-                ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Decimation of read operation on Slave 0 starting from the
-  *         sensor hub trigger.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of slave0_rate in reg SLAVE0_CONFIG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_slave_0_dec_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_slave0_rate_t* val) {
-    lsm6ds3tr_c_slave0_config_t slave0_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_SLAVE0_CONFIG, (uint8_t*)&slave0_config, 1);
-
-        if(ret == 0) {
-            switch(slave0_config.slave0_rate) {
-            case LSM6DS3TR_C_SL0_NO_DEC:
-                *val = LSM6DS3TR_C_SL0_NO_DEC;
-                break;
-
-            case LSM6DS3TR_C_SL0_DEC_2:
-                *val = LSM6DS3TR_C_SL0_DEC_2;
-                break;
-
-            case LSM6DS3TR_C_SL0_DEC_4:
-                *val = LSM6DS3TR_C_SL0_DEC_4;
-                break;
-
-            case LSM6DS3TR_C_SL0_DEC_8:
-                *val = LSM6DS3TR_C_SL0_DEC_8;
-                break;
-
-            default:
-                *val = LSM6DS3TR_C_SL0_DEC_ND;
-                break;
-            }
-
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Slave 0 write operation is performed only at the first sensor
-  *         hub cycle.
-  *         This is effective if the Aux_sens_on[1:0] field in
-  *         SLAVE0_CONFIG(04h) is set to a value other than 00.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of write_once in reg SLAVE1_CONFIG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_write_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_write_once_t val) {
-    lsm6ds3tr_c_slave1_config_t slave1_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_SLAVE1_CONFIG, (uint8_t*)&slave1_config, 1);
-        slave1_config.write_once = (uint8_t)val;
-
-        if(ret == 0) {
-            ret =
-                lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_SLAVE1_CONFIG, (uint8_t*)&slave1_config, 1);
-
-            if(ret == 0) {
-                ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Slave 0 write operation is performed only at the first sensor
-  *         hub cycle.
-  *         This is effective if the Aux_sens_on[1:0] field in
-  *         SLAVE0_CONFIG(04h) is set to a value other than 00.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of write_once in reg SLAVE1_CONFIG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_write_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_write_once_t* val) {
-    lsm6ds3tr_c_slave1_config_t slave1_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_SLAVE1_CONFIG, (uint8_t*)&slave1_config, 1);
-
-        if(ret == 0) {
-            switch(slave1_config.write_once) {
-            case LSM6DS3TR_C_EACH_SH_CYCLE:
-                *val = LSM6DS3TR_C_EACH_SH_CYCLE;
-                break;
-
-            case LSM6DS3TR_C_ONLY_FIRST_CYCLE:
-                *val = LSM6DS3TR_C_ONLY_FIRST_CYCLE;
-                break;
-
-            default:
-                *val = LSM6DS3TR_C_SH_WR_MODE_ND;
-                break;
-            }
-
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Decimation of read operation on Slave 1 starting from the
-  *         sensor hub trigger.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of slave1_rate in reg SLAVE1_CONFIG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_slave_1_dec_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_slave1_rate_t val) {
-    lsm6ds3tr_c_slave1_config_t slave1_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_SLAVE1_CONFIG, (uint8_t*)&slave1_config, 1);
-
-        if(ret == 0) {
-            slave1_config.slave1_rate = (uint8_t)val;
-            ret =
-                lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_SLAVE1_CONFIG, (uint8_t*)&slave1_config, 1);
-
-            if(ret == 0) {
-                ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Decimation of read operation on Slave 1 starting from the
-  *         sensor hub trigger.[get]
-  *
-  * @param  ctx    Read / write interface definitions reg SLAVE1_CONFIG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_slave_1_dec_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_slave1_rate_t* val) {
-    lsm6ds3tr_c_slave1_config_t slave1_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_SLAVE1_CONFIG, (uint8_t*)&slave1_config, 1);
-
-        if(ret == 0) {
-            switch(slave1_config.slave1_rate) {
-            case LSM6DS3TR_C_SL1_NO_DEC:
-                *val = LSM6DS3TR_C_SL1_NO_DEC;
-                break;
-
-            case LSM6DS3TR_C_SL1_DEC_2:
-                *val = LSM6DS3TR_C_SL1_DEC_2;
-                break;
-
-            case LSM6DS3TR_C_SL1_DEC_4:
-                *val = LSM6DS3TR_C_SL1_DEC_4;
-                break;
-
-            case LSM6DS3TR_C_SL1_DEC_8:
-                *val = LSM6DS3TR_C_SL1_DEC_8;
-                break;
-
-            default:
-                *val = LSM6DS3TR_C_SL1_DEC_ND;
-                break;
-            }
-
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Decimation of read operation on Slave 2 starting from the
-  *         sensor hub trigger.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of slave2_rate in reg SLAVE2_CONFIG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_slave_2_dec_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_slave2_rate_t val) {
-    lsm6ds3tr_c_slave2_config_t slave2_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_SLAVE2_CONFIG, (uint8_t*)&slave2_config, 1);
-
-        if(ret == 0) {
-            slave2_config.slave2_rate = (uint8_t)val;
-            ret =
-                lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_SLAVE2_CONFIG, (uint8_t*)&slave2_config, 1);
-
-            if(ret == 0) {
-                ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Decimation of read operation on Slave 2 starting from the
-  *         sensor hub trigger.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of slave2_rate in reg SLAVE2_CONFIG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_slave_2_dec_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_slave2_rate_t* val) {
-    lsm6ds3tr_c_slave2_config_t slave2_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_SLAVE2_CONFIG, (uint8_t*)&slave2_config, 1);
-
-        if(ret == 0) {
-            switch(slave2_config.slave2_rate) {
-            case LSM6DS3TR_C_SL2_NO_DEC:
-                *val = LSM6DS3TR_C_SL2_NO_DEC;
-                break;
-
-            case LSM6DS3TR_C_SL2_DEC_2:
-                *val = LSM6DS3TR_C_SL2_DEC_2;
-                break;
-
-            case LSM6DS3TR_C_SL2_DEC_4:
-                *val = LSM6DS3TR_C_SL2_DEC_4;
-                break;
-
-            case LSM6DS3TR_C_SL2_DEC_8:
-                *val = LSM6DS3TR_C_SL2_DEC_8;
-                break;
-
-            default:
-                *val = LSM6DS3TR_C_SL2_DEC_ND;
-                break;
-            }
-
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Decimation of read operation on Slave 3 starting from the
-  *         sensor hub trigger.[set]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Change the values of slave3_rate in reg SLAVE3_CONFIG
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_slave_3_dec_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_slave3_rate_t val) {
-    lsm6ds3tr_c_slave3_config_t slave3_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_SLAVE3_CONFIG, (uint8_t*)&slave3_config, 1);
-        slave3_config.slave3_rate = (uint8_t)val;
-
-        if(ret == 0) {
-            ret =
-                lsm6ds3tr_c_write_reg(ctx, LSM6DS3TR_C_SLAVE3_CONFIG, (uint8_t*)&slave3_config, 1);
-
-            if(ret == 0) {
-                ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Decimation of read operation on Slave 3 starting from the
-  *         sensor hub trigger.[get]
-  *
-  * @param  ctx    Read / write interface definitions
-  * @param  val    Get the values of slave3_rate in reg SLAVE3_CONFIG.
-  * @retval        Interface status (MANDATORY: return 0 -> no Error).
-  *
-  */
-int32_t lsm6ds3tr_c_sh_slave_3_dec_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_slave3_rate_t* val) {
-    lsm6ds3tr_c_slave3_config_t slave3_config;
-    int32_t ret;
-
-    ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_BANK_A);
-
-    if(ret == 0) {
-        ret = lsm6ds3tr_c_read_reg(ctx, LSM6DS3TR_C_SLAVE3_CONFIG, (uint8_t*)&slave3_config, 1);
-
-        if(ret == 0) {
-            switch(slave3_config.slave3_rate) {
-            case LSM6DS3TR_C_SL3_NO_DEC:
-                *val = LSM6DS3TR_C_SL3_NO_DEC;
-                break;
-
-            case LSM6DS3TR_C_SL3_DEC_2:
-                *val = LSM6DS3TR_C_SL3_DEC_2;
-                break;
-
-            case LSM6DS3TR_C_SL3_DEC_4:
-                *val = LSM6DS3TR_C_SL3_DEC_4;
-                break;
-
-            case LSM6DS3TR_C_SL3_DEC_8:
-                *val = LSM6DS3TR_C_SL3_DEC_8;
-                break;
-
-            default:
-                *val = LSM6DS3TR_C_SL3_DEC_ND;
-                break;
-            }
-
-            ret = lsm6ds3tr_c_mem_bank_set(ctx, LSM6DS3TR_C_USER_BANK);
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @}
-  *
-  */
-
-/**
-  * @}
-  *
-  */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

tracking/imu/lsm6ds3tr_c_reg.h

@@ -1,2448 +0,0 @@
-/**
-  ******************************************************************************
-  * @file    lsm6ds3tr_c_reg.h
-  * @author  Sensors Software Solution Team
-  * @brief   This file contains all the functions prototypes for the
-  *          lsm6ds3tr_c_reg.c driver.
-  ******************************************************************************
-  * @attention
-  *
-  * <h2><center>&copy; Copyright (c) 2021 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 LSM6DS3TR_C_DRIVER_H
-#define LSM6DS3TR_C_DRIVER_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include <stdint.h>
-#include <stddef.h>
-#include <math.h>
-
-/** @addtogroup LSM6DS3TR_C
-  * @{
-  *
-  */
-
-/** @defgroup  Endianness definitions
-  * @{
-  *
-  */
-
-#ifndef DRV_BYTE_ORDER
-#ifndef __BYTE_ORDER__
-
-#define DRV_LITTLE_ENDIAN 1234
-#define DRV_BIG_ENDIAN 4321
-
-/** if _BYTE_ORDER is not defined, choose the endianness of your architecture
-  * by uncommenting the define which fits your platform endianness
-  */
-//#define DRV_BYTE_ORDER    DRV_BIG_ENDIAN
-#define DRV_BYTE_ORDER DRV_LITTLE_ENDIAN
-
-#else /* defined __BYTE_ORDER__ */
-
-#define DRV_LITTLE_ENDIAN __ORDER_LITTLE_ENDIAN__
-#define DRV_BIG_ENDIAN __ORDER_BIG_ENDIAN__
-#define DRV_BYTE_ORDER __BYTE_ORDER__
-
-#endif /* __BYTE_ORDER__*/
-#endif /* DRV_BYTE_ORDER */
-
-/**
-  * @}
-  *
-  */
-
-/** @defgroup STMicroelectronics sensors common types
-  * @{
-  *
-  */
-
-#ifndef MEMS_SHARED_TYPES
-#define MEMS_SHARED_TYPES
-
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t bit0 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit7 : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t bit7 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit0 : 1;
-#endif /* DRV_BYTE_ORDER */
-} bitwise_t;
-
-#define PROPERTY_DISABLE (0U)
-#define PROPERTY_ENABLE (1U)
-
-/** @addtogroup  Interfaces_Functions
-  * @brief       This section provide a set of functions used to read and
-  *              write a generic register of the device.
-  *              MANDATORY: return 0 -> no Error.
-  * @{
-  *
-  */
-
-typedef int32_t (*stmdev_write_ptr)(void*, uint8_t, const uint8_t*, uint16_t);
-typedef int32_t (*stmdev_read_ptr)(void*, uint8_t, uint8_t*, uint16_t);
-typedef void (*stmdev_mdelay_ptr)(uint32_t millisec);
-
-typedef struct {
-    /** Component mandatory fields **/
-    stmdev_write_ptr write_reg;
-    stmdev_read_ptr read_reg;
-    /** Component optional fields **/
-    stmdev_mdelay_ptr mdelay;
-    /** Customizable optional pointer **/
-    void* handle;
-} stmdev_ctx_t;
-
-/**
-  * @}
-  *
-  */
-
-#endif /* MEMS_SHARED_TYPES */
-
-#ifndef MEMS_UCF_SHARED_TYPES
-#define MEMS_UCF_SHARED_TYPES
-
-/** @defgroup    Generic address-data structure definition
-  * @brief       This structure is useful to load a predefined configuration
-  *              of a sensor.
-  *              You can create a sensor configuration by your own or using
-  *              Unico / Unicleo tools available on STMicroelectronics
-  *              web site.
-  *
-  * @{
-  *
-  */
-
-typedef struct {
-    uint8_t address;
-    uint8_t data;
-} ucf_line_t;
-
-/**
-  * @}
-  *
-  */
-
-#endif /* MEMS_UCF_SHARED_TYPES */
-
-/**
-  * @}
-  *
-  */
-
-/** @defgroup LSM6DS3TR_C_Infos
-  * @{
-  *
-  */
-
-/** I2C Device Address 8 bit format  if SA0=0 -> D5 if SA0=1 -> D7 **/
-#define LSM6DS3TR_C_I2C_ADD_L 0xD5U
-#define LSM6DS3TR_C_I2C_ADD_H 0xD7U
-
-/** Device Identification (Who am I) **/
-#define LSM6DS3TR_C_ID 0x6AU
-
-/**
-  * @}
-  *
-  */
-
-#define LSM6DS3TR_C_FUNC_CFG_ACCESS 0x01U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t not_used_01 : 5;
-    uint8_t func_cfg_en : 3; /* func_cfg_en + func_cfg_en_b */
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t func_cfg_en : 3; /* func_cfg_en + func_cfg_en_b */
-    uint8_t not_used_01 : 5;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_func_cfg_access_t;
-
-#define LSM6DS3TR_C_SENSOR_SYNC_TIME_FRAME 0x04U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t tph : 4;
-    uint8_t not_used_01 : 4;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t not_used_01 : 4;
-    uint8_t tph : 4;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_sensor_sync_time_frame_t;
-
-#define LSM6DS3TR_C_SENSOR_SYNC_RES_RATIO 0x05U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t rr : 2;
-    uint8_t not_used_01 : 6;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t not_used_01 : 6;
-    uint8_t rr : 2;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_sensor_sync_res_ratio_t;
-
-#define LSM6DS3TR_C_FIFO_CTRL1 0x06U
-typedef struct {
-    uint8_t fth : 8; /* + FIFO_CTRL2(fth) */
-} lsm6ds3tr_c_fifo_ctrl1_t;
-
-#define LSM6DS3TR_C_FIFO_CTRL2 0x07U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t fth : 3; /* + FIFO_CTRL1(fth) */
-    uint8_t fifo_temp_en : 1;
-    uint8_t not_used_01 : 2;
-    uint8_t timer_pedo_fifo_drdy : 1;
-    uint8_t timer_pedo_fifo_en : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t timer_pedo_fifo_en : 1;
-    uint8_t timer_pedo_fifo_drdy : 1;
-    uint8_t not_used_01 : 2;
-    uint8_t fifo_temp_en : 1;
-    uint8_t fth : 3; /* + FIFO_CTRL1(fth) */
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_fifo_ctrl2_t;
-
-#define LSM6DS3TR_C_FIFO_CTRL3 0x08U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t dec_fifo_xl : 3;
-    uint8_t dec_fifo_gyro : 3;
-    uint8_t not_used_01 : 2;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t not_used_01 : 2;
-    uint8_t dec_fifo_gyro : 3;
-    uint8_t dec_fifo_xl : 3;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_fifo_ctrl3_t;
-
-#define LSM6DS3TR_C_FIFO_CTRL4 0x09U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t dec_ds3_fifo : 3;
-    uint8_t dec_ds4_fifo : 3;
-    uint8_t only_high_data : 1;
-    uint8_t stop_on_fth : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t stop_on_fth : 1;
-    uint8_t only_high_data : 1;
-    uint8_t dec_ds4_fifo : 3;
-    uint8_t dec_ds3_fifo : 3;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_fifo_ctrl4_t;
-
-#define LSM6DS3TR_C_FIFO_CTRL5 0x0AU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t fifo_mode : 3;
-    uint8_t odr_fifo : 4;
-    uint8_t not_used_01 : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t not_used_01 : 1;
-    uint8_t odr_fifo : 4;
-    uint8_t fifo_mode : 3;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_fifo_ctrl5_t;
-
-#define LSM6DS3TR_C_DRDY_PULSE_CFG_G 0x0BU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t int2_wrist_tilt : 1;
-    uint8_t not_used_01 : 6;
-    uint8_t drdy_pulsed : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t drdy_pulsed : 1;
-    uint8_t not_used_01 : 6;
-    uint8_t int2_wrist_tilt : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_drdy_pulse_cfg_g_t;
-
-#define LSM6DS3TR_C_INT1_CTRL 0x0DU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t int1_drdy_xl : 1;
-    uint8_t int1_drdy_g : 1;
-    uint8_t int1_boot : 1;
-    uint8_t int1_fth : 1;
-    uint8_t int1_fifo_ovr : 1;
-    uint8_t int1_full_flag : 1;
-    uint8_t int1_sign_mot : 1;
-    uint8_t int1_step_detector : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t int1_step_detector : 1;
-    uint8_t int1_sign_mot : 1;
-    uint8_t int1_full_flag : 1;
-    uint8_t int1_fifo_ovr : 1;
-    uint8_t int1_fth : 1;
-    uint8_t int1_boot : 1;
-    uint8_t int1_drdy_g : 1;
-    uint8_t int1_drdy_xl : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_int1_ctrl_t;
-
-#define LSM6DS3TR_C_INT2_CTRL 0x0EU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t int2_drdy_xl : 1;
-    uint8_t int2_drdy_g : 1;
-    uint8_t int2_drdy_temp : 1;
-    uint8_t int2_fth : 1;
-    uint8_t int2_fifo_ovr : 1;
-    uint8_t int2_full_flag : 1;
-    uint8_t int2_step_count_ov : 1;
-    uint8_t int2_step_delta : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t int2_step_delta : 1;
-    uint8_t int2_step_count_ov : 1;
-    uint8_t int2_full_flag : 1;
-    uint8_t int2_fifo_ovr : 1;
-    uint8_t int2_fth : 1;
-    uint8_t int2_drdy_temp : 1;
-    uint8_t int2_drdy_g : 1;
-    uint8_t int2_drdy_xl : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_int2_ctrl_t;
-
-#define LSM6DS3TR_C_WHO_AM_I 0x0FU
-#define LSM6DS3TR_C_CTRL1_XL 0x10U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t bw0_xl : 1;
-    uint8_t lpf1_bw_sel : 1;
-    uint8_t fs_xl : 2;
-    uint8_t odr_xl : 4;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t odr_xl : 4;
-    uint8_t fs_xl : 2;
-    uint8_t lpf1_bw_sel : 1;
-    uint8_t bw0_xl : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_ctrl1_xl_t;
-
-#define LSM6DS3TR_C_CTRL2_G 0x11U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t not_used_01 : 1;
-    uint8_t fs_g : 3; /* fs_g + fs_125 */
-    uint8_t odr_g : 4;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t odr_g : 4;
-    uint8_t fs_g : 3; /* fs_g + fs_125 */
-    uint8_t not_used_01 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_ctrl2_g_t;
-
-#define LSM6DS3TR_C_CTRL3_C 0x12U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t sw_reset : 1;
-    uint8_t ble : 1;
-    uint8_t if_inc : 1;
-    uint8_t sim : 1;
-    uint8_t pp_od : 1;
-    uint8_t h_lactive : 1;
-    uint8_t bdu : 1;
-    uint8_t boot : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t boot : 1;
-    uint8_t bdu : 1;
-    uint8_t h_lactive : 1;
-    uint8_t pp_od : 1;
-    uint8_t sim : 1;
-    uint8_t if_inc : 1;
-    uint8_t ble : 1;
-    uint8_t sw_reset : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_ctrl3_c_t;
-
-#define LSM6DS3TR_C_CTRL4_C 0x13U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t not_used_01 : 1;
-    uint8_t lpf1_sel_g : 1;
-    uint8_t i2c_disable : 1;
-    uint8_t drdy_mask : 1;
-    uint8_t den_drdy_int1 : 1;
-    uint8_t int2_on_int1 : 1;
-    uint8_t sleep : 1;
-    uint8_t den_xl_en : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t den_xl_en : 1;
-    uint8_t sleep : 1;
-    uint8_t int2_on_int1 : 1;
-    uint8_t den_drdy_int1 : 1;
-    uint8_t drdy_mask : 1;
-    uint8_t i2c_disable : 1;
-    uint8_t lpf1_sel_g : 1;
-    uint8_t not_used_01 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_ctrl4_c_t;
-
-#define LSM6DS3TR_C_CTRL5_C 0x14U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t st_xl : 2;
-    uint8_t st_g : 2;
-    uint8_t den_lh : 1;
-    uint8_t rounding : 3;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t rounding : 3;
-    uint8_t den_lh : 1;
-    uint8_t st_g : 2;
-    uint8_t st_xl : 2;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_ctrl5_c_t;
-
-#define LSM6DS3TR_C_CTRL6_C 0x15U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t ftype : 2;
-    uint8_t not_used_01 : 1;
-    uint8_t usr_off_w : 1;
-    uint8_t xl_hm_mode : 1;
-    uint8_t den_mode : 3; /* trig_en + lvl_en + lvl2_en */
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t den_mode : 3; /* trig_en + lvl_en + lvl2_en */
-    uint8_t xl_hm_mode : 1;
-    uint8_t usr_off_w : 1;
-    uint8_t not_used_01 : 1;
-    uint8_t ftype : 2;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_ctrl6_c_t;
-
-#define LSM6DS3TR_C_CTRL7_G 0x16U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t not_used_01 : 2;
-    uint8_t rounding_status : 1;
-    uint8_t not_used_02 : 1;
-    uint8_t hpm_g : 2;
-    uint8_t hp_en_g : 1;
-    uint8_t g_hm_mode : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t g_hm_mode : 1;
-    uint8_t hp_en_g : 1;
-    uint8_t hpm_g : 2;
-    uint8_t not_used_02 : 1;
-    uint8_t rounding_status : 1;
-    uint8_t not_used_01 : 2;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_ctrl7_g_t;
-
-#define LSM6DS3TR_C_CTRL8_XL 0x17U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t low_pass_on_6d : 1;
-    uint8_t not_used_01 : 1;
-    uint8_t hp_slope_xl_en : 1;
-    uint8_t input_composite : 1;
-    uint8_t hp_ref_mode : 1;
-    uint8_t hpcf_xl : 2;
-    uint8_t lpf2_xl_en : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t lpf2_xl_en : 1;
-    uint8_t hpcf_xl : 2;
-    uint8_t hp_ref_mode : 1;
-    uint8_t input_composite : 1;
-    uint8_t hp_slope_xl_en : 1;
-    uint8_t not_used_01 : 1;
-    uint8_t low_pass_on_6d : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_ctrl8_xl_t;
-
-#define LSM6DS3TR_C_CTRL9_XL 0x18U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t not_used_01 : 2;
-    uint8_t soft_en : 1;
-    uint8_t not_used_02 : 1;
-    uint8_t den_xl_g : 1;
-    uint8_t den_z : 1;
-    uint8_t den_y : 1;
-    uint8_t den_x : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t den_x : 1;
-    uint8_t den_y : 1;
-    uint8_t den_z : 1;
-    uint8_t den_xl_g : 1;
-    uint8_t not_used_02 : 1;
-    uint8_t soft_en : 1;
-    uint8_t not_used_01 : 2;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_ctrl9_xl_t;
-
-#define LSM6DS3TR_C_CTRL10_C 0x19U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t sign_motion_en : 1;
-    uint8_t pedo_rst_step : 1;
-    uint8_t func_en : 1;
-    uint8_t tilt_en : 1;
-    uint8_t pedo_en : 1;
-    uint8_t timer_en : 1;
-    uint8_t not_used_01 : 1;
-    uint8_t wrist_tilt_en : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t wrist_tilt_en : 1;
-    uint8_t not_used_01 : 1;
-    uint8_t timer_en : 1;
-    uint8_t pedo_en : 1;
-    uint8_t tilt_en : 1;
-    uint8_t func_en : 1;
-    uint8_t pedo_rst_step : 1;
-    uint8_t sign_motion_en : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_ctrl10_c_t;
-
-#define LSM6DS3TR_C_MASTER_CONFIG 0x1AU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t master_on : 1;
-    uint8_t iron_en : 1;
-    uint8_t pass_through_mode : 1;
-    uint8_t pull_up_en : 1;
-    uint8_t start_config : 1;
-    uint8_t not_used_01 : 1;
-    uint8_t data_valid_sel_fifo : 1;
-    uint8_t drdy_on_int1 : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t drdy_on_int1 : 1;
-    uint8_t data_valid_sel_fifo : 1;
-    uint8_t not_used_01 : 1;
-    uint8_t start_config : 1;
-    uint8_t pull_up_en : 1;
-    uint8_t pass_through_mode : 1;
-    uint8_t iron_en : 1;
-    uint8_t master_on : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_master_config_t;
-
-#define LSM6DS3TR_C_WAKE_UP_SRC 0x1BU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t z_wu : 1;
-    uint8_t y_wu : 1;
-    uint8_t x_wu : 1;
-    uint8_t wu_ia : 1;
-    uint8_t sleep_state_ia : 1;
-    uint8_t ff_ia : 1;
-    uint8_t not_used_01 : 2;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t not_used_01 : 2;
-    uint8_t ff_ia : 1;
-    uint8_t sleep_state_ia : 1;
-    uint8_t wu_ia : 1;
-    uint8_t x_wu : 1;
-    uint8_t y_wu : 1;
-    uint8_t z_wu : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_wake_up_src_t;
-
-#define LSM6DS3TR_C_TAP_SRC 0x1CU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t z_tap : 1;
-    uint8_t y_tap : 1;
-    uint8_t x_tap : 1;
-    uint8_t tap_sign : 1;
-    uint8_t double_tap : 1;
-    uint8_t single_tap : 1;
-    uint8_t tap_ia : 1;
-    uint8_t not_used_01 : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t not_used_01 : 1;
-    uint8_t tap_ia : 1;
-    uint8_t single_tap : 1;
-    uint8_t double_tap : 1;
-    uint8_t tap_sign : 1;
-    uint8_t x_tap : 1;
-    uint8_t y_tap : 1;
-    uint8_t z_tap : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_tap_src_t;
-
-#define LSM6DS3TR_C_D6D_SRC 0x1DU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t xl : 1;
-    uint8_t xh : 1;
-    uint8_t yl : 1;
-    uint8_t yh : 1;
-    uint8_t zl : 1;
-    uint8_t zh : 1;
-    uint8_t d6d_ia : 1;
-    uint8_t den_drdy : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t den_drdy : 1;
-    uint8_t d6d_ia : 1;
-    uint8_t zh : 1;
-    uint8_t zl : 1;
-    uint8_t yh : 1;
-    uint8_t yl : 1;
-    uint8_t xh : 1;
-    uint8_t xl : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_d6d_src_t;
-
-#define LSM6DS3TR_C_STATUS_REG 0x1EU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t xlda : 1;
-    uint8_t gda : 1;
-    uint8_t tda : 1;
-    uint8_t not_used_01 : 5;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t not_used_01 : 5;
-    uint8_t tda : 1;
-    uint8_t gda : 1;
-    uint8_t xlda : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_status_reg_t;
-
-#define LSM6DS3TR_C_OUT_TEMP_L 0x20U
-#define LSM6DS3TR_C_OUT_TEMP_H 0x21U
-#define LSM6DS3TR_C_OUTX_L_G 0x22U
-#define LSM6DS3TR_C_OUTX_H_G 0x23U
-#define LSM6DS3TR_C_OUTY_L_G 0x24U
-#define LSM6DS3TR_C_OUTY_H_G 0x25U
-#define LSM6DS3TR_C_OUTZ_L_G 0x26U
-#define LSM6DS3TR_C_OUTZ_H_G 0x27U
-#define LSM6DS3TR_C_OUTX_L_XL 0x28U
-#define LSM6DS3TR_C_OUTX_H_XL 0x29U
-#define LSM6DS3TR_C_OUTY_L_XL 0x2AU
-#define LSM6DS3TR_C_OUTY_H_XL 0x2BU
-#define LSM6DS3TR_C_OUTZ_L_XL 0x2CU
-#define LSM6DS3TR_C_OUTZ_H_XL 0x2DU
-#define LSM6DS3TR_C_SENSORHUB1_REG 0x2EU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t bit0 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit7 : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t bit7 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit0 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_sensorhub1_reg_t;
-
-#define LSM6DS3TR_C_SENSORHUB2_REG 0x2FU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t bit0 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit7 : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t bit7 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit0 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_sensorhub2_reg_t;
-
-#define LSM6DS3TR_C_SENSORHUB3_REG 0x30U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t bit0 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit7 : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t bit7 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit0 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_sensorhub3_reg_t;
-
-#define LSM6DS3TR_C_SENSORHUB4_REG 0x31U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t bit0 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit7 : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t bit7 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit0 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_sensorhub4_reg_t;
-
-#define LSM6DS3TR_C_SENSORHUB5_REG 0x32U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t bit0 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit7 : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t bit7 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit0 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_sensorhub5_reg_t;
-
-#define LSM6DS3TR_C_SENSORHUB6_REG 0x33U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t bit0 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit7 : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t bit7 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit0 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_sensorhub6_reg_t;
-
-#define LSM6DS3TR_C_SENSORHUB7_REG 0x34U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t bit0 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit7 : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t bit7 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit0 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_sensorhub7_reg_t;
-
-#define LSM6DS3TR_C_SENSORHUB8_REG 0x35U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t bit0 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit7 : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t bit7 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit0 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_sensorhub8_reg_t;
-
-#define LSM6DS3TR_C_SENSORHUB9_REG 0x36U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t bit0 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit7 : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t bit7 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit0 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_sensorhub9_reg_t;
-
-#define LSM6DS3TR_C_SENSORHUB10_REG 0x37U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t bit0 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit7 : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t bit7 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit0 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_sensorhub10_reg_t;
-
-#define LSM6DS3TR_C_SENSORHUB11_REG 0x38U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t bit0 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit7 : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t bit7 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit0 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_sensorhub11_reg_t;
-
-#define LSM6DS3TR_C_SENSORHUB12_REG 0x39U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t bit0 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit7 : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t bit7 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit0 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_sensorhub12_reg_t;
-
-#define LSM6DS3TR_C_FIFO_STATUS1 0x3AU
-typedef struct {
-    uint8_t diff_fifo : 8; /* + FIFO_STATUS2(diff_fifo) */
-} lsm6ds3tr_c_fifo_status1_t;
-
-#define LSM6DS3TR_C_FIFO_STATUS2 0x3BU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t diff_fifo : 3; /* + FIFO_STATUS1(diff_fifo) */
-    uint8_t not_used_01 : 1;
-    uint8_t fifo_empty : 1;
-    uint8_t fifo_full_smart : 1;
-    uint8_t over_run : 1;
-    uint8_t waterm : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t waterm : 1;
-    uint8_t over_run : 1;
-    uint8_t fifo_full_smart : 1;
-    uint8_t fifo_empty : 1;
-    uint8_t not_used_01 : 1;
-    uint8_t diff_fifo : 3; /* + FIFO_STATUS1(diff_fifo) */
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_fifo_status2_t;
-
-#define LSM6DS3TR_C_FIFO_STATUS3 0x3CU
-typedef struct {
-    uint8_t fifo_pattern : 8; /* + FIFO_STATUS4(fifo_pattern) */
-} lsm6ds3tr_c_fifo_status3_t;
-
-#define LSM6DS3TR_C_FIFO_STATUS4 0x3DU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t fifo_pattern : 2; /* + FIFO_STATUS3(fifo_pattern) */
-    uint8_t not_used_01 : 6;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t not_used_01 : 6;
-    uint8_t fifo_pattern : 2; /* + FIFO_STATUS3(fifo_pattern) */
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_fifo_status4_t;
-
-#define LSM6DS3TR_C_FIFO_DATA_OUT_L 0x3EU
-#define LSM6DS3TR_C_FIFO_DATA_OUT_H 0x3FU
-#define LSM6DS3TR_C_TIMESTAMP0_REG 0x40U
-#define LSM6DS3TR_C_TIMESTAMP1_REG 0x41U
-#define LSM6DS3TR_C_TIMESTAMP2_REG 0x42U
-#define LSM6DS3TR_C_STEP_TIMESTAMP_L 0x49U
-#define LSM6DS3TR_C_STEP_TIMESTAMP_H 0x4AU
-#define LSM6DS3TR_C_STEP_COUNTER_L 0x4BU
-#define LSM6DS3TR_C_STEP_COUNTER_H 0x4CU
-
-#define LSM6DS3TR_C_SENSORHUB13_REG 0x4DU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t bit0 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit7 : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t bit7 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit0 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_sensorhub13_reg_t;
-
-#define LSM6DS3TR_C_SENSORHUB14_REG 0x4EU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t bit0 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit7 : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t bit7 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit0 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_sensorhub14_reg_t;
-
-#define LSM6DS3TR_C_SENSORHUB15_REG 0x4FU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t bit0 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit7 : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t bit7 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit0 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_sensorhub15_reg_t;
-
-#define LSM6DS3TR_C_SENSORHUB16_REG 0x50U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t bit0 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit7 : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t bit7 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit0 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_sensorhub16_reg_t;
-
-#define LSM6DS3TR_C_SENSORHUB17_REG 0x51U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t bit0 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit7 : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t bit7 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit0 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_sensorhub17_reg_t;
-
-#define LSM6DS3TR_C_SENSORHUB18_REG 0x52U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t bit0 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit7 : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t bit7 : 1;
-    uint8_t bit6 : 1;
-    uint8_t bit5 : 1;
-    uint8_t bit4 : 1;
-    uint8_t bit3 : 1;
-    uint8_t bit2 : 1;
-    uint8_t bit1 : 1;
-    uint8_t bit0 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_sensorhub18_reg_t;
-
-#define LSM6DS3TR_C_FUNC_SRC1 0x53U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t sensorhub_end_op : 1;
-    uint8_t si_end_op : 1;
-    uint8_t hi_fail : 1;
-    uint8_t step_overflow : 1;
-    uint8_t step_detected : 1;
-    uint8_t tilt_ia : 1;
-    uint8_t sign_motion_ia : 1;
-    uint8_t step_count_delta_ia : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t step_count_delta_ia : 1;
-    uint8_t sign_motion_ia : 1;
-    uint8_t tilt_ia : 1;
-    uint8_t step_detected : 1;
-    uint8_t step_overflow : 1;
-    uint8_t hi_fail : 1;
-    uint8_t si_end_op : 1;
-    uint8_t sensorhub_end_op : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_func_src1_t;
-
-#define LSM6DS3TR_C_FUNC_SRC2 0x54U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t wrist_tilt_ia : 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 not_used_02 : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t not_used_02 : 1;
-    uint8_t slave3_nack : 1;
-    uint8_t slave2_nack : 1;
-    uint8_t slave1_nack : 1;
-    uint8_t slave0_nack : 1;
-    uint8_t not_used_01 : 2;
-    uint8_t wrist_tilt_ia : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_func_src2_t;
-
-#define LSM6DS3TR_C_WRIST_TILT_IA 0x55U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t not_used_01 : 2;
-    uint8_t wrist_tilt_ia_zneg : 1;
-    uint8_t wrist_tilt_ia_zpos : 1;
-    uint8_t wrist_tilt_ia_yneg : 1;
-    uint8_t wrist_tilt_ia_ypos : 1;
-    uint8_t wrist_tilt_ia_xneg : 1;
-    uint8_t wrist_tilt_ia_xpos : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t wrist_tilt_ia_xpos : 1;
-    uint8_t wrist_tilt_ia_xneg : 1;
-    uint8_t wrist_tilt_ia_ypos : 1;
-    uint8_t wrist_tilt_ia_yneg : 1;
-    uint8_t wrist_tilt_ia_zpos : 1;
-    uint8_t wrist_tilt_ia_zneg : 1;
-    uint8_t not_used_01 : 2;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_wrist_tilt_ia_t;
-
-#define LSM6DS3TR_C_TAP_CFG 0x58U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t lir : 1;
-    uint8_t tap_z_en : 1;
-    uint8_t tap_y_en : 1;
-    uint8_t tap_x_en : 1;
-    uint8_t slope_fds : 1;
-    uint8_t inact_en : 2;
-    uint8_t interrupts_enable : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t interrupts_enable : 1;
-    uint8_t inact_en : 2;
-    uint8_t slope_fds : 1;
-    uint8_t tap_x_en : 1;
-    uint8_t tap_y_en : 1;
-    uint8_t tap_z_en : 1;
-    uint8_t lir : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_tap_cfg_t;
-
-#define LSM6DS3TR_C_TAP_THS_6D 0x59U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t tap_ths : 5;
-    uint8_t sixd_ths : 2;
-    uint8_t d4d_en : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t d4d_en : 1;
-    uint8_t sixd_ths : 2;
-    uint8_t tap_ths : 5;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_tap_ths_6d_t;
-
-#define LSM6DS3TR_C_INT_DUR2 0x5AU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t shock : 2;
-    uint8_t quiet : 2;
-    uint8_t dur : 4;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t dur : 4;
-    uint8_t quiet : 2;
-    uint8_t shock : 2;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_int_dur2_t;
-
-#define LSM6DS3TR_C_WAKE_UP_THS 0x5BU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t wk_ths : 6;
-    uint8_t not_used_01 : 1;
-    uint8_t single_double_tap : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t single_double_tap : 1;
-    uint8_t not_used_01 : 1;
-    uint8_t wk_ths : 6;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_wake_up_ths_t;
-
-#define LSM6DS3TR_C_WAKE_UP_DUR 0x5CU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t sleep_dur : 4;
-    uint8_t timer_hr : 1;
-    uint8_t wake_dur : 2;
-    uint8_t ff_dur : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t ff_dur : 1;
-    uint8_t wake_dur : 2;
-    uint8_t timer_hr : 1;
-    uint8_t sleep_dur : 4;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_wake_up_dur_t;
-
-#define LSM6DS3TR_C_FREE_FALL 0x5DU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t ff_ths : 3;
-    uint8_t ff_dur : 5;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t ff_dur : 5;
-    uint8_t ff_ths : 3;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_free_fall_t;
-
-#define LSM6DS3TR_C_MD1_CFG 0x5EU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t int1_timer : 1;
-    uint8_t int1_tilt : 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_inact_state : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t int1_inact_state : 1;
-    uint8_t int1_single_tap : 1;
-    uint8_t int1_wu : 1;
-    uint8_t int1_ff : 1;
-    uint8_t int1_double_tap : 1;
-    uint8_t int1_6d : 1;
-    uint8_t int1_tilt : 1;
-    uint8_t int1_timer : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_md1_cfg_t;
-
-#define LSM6DS3TR_C_MD2_CFG 0x5FU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t int2_iron : 1;
-    uint8_t int2_tilt : 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_inact_state : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t int2_inact_state : 1;
-    uint8_t int2_single_tap : 1;
-    uint8_t int2_wu : 1;
-    uint8_t int2_ff : 1;
-    uint8_t int2_double_tap : 1;
-    uint8_t int2_6d : 1;
-    uint8_t int2_tilt : 1;
-    uint8_t int2_iron : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_md2_cfg_t;
-
-#define LSM6DS3TR_C_MASTER_CMD_CODE 0x60U
-typedef struct {
-    uint8_t master_cmd_code : 8;
-} lsm6ds3tr_c_master_cmd_code_t;
-
-#define LSM6DS3TR_C_SENS_SYNC_SPI_ERROR_CODE 0x61U
-typedef struct {
-    uint8_t error_code : 8;
-} lsm6ds3tr_c_sens_sync_spi_error_code_t;
-
-#define LSM6DS3TR_C_OUT_MAG_RAW_X_L 0x66U
-#define LSM6DS3TR_C_OUT_MAG_RAW_X_H 0x67U
-#define LSM6DS3TR_C_OUT_MAG_RAW_Y_L 0x68U
-#define LSM6DS3TR_C_OUT_MAG_RAW_Y_H 0x69U
-#define LSM6DS3TR_C_OUT_MAG_RAW_Z_L 0x6AU
-#define LSM6DS3TR_C_OUT_MAG_RAW_Z_H 0x6BU
-#define LSM6DS3TR_C_X_OFS_USR 0x73U
-#define LSM6DS3TR_C_Y_OFS_USR 0x74U
-#define LSM6DS3TR_C_Z_OFS_USR 0x75U
-#define LSM6DS3TR_C_SLV0_ADD 0x02U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t rw_0 : 1;
-    uint8_t slave0_add : 7;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t slave0_add : 7;
-    uint8_t rw_0 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_slv0_add_t;
-
-#define LSM6DS3TR_C_SLV0_SUBADD 0x03U
-typedef struct {
-    uint8_t slave0_reg : 8;
-} lsm6ds3tr_c_slv0_subadd_t;
-
-#define LSM6DS3TR_C_SLAVE0_CONFIG 0x04U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t slave0_numop : 3;
-    uint8_t src_mode : 1;
-    uint8_t aux_sens_on : 2;
-    uint8_t slave0_rate : 2;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t slave0_rate : 2;
-    uint8_t aux_sens_on : 2;
-    uint8_t src_mode : 1;
-    uint8_t slave0_numop : 3;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_slave0_config_t;
-
-#define LSM6DS3TR_C_SLV1_ADD 0x05U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t r_1 : 1;
-    uint8_t slave1_add : 7;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t slave1_add : 7;
-    uint8_t r_1 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_slv1_add_t;
-
-#define LSM6DS3TR_C_SLV1_SUBADD 0x06U
-typedef struct {
-    uint8_t slave1_reg : 8;
-} lsm6ds3tr_c_slv1_subadd_t;
-
-#define LSM6DS3TR_C_SLAVE1_CONFIG 0x07U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t slave1_numop : 3;
-    uint8_t not_used_01 : 2;
-    uint8_t write_once : 1;
-    uint8_t slave1_rate : 2;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t slave1_rate : 2;
-    uint8_t write_once : 1;
-    uint8_t not_used_01 : 2;
-    uint8_t slave1_numop : 3;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_slave1_config_t;
-
-#define LSM6DS3TR_C_SLV2_ADD 0x08U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t r_2 : 1;
-    uint8_t slave2_add : 7;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t slave2_add : 7;
-    uint8_t r_2 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_slv2_add_t;
-
-#define LSM6DS3TR_C_SLV2_SUBADD 0x09U
-typedef struct {
-    uint8_t slave2_reg : 8;
-} lsm6ds3tr_c_slv2_subadd_t;
-
-#define LSM6DS3TR_C_SLAVE2_CONFIG 0x0AU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t slave2_numop : 3;
-    uint8_t not_used_01 : 3;
-    uint8_t slave2_rate : 2;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t slave2_rate : 2;
-    uint8_t not_used_01 : 3;
-    uint8_t slave2_numop : 3;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_slave2_config_t;
-
-#define LSM6DS3TR_C_SLV3_ADD 0x0BU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t r_3 : 1;
-    uint8_t slave3_add : 7;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t slave3_add : 7;
-    uint8_t r_3 : 1;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_slv3_add_t;
-
-#define LSM6DS3TR_C_SLV3_SUBADD 0x0CU
-typedef struct {
-    uint8_t slave3_reg : 8;
-} lsm6ds3tr_c_slv3_subadd_t;
-
-#define LSM6DS3TR_C_SLAVE3_CONFIG 0x0DU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t slave3_numop : 3;
-    uint8_t not_used_01 : 3;
-    uint8_t slave3_rate : 2;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t slave3_rate : 2;
-    uint8_t not_used_01 : 3;
-    uint8_t slave3_numop : 3;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_slave3_config_t;
-
-#define LSM6DS3TR_C_DATAWRITE_SRC_MODE_SUB_SLV0 0x0EU
-typedef struct {
-    uint8_t slave_dataw : 8;
-} lsm6ds3tr_c_datawrite_src_mode_sub_slv0_t;
-
-#define LSM6DS3TR_C_CONFIG_PEDO_THS_MIN 0x0FU
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t ths_min : 5;
-    uint8_t not_used_01 : 2;
-    uint8_t pedo_fs : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t pedo_fs : 1;
-    uint8_t not_used_01 : 2;
-    uint8_t ths_min : 5;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_config_pedo_ths_min_t;
-
-#define LSM6DS3TR_C_SM_THS 0x13U
-#define LSM6DS3TR_C_PEDO_DEB_REG 0x14U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t deb_step : 3;
-    uint8_t deb_time : 5;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t deb_time : 5;
-    uint8_t deb_step : 3;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_pedo_deb_reg_t;
-
-#define LSM6DS3TR_C_STEP_COUNT_DELTA 0x15U
-#define LSM6DS3TR_C_MAG_SI_XX 0x24U
-#define LSM6DS3TR_C_MAG_SI_XY 0x25U
-#define LSM6DS3TR_C_MAG_SI_XZ 0x26U
-#define LSM6DS3TR_C_MAG_SI_YX 0x27U
-#define LSM6DS3TR_C_MAG_SI_YY 0x28U
-#define LSM6DS3TR_C_MAG_SI_YZ 0x29U
-#define LSM6DS3TR_C_MAG_SI_ZX 0x2AU
-#define LSM6DS3TR_C_MAG_SI_ZY 0x2BU
-#define LSM6DS3TR_C_MAG_SI_ZZ 0x2CU
-#define LSM6DS3TR_C_MAG_OFFX_L 0x2DU
-#define LSM6DS3TR_C_MAG_OFFX_H 0x2EU
-#define LSM6DS3TR_C_MAG_OFFY_L 0x2FU
-#define LSM6DS3TR_C_MAG_OFFY_H 0x30U
-#define LSM6DS3TR_C_MAG_OFFZ_L 0x31U
-#define LSM6DS3TR_C_MAG_OFFZ_H 0x32U
-#define LSM6DS3TR_C_A_WRIST_TILT_LAT 0x50U
-#define LSM6DS3TR_C_A_WRIST_TILT_THS 0x54U
-#define LSM6DS3TR_C_A_WRIST_TILT_MASK 0x59U
-typedef struct {
-#if DRV_BYTE_ORDER == DRV_LITTLE_ENDIAN
-    uint8_t not_used_01 : 2;
-    uint8_t wrist_tilt_mask_zneg : 1;
-    uint8_t wrist_tilt_mask_zpos : 1;
-    uint8_t wrist_tilt_mask_yneg : 1;
-    uint8_t wrist_tilt_mask_ypos : 1;
-    uint8_t wrist_tilt_mask_xneg : 1;
-    uint8_t wrist_tilt_mask_xpos : 1;
-#elif DRV_BYTE_ORDER == DRV_BIG_ENDIAN
-    uint8_t wrist_tilt_mask_xpos : 1;
-    uint8_t wrist_tilt_mask_xneg : 1;
-    uint8_t wrist_tilt_mask_ypos : 1;
-    uint8_t wrist_tilt_mask_yneg : 1;
-    uint8_t wrist_tilt_mask_zpos : 1;
-    uint8_t wrist_tilt_mask_zneg : 1;
-    uint8_t not_used_01 : 2;
-#endif /* DRV_BYTE_ORDER */
-} lsm6ds3tr_c_a_wrist_tilt_mask_t;
-
-/**
-  * @defgroup LSM6DS3TR_C_Register_Union
-  * @brief    This union group all the registers having a bit-field
-  *           description.
-  *           This union is useful but it's not needed by the driver.
-  *
-  *           REMOVING this union you are compliant with:
-  *           MISRA-C 2012 [Rule 19.2] -> " Union are not allowed "
-  *
-  * @{
-  *
-  */
-typedef union {
-    lsm6ds3tr_c_func_cfg_access_t func_cfg_access;
-    lsm6ds3tr_c_sensor_sync_time_frame_t sensor_sync_time_frame;
-    lsm6ds3tr_c_sensor_sync_res_ratio_t sensor_sync_res_ratio;
-    lsm6ds3tr_c_fifo_ctrl1_t fifo_ctrl1;
-    lsm6ds3tr_c_fifo_ctrl2_t fifo_ctrl2;
-    lsm6ds3tr_c_fifo_ctrl3_t fifo_ctrl3;
-    lsm6ds3tr_c_fifo_ctrl4_t fifo_ctrl4;
-    lsm6ds3tr_c_fifo_ctrl5_t fifo_ctrl5;
-    lsm6ds3tr_c_drdy_pulse_cfg_g_t drdy_pulse_cfg_g;
-    lsm6ds3tr_c_int1_ctrl_t int1_ctrl;
-    lsm6ds3tr_c_int2_ctrl_t int2_ctrl;
-    lsm6ds3tr_c_ctrl1_xl_t ctrl1_xl;
-    lsm6ds3tr_c_ctrl2_g_t ctrl2_g;
-    lsm6ds3tr_c_ctrl3_c_t ctrl3_c;
-    lsm6ds3tr_c_ctrl4_c_t ctrl4_c;
-    lsm6ds3tr_c_ctrl5_c_t ctrl5_c;
-    lsm6ds3tr_c_ctrl6_c_t ctrl6_c;
-    lsm6ds3tr_c_ctrl7_g_t ctrl7_g;
-    lsm6ds3tr_c_ctrl8_xl_t ctrl8_xl;
-    lsm6ds3tr_c_ctrl9_xl_t ctrl9_xl;
-    lsm6ds3tr_c_ctrl10_c_t ctrl10_c;
-    lsm6ds3tr_c_master_config_t master_config;
-    lsm6ds3tr_c_wake_up_src_t wake_up_src;
-    lsm6ds3tr_c_tap_src_t tap_src;
-    lsm6ds3tr_c_d6d_src_t d6d_src;
-    lsm6ds3tr_c_status_reg_t status_reg;
-    lsm6ds3tr_c_sensorhub1_reg_t sensorhub1_reg;
-    lsm6ds3tr_c_sensorhub2_reg_t sensorhub2_reg;
-    lsm6ds3tr_c_sensorhub3_reg_t sensorhub3_reg;
-    lsm6ds3tr_c_sensorhub4_reg_t sensorhub4_reg;
-    lsm6ds3tr_c_sensorhub5_reg_t sensorhub5_reg;
-    lsm6ds3tr_c_sensorhub6_reg_t sensorhub6_reg;
-    lsm6ds3tr_c_sensorhub7_reg_t sensorhub7_reg;
-    lsm6ds3tr_c_sensorhub8_reg_t sensorhub8_reg;
-    lsm6ds3tr_c_sensorhub9_reg_t sensorhub9_reg;
-    lsm6ds3tr_c_sensorhub10_reg_t sensorhub10_reg;
-    lsm6ds3tr_c_sensorhub11_reg_t sensorhub11_reg;
-    lsm6ds3tr_c_sensorhub12_reg_t sensorhub12_reg;
-    lsm6ds3tr_c_fifo_status1_t fifo_status1;
-    lsm6ds3tr_c_fifo_status2_t fifo_status2;
-    lsm6ds3tr_c_fifo_status3_t fifo_status3;
-    lsm6ds3tr_c_fifo_status4_t fifo_status4;
-    lsm6ds3tr_c_sensorhub13_reg_t sensorhub13_reg;
-    lsm6ds3tr_c_sensorhub14_reg_t sensorhub14_reg;
-    lsm6ds3tr_c_sensorhub15_reg_t sensorhub15_reg;
-    lsm6ds3tr_c_sensorhub16_reg_t sensorhub16_reg;
-    lsm6ds3tr_c_sensorhub17_reg_t sensorhub17_reg;
-    lsm6ds3tr_c_sensorhub18_reg_t sensorhub18_reg;
-    lsm6ds3tr_c_func_src1_t func_src1;
-    lsm6ds3tr_c_func_src2_t func_src2;
-    lsm6ds3tr_c_wrist_tilt_ia_t wrist_tilt_ia;
-    lsm6ds3tr_c_tap_cfg_t tap_cfg;
-    lsm6ds3tr_c_tap_ths_6d_t tap_ths_6d;
-    lsm6ds3tr_c_int_dur2_t int_dur2;
-    lsm6ds3tr_c_wake_up_ths_t wake_up_ths;
-    lsm6ds3tr_c_wake_up_dur_t wake_up_dur;
-    lsm6ds3tr_c_free_fall_t free_fall;
-    lsm6ds3tr_c_md1_cfg_t md1_cfg;
-    lsm6ds3tr_c_md2_cfg_t md2_cfg;
-    lsm6ds3tr_c_master_cmd_code_t master_cmd_code;
-    lsm6ds3tr_c_sens_sync_spi_error_code_t sens_sync_spi_error_code;
-    lsm6ds3tr_c_slv0_add_t slv0_add;
-    lsm6ds3tr_c_slv0_subadd_t slv0_subadd;
-    lsm6ds3tr_c_slave0_config_t slave0_config;
-    lsm6ds3tr_c_slv1_add_t slv1_add;
-    lsm6ds3tr_c_slv1_subadd_t slv1_subadd;
-    lsm6ds3tr_c_slave1_config_t slave1_config;
-    lsm6ds3tr_c_slv2_add_t slv2_add;
-    lsm6ds3tr_c_slv2_subadd_t slv2_subadd;
-    lsm6ds3tr_c_slave2_config_t slave2_config;
-    lsm6ds3tr_c_slv3_add_t slv3_add;
-    lsm6ds3tr_c_slv3_subadd_t slv3_subadd;
-    lsm6ds3tr_c_slave3_config_t slave3_config;
-    lsm6ds3tr_c_datawrite_src_mode_sub_slv0_t datawrite_src_mode_sub_slv0;
-    lsm6ds3tr_c_config_pedo_ths_min_t config_pedo_ths_min;
-    lsm6ds3tr_c_pedo_deb_reg_t pedo_deb_reg;
-    lsm6ds3tr_c_a_wrist_tilt_mask_t a_wrist_tilt_mask;
-    bitwise_t bitwise;
-    uint8_t byte;
-} lsm6ds3tr_c_reg_t;
-
-/**
-  * @}
-  *
-  */
-
-int32_t lsm6ds3tr_c_read_reg(stmdev_ctx_t* ctx, uint8_t reg, uint8_t* data, uint16_t len);
-int32_t lsm6ds3tr_c_write_reg(stmdev_ctx_t* ctx, uint8_t reg, uint8_t* data, uint16_t len);
-
-float_t lsm6ds3tr_c_from_fs2g_to_mg(int16_t lsb);
-float_t lsm6ds3tr_c_from_fs4g_to_mg(int16_t lsb);
-float_t lsm6ds3tr_c_from_fs8g_to_mg(int16_t lsb);
-float_t lsm6ds3tr_c_from_fs16g_to_mg(int16_t lsb);
-
-float_t lsm6ds3tr_c_from_fs125dps_to_mdps(int16_t lsb);
-float_t lsm6ds3tr_c_from_fs250dps_to_mdps(int16_t lsb);
-float_t lsm6ds3tr_c_from_fs500dps_to_mdps(int16_t lsb);
-float_t lsm6ds3tr_c_from_fs1000dps_to_mdps(int16_t lsb);
-float_t lsm6ds3tr_c_from_fs2000dps_to_mdps(int16_t lsb);
-
-float_t lsm6ds3tr_c_from_lsb_to_celsius(int16_t lsb);
-
-typedef enum {
-    LSM6DS3TR_C_2g = 0,
-    LSM6DS3TR_C_16g = 1,
-    LSM6DS3TR_C_4g = 2,
-    LSM6DS3TR_C_8g = 3,
-    LSM6DS3TR_C_XL_FS_ND = 4, /* ERROR CODE */
-} lsm6ds3tr_c_fs_xl_t;
-int32_t lsm6ds3tr_c_xl_full_scale_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_fs_xl_t val);
-int32_t lsm6ds3tr_c_xl_full_scale_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_fs_xl_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_XL_ODR_OFF = 0,
-    LSM6DS3TR_C_XL_ODR_12Hz5 = 1,
-    LSM6DS3TR_C_XL_ODR_26Hz = 2,
-    LSM6DS3TR_C_XL_ODR_52Hz = 3,
-    LSM6DS3TR_C_XL_ODR_104Hz = 4,
-    LSM6DS3TR_C_XL_ODR_208Hz = 5,
-    LSM6DS3TR_C_XL_ODR_416Hz = 6,
-    LSM6DS3TR_C_XL_ODR_833Hz = 7,
-    LSM6DS3TR_C_XL_ODR_1k66Hz = 8,
-    LSM6DS3TR_C_XL_ODR_3k33Hz = 9,
-    LSM6DS3TR_C_XL_ODR_6k66Hz = 10,
-    LSM6DS3TR_C_XL_ODR_1Hz6 = 11,
-    LSM6DS3TR_C_XL_ODR_ND = 12, /* ERROR CODE */
-} lsm6ds3tr_c_odr_xl_t;
-int32_t lsm6ds3tr_c_xl_data_rate_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_odr_xl_t val);
-int32_t lsm6ds3tr_c_xl_data_rate_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_odr_xl_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_250dps = 0,
-    LSM6DS3TR_C_125dps = 1,
-    LSM6DS3TR_C_500dps = 2,
-    LSM6DS3TR_C_1000dps = 4,
-    LSM6DS3TR_C_2000dps = 6,
-    LSM6DS3TR_C_GY_FS_ND = 7, /* ERROR CODE */
-} lsm6ds3tr_c_fs_g_t;
-int32_t lsm6ds3tr_c_gy_full_scale_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_fs_g_t val);
-int32_t lsm6ds3tr_c_gy_full_scale_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_fs_g_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_GY_ODR_OFF = 0,
-    LSM6DS3TR_C_GY_ODR_12Hz5 = 1,
-    LSM6DS3TR_C_GY_ODR_26Hz = 2,
-    LSM6DS3TR_C_GY_ODR_52Hz = 3,
-    LSM6DS3TR_C_GY_ODR_104Hz = 4,
-    LSM6DS3TR_C_GY_ODR_208Hz = 5,
-    LSM6DS3TR_C_GY_ODR_416Hz = 6,
-    LSM6DS3TR_C_GY_ODR_833Hz = 7,
-    LSM6DS3TR_C_GY_ODR_1k66Hz = 8,
-    LSM6DS3TR_C_GY_ODR_3k33Hz = 9,
-    LSM6DS3TR_C_GY_ODR_6k66Hz = 10,
-    LSM6DS3TR_C_GY_ODR_ND = 11, /* ERROR CODE */
-} lsm6ds3tr_c_odr_g_t;
-int32_t lsm6ds3tr_c_gy_data_rate_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_odr_g_t val);
-int32_t lsm6ds3tr_c_gy_data_rate_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_odr_g_t* val);
-
-int32_t lsm6ds3tr_c_block_data_update_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_block_data_update_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_LSb_1mg = 0,
-    LSM6DS3TR_C_LSb_16mg = 1,
-    LSM6DS3TR_C_WEIGHT_ND = 2,
-} lsm6ds3tr_c_usr_off_w_t;
-int32_t lsm6ds3tr_c_xl_offset_weight_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_usr_off_w_t val);
-int32_t lsm6ds3tr_c_xl_offset_weight_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_usr_off_w_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_XL_HIGH_PERFORMANCE = 0,
-    LSM6DS3TR_C_XL_NORMAL = 1,
-    LSM6DS3TR_C_XL_PW_MODE_ND = 2, /* ERROR CODE */
-} lsm6ds3tr_c_xl_hm_mode_t;
-int32_t lsm6ds3tr_c_xl_power_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_xl_hm_mode_t val);
-int32_t lsm6ds3tr_c_xl_power_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_xl_hm_mode_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_STAT_RND_DISABLE = 0,
-    LSM6DS3TR_C_STAT_RND_ENABLE = 1,
-    LSM6DS3TR_C_STAT_RND_ND = 2, /* ERROR CODE */
-} lsm6ds3tr_c_rounding_status_t;
-int32_t lsm6ds3tr_c_rounding_on_status_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_rounding_status_t val);
-int32_t lsm6ds3tr_c_rounding_on_status_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_rounding_status_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_GY_HIGH_PERFORMANCE = 0,
-    LSM6DS3TR_C_GY_NORMAL = 1,
-    LSM6DS3TR_C_GY_PW_MODE_ND = 2, /* ERROR CODE */
-} lsm6ds3tr_c_g_hm_mode_t;
-int32_t lsm6ds3tr_c_gy_power_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_g_hm_mode_t val);
-int32_t lsm6ds3tr_c_gy_power_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_g_hm_mode_t* val);
-
-typedef struct {
-    lsm6ds3tr_c_wake_up_src_t wake_up_src;
-    lsm6ds3tr_c_tap_src_t tap_src;
-    lsm6ds3tr_c_d6d_src_t d6d_src;
-    lsm6ds3tr_c_status_reg_t status_reg;
-    lsm6ds3tr_c_func_src1_t func_src1;
-    lsm6ds3tr_c_func_src2_t func_src2;
-    lsm6ds3tr_c_wrist_tilt_ia_t wrist_tilt_ia;
-    lsm6ds3tr_c_a_wrist_tilt_mask_t a_wrist_tilt_mask;
-} lsm6ds3tr_c_all_sources_t;
-int32_t lsm6ds3tr_c_all_sources_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_all_sources_t* val);
-
-int32_t lsm6ds3tr_c_status_reg_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_status_reg_t* val);
-
-int32_t lsm6ds3tr_c_xl_flag_data_ready_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_gy_flag_data_ready_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_temp_flag_data_ready_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_xl_usr_offset_set(stmdev_ctx_t* ctx, uint8_t* buff);
-int32_t lsm6ds3tr_c_xl_usr_offset_get(stmdev_ctx_t* ctx, uint8_t* buff);
-int32_t lsm6ds3tr_c_timestamp_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_timestamp_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_LSB_6ms4 = 0,
-    LSM6DS3TR_C_LSB_25us = 1,
-    LSM6DS3TR_C_TS_RES_ND = 2, /* ERROR CODE */
-} lsm6ds3tr_c_timer_hr_t;
-int32_t lsm6ds3tr_c_timestamp_res_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_timer_hr_t val);
-int32_t lsm6ds3tr_c_timestamp_res_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_timer_hr_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_ROUND_DISABLE = 0,
-    LSM6DS3TR_C_ROUND_XL = 1,
-    LSM6DS3TR_C_ROUND_GY = 2,
-    LSM6DS3TR_C_ROUND_GY_XL = 3,
-    LSM6DS3TR_C_ROUND_SH1_TO_SH6 = 4,
-    LSM6DS3TR_C_ROUND_XL_SH1_TO_SH6 = 5,
-    LSM6DS3TR_C_ROUND_GY_XL_SH1_TO_SH12 = 6,
-    LSM6DS3TR_C_ROUND_GY_XL_SH1_TO_SH6 = 7,
-    LSM6DS3TR_C_ROUND_OUT_ND = 8, /* ERROR CODE */
-} lsm6ds3tr_c_rounding_t;
-int32_t lsm6ds3tr_c_rounding_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_rounding_t val);
-int32_t lsm6ds3tr_c_rounding_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_rounding_t* val);
-
-int32_t lsm6ds3tr_c_temperature_raw_get(stmdev_ctx_t* ctx, int16_t* val);
-int32_t lsm6ds3tr_c_angular_rate_raw_get(stmdev_ctx_t* ctx, int16_t* val);
-int32_t lsm6ds3tr_c_acceleration_raw_get(stmdev_ctx_t* ctx, int16_t* val);
-
-int32_t lsm6ds3tr_c_mag_calibrated_raw_get(stmdev_ctx_t* ctx, int16_t* val);
-
-int32_t lsm6ds3tr_c_fifo_raw_data_get(stmdev_ctx_t* ctx, uint8_t* buffer, uint8_t len);
-
-typedef enum {
-    LSM6DS3TR_C_USER_BANK = 0,
-    LSM6DS3TR_C_BANK_A = 4,
-    LSM6DS3TR_C_BANK_B = 5,
-    LSM6DS3TR_C_BANK_ND = 6, /* ERROR CODE */
-} lsm6ds3tr_c_func_cfg_en_t;
-int32_t lsm6ds3tr_c_mem_bank_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_func_cfg_en_t val);
-int32_t lsm6ds3tr_c_mem_bank_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_func_cfg_en_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_DRDY_LATCHED = 0,
-    LSM6DS3TR_C_DRDY_PULSED = 1,
-    LSM6DS3TR_C_DRDY_ND = 2, /* ERROR CODE */
-} lsm6ds3tr_c_drdy_pulsed_g_t;
-int32_t lsm6ds3tr_c_data_ready_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_drdy_pulsed_g_t val);
-int32_t lsm6ds3tr_c_data_ready_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_drdy_pulsed_g_t* val);
-
-int32_t lsm6ds3tr_c_device_id_get(stmdev_ctx_t* ctx, uint8_t* buff);
-int32_t lsm6ds3tr_c_reset_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_reset_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_LSB_AT_LOW_ADD = 0,
-    LSM6DS3TR_C_MSB_AT_LOW_ADD = 1,
-    LSM6DS3TR_C_DATA_FMT_ND = 2, /* ERROR CODE */
-} lsm6ds3tr_c_ble_t;
-int32_t lsm6ds3tr_c_data_format_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_ble_t val);
-int32_t lsm6ds3tr_c_data_format_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_ble_t* val);
-
-int32_t lsm6ds3tr_c_auto_increment_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_auto_increment_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_boot_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_boot_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_XL_ST_DISABLE = 0,
-    LSM6DS3TR_C_XL_ST_POSITIVE = 1,
-    LSM6DS3TR_C_XL_ST_NEGATIVE = 2,
-    LSM6DS3TR_C_XL_ST_ND = 3, /* ERROR CODE */
-} lsm6ds3tr_c_st_xl_t;
-int32_t lsm6ds3tr_c_xl_self_test_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_st_xl_t val);
-int32_t lsm6ds3tr_c_xl_self_test_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_st_xl_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_GY_ST_DISABLE = 0,
-    LSM6DS3TR_C_GY_ST_POSITIVE = 1,
-    LSM6DS3TR_C_GY_ST_NEGATIVE = 3,
-    LSM6DS3TR_C_GY_ST_ND = 4, /* ERROR CODE */
-} lsm6ds3tr_c_st_g_t;
-int32_t lsm6ds3tr_c_gy_self_test_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_st_g_t val);
-int32_t lsm6ds3tr_c_gy_self_test_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_st_g_t* val);
-
-int32_t lsm6ds3tr_c_filter_settling_mask_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_filter_settling_mask_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_USE_SLOPE = 0,
-    LSM6DS3TR_C_USE_HPF = 1,
-    LSM6DS3TR_C_HP_PATH_ND = 2, /* ERROR CODE */
-} lsm6ds3tr_c_slope_fds_t;
-int32_t lsm6ds3tr_c_xl_hp_path_internal_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_slope_fds_t val);
-int32_t lsm6ds3tr_c_xl_hp_path_internal_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_slope_fds_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_XL_ANA_BW_1k5Hz = 0,
-    LSM6DS3TR_C_XL_ANA_BW_400Hz = 1,
-    LSM6DS3TR_C_XL_ANA_BW_ND = 2, /* ERROR CODE */
-} lsm6ds3tr_c_bw0_xl_t;
-int32_t lsm6ds3tr_c_xl_filter_analog_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_bw0_xl_t val);
-int32_t lsm6ds3tr_c_xl_filter_analog_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_bw0_xl_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_XL_LP1_ODR_DIV_2 = 0,
-    LSM6DS3TR_C_XL_LP1_ODR_DIV_4 = 1,
-    LSM6DS3TR_C_XL_LP1_NA = 2, /* ERROR CODE */
-} lsm6ds3tr_c_lpf1_bw_sel_t;
-int32_t lsm6ds3tr_c_xl_lp1_bandwidth_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_lpf1_bw_sel_t val);
-int32_t lsm6ds3tr_c_xl_lp1_bandwidth_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_lpf1_bw_sel_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_XL_LOW_LAT_LP_ODR_DIV_50 = 0x00,
-    LSM6DS3TR_C_XL_LOW_LAT_LP_ODR_DIV_100 = 0x01,
-    LSM6DS3TR_C_XL_LOW_LAT_LP_ODR_DIV_9 = 0x02,
-    LSM6DS3TR_C_XL_LOW_LAT_LP_ODR_DIV_400 = 0x03,
-    LSM6DS3TR_C_XL_LOW_NOISE_LP_ODR_DIV_50 = 0x10,
-    LSM6DS3TR_C_XL_LOW_NOISE_LP_ODR_DIV_100 = 0x11,
-    LSM6DS3TR_C_XL_LOW_NOISE_LP_ODR_DIV_9 = 0x12,
-    LSM6DS3TR_C_XL_LOW_NOISE_LP_ODR_DIV_400 = 0x13,
-    LSM6DS3TR_C_XL_LP_NA = 0x20, /* ERROR CODE */
-} lsm6ds3tr_c_input_composite_t;
-int32_t lsm6ds3tr_c_xl_lp2_bandwidth_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_input_composite_t val);
-int32_t lsm6ds3tr_c_xl_lp2_bandwidth_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_input_composite_t* val);
-
-int32_t lsm6ds3tr_c_xl_reference_mode_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_xl_reference_mode_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_XL_HP_ODR_DIV_4 = 0x00, /* Slope filter */
-    LSM6DS3TR_C_XL_HP_ODR_DIV_100 = 0x01,
-    LSM6DS3TR_C_XL_HP_ODR_DIV_9 = 0x02,
-    LSM6DS3TR_C_XL_HP_ODR_DIV_400 = 0x03,
-    LSM6DS3TR_C_XL_HP_NA = 0x10, /* ERROR CODE */
-} lsm6ds3tr_c_hpcf_xl_t;
-int32_t lsm6ds3tr_c_xl_hp_bandwidth_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_hpcf_xl_t val);
-int32_t lsm6ds3tr_c_xl_hp_bandwidth_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_hpcf_xl_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_LP2_ONLY = 0x00,
-
-    LSM6DS3TR_C_HP_16mHz_LP2 = 0x80,
-    LSM6DS3TR_C_HP_65mHz_LP2 = 0x90,
-    LSM6DS3TR_C_HP_260mHz_LP2 = 0xA0,
-    LSM6DS3TR_C_HP_1Hz04_LP2 = 0xB0,
-
-    LSM6DS3TR_C_HP_DISABLE_LP1_LIGHT = 0x0A,
-    LSM6DS3TR_C_HP_DISABLE_LP1_NORMAL = 0x09,
-    LSM6DS3TR_C_HP_DISABLE_LP_STRONG = 0x08,
-    LSM6DS3TR_C_HP_DISABLE_LP1_AGGRESSIVE = 0x0B,
-
-    LSM6DS3TR_C_HP_16mHz_LP1_LIGHT = 0x8A,
-    LSM6DS3TR_C_HP_65mHz_LP1_NORMAL = 0x99,
-    LSM6DS3TR_C_HP_260mHz_LP1_STRONG = 0xA8,
-    LSM6DS3TR_C_HP_1Hz04_LP1_AGGRESSIVE = 0xBB,
-
-    LSM6DS3TR_C_HP_GY_BAND_NA = 0xFF, /* ERROR CODE */
-} lsm6ds3tr_c_lpf1_sel_g_t;
-int32_t lsm6ds3tr_c_gy_band_pass_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_lpf1_sel_g_t val);
-int32_t lsm6ds3tr_c_gy_band_pass_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_lpf1_sel_g_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_SPI_4_WIRE = 0,
-    LSM6DS3TR_C_SPI_3_WIRE = 1,
-    LSM6DS3TR_C_SPI_MODE_ND = 2, /* ERROR CODE */
-} lsm6ds3tr_c_sim_t;
-int32_t lsm6ds3tr_c_spi_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_sim_t val);
-int32_t lsm6ds3tr_c_spi_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_sim_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_I2C_ENABLE = 0,
-    LSM6DS3TR_C_I2C_DISABLE = 1,
-    LSM6DS3TR_C_I2C_MODE_ND = 2, /* ERROR CODE */
-} lsm6ds3tr_c_i2c_disable_t;
-int32_t lsm6ds3tr_c_i2c_interface_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_i2c_disable_t val);
-int32_t lsm6ds3tr_c_i2c_interface_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_i2c_disable_t* val);
-
-typedef struct {
-    uint8_t int1_drdy_xl : 1;
-    uint8_t int1_drdy_g : 1;
-    uint8_t int1_boot : 1;
-    uint8_t int1_fth : 1;
-    uint8_t int1_fifo_ovr : 1;
-    uint8_t int1_full_flag : 1;
-    uint8_t int1_sign_mot : 1;
-    uint8_t int1_step_detector : 1;
-    uint8_t int1_timer : 1;
-    uint8_t int1_tilt : 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_inact_state : 1;
-    uint8_t den_drdy_int1 : 1;
-    uint8_t drdy_on_int1 : 1;
-} lsm6ds3tr_c_int1_route_t;
-int32_t lsm6ds3tr_c_pin_int1_route_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_int1_route_t val);
-int32_t lsm6ds3tr_c_pin_int1_route_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_int1_route_t* val);
-
-typedef struct {
-    uint8_t int2_drdy_xl : 1;
-    uint8_t int2_drdy_g : 1;
-    uint8_t int2_drdy_temp : 1;
-    uint8_t int2_fth : 1;
-    uint8_t int2_fifo_ovr : 1;
-    uint8_t int2_full_flag : 1;
-    uint8_t int2_step_count_ov : 1;
-    uint8_t int2_step_delta : 1;
-    uint8_t int2_iron : 1;
-    uint8_t int2_tilt : 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_inact_state : 1;
-    uint8_t int2_wrist_tilt : 1;
-} lsm6ds3tr_c_int2_route_t;
-int32_t lsm6ds3tr_c_pin_int2_route_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_int2_route_t val);
-int32_t lsm6ds3tr_c_pin_int2_route_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_int2_route_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_PUSH_PULL = 0,
-    LSM6DS3TR_C_OPEN_DRAIN = 1,
-    LSM6DS3TR_C_PIN_MODE_ND = 2, /* ERROR CODE */
-} lsm6ds3tr_c_pp_od_t;
-int32_t lsm6ds3tr_c_pin_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_pp_od_t val);
-int32_t lsm6ds3tr_c_pin_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_pp_od_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_ACTIVE_HIGH = 0,
-    LSM6DS3TR_C_ACTIVE_LOW = 1,
-    LSM6DS3TR_C_POLARITY_ND = 2, /* ERROR CODE */
-} lsm6ds3tr_c_h_lactive_t;
-int32_t lsm6ds3tr_c_pin_polarity_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_h_lactive_t val);
-int32_t lsm6ds3tr_c_pin_polarity_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_h_lactive_t* val);
-
-int32_t lsm6ds3tr_c_all_on_int1_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_all_on_int1_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_INT_PULSED = 0,
-    LSM6DS3TR_C_INT_LATCHED = 1,
-    LSM6DS3TR_C_INT_MODE = 2, /* ERROR CODE */
-} lsm6ds3tr_c_lir_t;
-int32_t lsm6ds3tr_c_int_notification_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_lir_t val);
-int32_t lsm6ds3tr_c_int_notification_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_lir_t* val);
-
-int32_t lsm6ds3tr_c_wkup_threshold_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_wkup_threshold_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_wkup_dur_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_wkup_dur_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_gy_sleep_mode_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_gy_sleep_mode_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_PROPERTY_DISABLE = 0,
-    LSM6DS3TR_C_XL_12Hz5_GY_NOT_AFFECTED = 1,
-    LSM6DS3TR_C_XL_12Hz5_GY_SLEEP = 2,
-    LSM6DS3TR_C_XL_12Hz5_GY_PD = 3,
-    LSM6DS3TR_C_ACT_MODE_ND = 4, /* ERROR CODE */
-} lsm6ds3tr_c_inact_en_t;
-int32_t lsm6ds3tr_c_act_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_inact_en_t val);
-int32_t lsm6ds3tr_c_act_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_inact_en_t* val);
-
-int32_t lsm6ds3tr_c_act_sleep_dur_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_act_sleep_dur_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_tap_src_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_tap_src_t* val);
-
-int32_t lsm6ds3tr_c_tap_detection_on_z_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_tap_detection_on_z_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_tap_detection_on_y_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_tap_detection_on_y_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_tap_detection_on_x_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_tap_detection_on_x_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_tap_threshold_x_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_tap_threshold_x_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_tap_shock_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_tap_shock_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_tap_quiet_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_tap_quiet_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_tap_dur_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_tap_dur_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_ONLY_SINGLE = 0,
-    LSM6DS3TR_C_BOTH_SINGLE_DOUBLE = 1,
-    LSM6DS3TR_C_TAP_MODE_ND = 2, /* ERROR CODE */
-} lsm6ds3tr_c_single_double_tap_t;
-int32_t lsm6ds3tr_c_tap_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_single_double_tap_t val);
-int32_t lsm6ds3tr_c_tap_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_single_double_tap_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_ODR_DIV_2_FEED = 0,
-    LSM6DS3TR_C_LPF2_FEED = 1,
-    LSM6DS3TR_C_6D_FEED_ND = 2, /* ERROR CODE */
-} lsm6ds3tr_c_low_pass_on_6d_t;
-int32_t lsm6ds3tr_c_6d_feed_data_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_low_pass_on_6d_t val);
-int32_t lsm6ds3tr_c_6d_feed_data_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_low_pass_on_6d_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_DEG_80 = 0,
-    LSM6DS3TR_C_DEG_70 = 1,
-    LSM6DS3TR_C_DEG_60 = 2,
-    LSM6DS3TR_C_DEG_50 = 3,
-    LSM6DS3TR_C_6D_TH_ND = 4, /* ERROR CODE */
-} lsm6ds3tr_c_sixd_ths_t;
-int32_t lsm6ds3tr_c_6d_threshold_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_sixd_ths_t val);
-int32_t lsm6ds3tr_c_6d_threshold_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_sixd_ths_t* val);
-
-int32_t lsm6ds3tr_c_4d_mode_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_4d_mode_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_ff_dur_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_ff_dur_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_FF_TSH_156mg = 0,
-    LSM6DS3TR_C_FF_TSH_219mg = 1,
-    LSM6DS3TR_C_FF_TSH_250mg = 2,
-    LSM6DS3TR_C_FF_TSH_312mg = 3,
-    LSM6DS3TR_C_FF_TSH_344mg = 4,
-    LSM6DS3TR_C_FF_TSH_406mg = 5,
-    LSM6DS3TR_C_FF_TSH_469mg = 6,
-    LSM6DS3TR_C_FF_TSH_500mg = 7,
-    LSM6DS3TR_C_FF_TSH_ND = 8, /* ERROR CODE */
-} lsm6ds3tr_c_ff_ths_t;
-int32_t lsm6ds3tr_c_ff_threshold_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_ff_ths_t val);
-int32_t lsm6ds3tr_c_ff_threshold_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_ff_ths_t* val);
-
-int32_t lsm6ds3tr_c_fifo_watermark_set(stmdev_ctx_t* ctx, uint16_t val);
-int32_t lsm6ds3tr_c_fifo_watermark_get(stmdev_ctx_t* ctx, uint16_t* val);
-
-int32_t lsm6ds3tr_c_fifo_data_level_get(stmdev_ctx_t* ctx, uint16_t* val);
-
-int32_t lsm6ds3tr_c_fifo_wtm_flag_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_fifo_pattern_get(stmdev_ctx_t* ctx, uint16_t* val);
-
-int32_t lsm6ds3tr_c_fifo_temp_batch_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_fifo_temp_batch_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_TRG_XL_GY_DRDY = 0,
-    LSM6DS3TR_C_TRG_STEP_DETECT = 1,
-    LSM6DS3TR_C_TRG_SH_DRDY = 2,
-    LSM6DS3TR_C_TRG_SH_ND = 3, /* ERROR CODE */
-} lsm6ds3tr_c_trigger_fifo_t;
-int32_t lsm6ds3tr_c_fifo_write_trigger_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_trigger_fifo_t val);
-int32_t lsm6ds3tr_c_fifo_write_trigger_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_trigger_fifo_t* val);
-
-int32_t lsm6ds3tr_c_fifo_pedo_and_timestamp_batch_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_fifo_pedo_and_timestamp_batch_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_FIFO_XL_DISABLE = 0,
-    LSM6DS3TR_C_FIFO_XL_NO_DEC = 1,
-    LSM6DS3TR_C_FIFO_XL_DEC_2 = 2,
-    LSM6DS3TR_C_FIFO_XL_DEC_3 = 3,
-    LSM6DS3TR_C_FIFO_XL_DEC_4 = 4,
-    LSM6DS3TR_C_FIFO_XL_DEC_8 = 5,
-    LSM6DS3TR_C_FIFO_XL_DEC_16 = 6,
-    LSM6DS3TR_C_FIFO_XL_DEC_32 = 7,
-    LSM6DS3TR_C_FIFO_XL_DEC_ND = 8, /* ERROR CODE */
-} lsm6ds3tr_c_dec_fifo_xl_t;
-int32_t lsm6ds3tr_c_fifo_xl_batch_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_dec_fifo_xl_t val);
-int32_t lsm6ds3tr_c_fifo_xl_batch_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_dec_fifo_xl_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_FIFO_GY_DISABLE = 0,
-    LSM6DS3TR_C_FIFO_GY_NO_DEC = 1,
-    LSM6DS3TR_C_FIFO_GY_DEC_2 = 2,
-    LSM6DS3TR_C_FIFO_GY_DEC_3 = 3,
-    LSM6DS3TR_C_FIFO_GY_DEC_4 = 4,
-    LSM6DS3TR_C_FIFO_GY_DEC_8 = 5,
-    LSM6DS3TR_C_FIFO_GY_DEC_16 = 6,
-    LSM6DS3TR_C_FIFO_GY_DEC_32 = 7,
-    LSM6DS3TR_C_FIFO_GY_DEC_ND = 8, /* ERROR CODE */
-} lsm6ds3tr_c_dec_fifo_gyro_t;
-int32_t lsm6ds3tr_c_fifo_gy_batch_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_dec_fifo_gyro_t val);
-int32_t lsm6ds3tr_c_fifo_gy_batch_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_dec_fifo_gyro_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_FIFO_DS3_DISABLE = 0,
-    LSM6DS3TR_C_FIFO_DS3_NO_DEC = 1,
-    LSM6DS3TR_C_FIFO_DS3_DEC_2 = 2,
-    LSM6DS3TR_C_FIFO_DS3_DEC_3 = 3,
-    LSM6DS3TR_C_FIFO_DS3_DEC_4 = 4,
-    LSM6DS3TR_C_FIFO_DS3_DEC_8 = 5,
-    LSM6DS3TR_C_FIFO_DS3_DEC_16 = 6,
-    LSM6DS3TR_C_FIFO_DS3_DEC_32 = 7,
-    LSM6DS3TR_C_FIFO_DS3_DEC_ND = 8, /* ERROR CODE */
-} lsm6ds3tr_c_dec_ds3_fifo_t;
-int32_t lsm6ds3tr_c_fifo_dataset_3_batch_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_dec_ds3_fifo_t val);
-int32_t lsm6ds3tr_c_fifo_dataset_3_batch_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_dec_ds3_fifo_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_FIFO_DS4_DISABLE = 0,
-    LSM6DS3TR_C_FIFO_DS4_NO_DEC = 1,
-    LSM6DS3TR_C_FIFO_DS4_DEC_2 = 2,
-    LSM6DS3TR_C_FIFO_DS4_DEC_3 = 3,
-    LSM6DS3TR_C_FIFO_DS4_DEC_4 = 4,
-    LSM6DS3TR_C_FIFO_DS4_DEC_8 = 5,
-    LSM6DS3TR_C_FIFO_DS4_DEC_16 = 6,
-    LSM6DS3TR_C_FIFO_DS4_DEC_32 = 7,
-    LSM6DS3TR_C_FIFO_DS4_DEC_ND = 8, /* ERROR CODE */
-} lsm6ds3tr_c_dec_ds4_fifo_t;
-int32_t lsm6ds3tr_c_fifo_dataset_4_batch_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_dec_ds4_fifo_t val);
-int32_t lsm6ds3tr_c_fifo_dataset_4_batch_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_dec_ds4_fifo_t* val);
-
-int32_t lsm6ds3tr_c_fifo_xl_gy_8bit_format_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_fifo_xl_gy_8bit_format_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_fifo_stop_on_wtm_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_fifo_stop_on_wtm_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_BYPASS_MODE = 0,
-    LSM6DS3TR_C_FIFO_MODE = 1,
-    LSM6DS3TR_C_STREAM_TO_FIFO_MODE = 3,
-    LSM6DS3TR_C_BYPASS_TO_STREAM_MODE = 4,
-    LSM6DS3TR_C_STREAM_MODE = 6,
-    LSM6DS3TR_C_FIFO_MODE_ND = 8, /* ERROR CODE */
-} lsm6ds3tr_c_fifo_mode_t;
-int32_t lsm6ds3tr_c_fifo_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_fifo_mode_t val);
-int32_t lsm6ds3tr_c_fifo_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_fifo_mode_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_FIFO_DISABLE = 0,
-    LSM6DS3TR_C_FIFO_12Hz5 = 1,
-    LSM6DS3TR_C_FIFO_26Hz = 2,
-    LSM6DS3TR_C_FIFO_52Hz = 3,
-    LSM6DS3TR_C_FIFO_104Hz = 4,
-    LSM6DS3TR_C_FIFO_208Hz = 5,
-    LSM6DS3TR_C_FIFO_416Hz = 6,
-    LSM6DS3TR_C_FIFO_833Hz = 7,
-    LSM6DS3TR_C_FIFO_1k66Hz = 8,
-    LSM6DS3TR_C_FIFO_3k33Hz = 9,
-    LSM6DS3TR_C_FIFO_6k66Hz = 10,
-    LSM6DS3TR_C_FIFO_RATE_ND = 11, /* ERROR CODE */
-} lsm6ds3tr_c_odr_fifo_t;
-int32_t lsm6ds3tr_c_fifo_data_rate_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_odr_fifo_t val);
-int32_t lsm6ds3tr_c_fifo_data_rate_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_odr_fifo_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_DEN_ACT_LOW = 0,
-    LSM6DS3TR_C_DEN_ACT_HIGH = 1,
-    LSM6DS3TR_C_DEN_POL_ND = 2, /* ERROR CODE */
-} lsm6ds3tr_c_den_lh_t;
-int32_t lsm6ds3tr_c_den_polarity_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_den_lh_t val);
-int32_t lsm6ds3tr_c_den_polarity_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_den_lh_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_DEN_DISABLE = 0,
-    LSM6DS3TR_C_LEVEL_FIFO = 6,
-    LSM6DS3TR_C_LEVEL_LETCHED = 3,
-    LSM6DS3TR_C_LEVEL_TRIGGER = 2,
-    LSM6DS3TR_C_EDGE_TRIGGER = 4,
-    LSM6DS3TR_C_DEN_MODE_ND = 5, /* ERROR CODE */
-} lsm6ds3tr_c_den_mode_t;
-int32_t lsm6ds3tr_c_den_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_den_mode_t val);
-int32_t lsm6ds3tr_c_den_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_den_mode_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_STAMP_IN_GY_DATA = 0,
-    LSM6DS3TR_C_STAMP_IN_XL_DATA = 1,
-    LSM6DS3TR_C_STAMP_IN_GY_XL_DATA = 2,
-    LSM6DS3TR_C_DEN_STAMP_ND = 3, /* ERROR CODE */
-} lsm6ds3tr_c_den_xl_en_t;
-int32_t lsm6ds3tr_c_den_enable_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_den_xl_en_t val);
-int32_t lsm6ds3tr_c_den_enable_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_den_xl_en_t* val);
-
-int32_t lsm6ds3tr_c_den_mark_axis_z_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_den_mark_axis_z_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_den_mark_axis_y_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_den_mark_axis_y_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_den_mark_axis_x_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_den_mark_axis_x_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_pedo_step_reset_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_pedo_step_reset_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_pedo_sens_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_pedo_sens_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_pedo_threshold_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_pedo_threshold_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_PEDO_AT_2g = 0,
-    LSM6DS3TR_C_PEDO_AT_4g = 1,
-    LSM6DS3TR_C_PEDO_FS_ND = 2, /* ERROR CODE */
-} lsm6ds3tr_c_pedo_fs_t;
-int32_t lsm6ds3tr_c_pedo_full_scale_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_pedo_fs_t val);
-int32_t lsm6ds3tr_c_pedo_full_scale_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_pedo_fs_t* val);
-
-int32_t lsm6ds3tr_c_pedo_debounce_steps_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_pedo_debounce_steps_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_pedo_timeout_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_pedo_timeout_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_pedo_steps_period_set(stmdev_ctx_t* ctx, uint8_t* buff);
-int32_t lsm6ds3tr_c_pedo_steps_period_get(stmdev_ctx_t* ctx, uint8_t* buff);
-
-int32_t lsm6ds3tr_c_motion_sens_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_motion_sens_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_motion_threshold_set(stmdev_ctx_t* ctx, uint8_t* buff);
-int32_t lsm6ds3tr_c_motion_threshold_get(stmdev_ctx_t* ctx, uint8_t* buff);
-
-int32_t lsm6ds3tr_c_tilt_sens_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_tilt_sens_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_wrist_tilt_sens_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_wrist_tilt_sens_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_tilt_latency_set(stmdev_ctx_t* ctx, uint8_t* buff);
-int32_t lsm6ds3tr_c_tilt_latency_get(stmdev_ctx_t* ctx, uint8_t* buff);
-
-int32_t lsm6ds3tr_c_tilt_threshold_set(stmdev_ctx_t* ctx, uint8_t* buff);
-int32_t lsm6ds3tr_c_tilt_threshold_get(stmdev_ctx_t* ctx, uint8_t* buff);
-
-int32_t lsm6ds3tr_c_tilt_src_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_a_wrist_tilt_mask_t* val);
-int32_t lsm6ds3tr_c_tilt_src_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_a_wrist_tilt_mask_t* val);
-
-int32_t lsm6ds3tr_c_mag_soft_iron_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_mag_soft_iron_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_mag_hard_iron_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_mag_hard_iron_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_mag_soft_iron_mat_set(stmdev_ctx_t* ctx, uint8_t* buff);
-int32_t lsm6ds3tr_c_mag_soft_iron_mat_get(stmdev_ctx_t* ctx, uint8_t* buff);
-
-int32_t lsm6ds3tr_c_mag_offset_set(stmdev_ctx_t* ctx, int16_t* val);
-int32_t lsm6ds3tr_c_mag_offset_get(stmdev_ctx_t* ctx, int16_t* val);
-
-int32_t lsm6ds3tr_c_func_en_set(stmdev_ctx_t* ctx, uint8_t val);
-
-int32_t lsm6ds3tr_c_sh_sync_sens_frame_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_sh_sync_sens_frame_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_RES_RATIO_2_11 = 0,
-    LSM6DS3TR_C_RES_RATIO_2_12 = 1,
-    LSM6DS3TR_C_RES_RATIO_2_13 = 2,
-    LSM6DS3TR_C_RES_RATIO_2_14 = 3,
-    LSM6DS3TR_C_RES_RATIO_ND = 4, /* ERROR CODE */
-} lsm6ds3tr_c_rr_t;
-int32_t lsm6ds3tr_c_sh_sync_sens_ratio_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_rr_t val);
-int32_t lsm6ds3tr_c_sh_sync_sens_ratio_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_rr_t* val);
-
-int32_t lsm6ds3tr_c_sh_master_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_sh_master_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_sh_pass_through_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_sh_pass_through_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_EXT_PULL_UP = 0,
-    LSM6DS3TR_C_INTERNAL_PULL_UP = 1,
-    LSM6DS3TR_C_SH_PIN_MODE = 2, /* ERROR CODE */
-} lsm6ds3tr_c_pull_up_en_t;
-int32_t lsm6ds3tr_c_sh_pin_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_pull_up_en_t val);
-int32_t lsm6ds3tr_c_sh_pin_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_pull_up_en_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_XL_GY_DRDY = 0,
-    LSM6DS3TR_C_EXT_ON_INT2_PIN = 1,
-    LSM6DS3TR_C_SH_SYNCRO_ND = 2, /* ERROR CODE */
-} lsm6ds3tr_c_start_config_t;
-int32_t lsm6ds3tr_c_sh_syncro_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_start_config_t val);
-int32_t lsm6ds3tr_c_sh_syncro_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_start_config_t* val);
-
-int32_t lsm6ds3tr_c_sh_drdy_on_int1_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_sh_drdy_on_int1_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-typedef struct {
-    lsm6ds3tr_c_sensorhub1_reg_t sh_byte_1;
-    lsm6ds3tr_c_sensorhub2_reg_t sh_byte_2;
-    lsm6ds3tr_c_sensorhub3_reg_t sh_byte_3;
-    lsm6ds3tr_c_sensorhub4_reg_t sh_byte_4;
-    lsm6ds3tr_c_sensorhub5_reg_t sh_byte_5;
-    lsm6ds3tr_c_sensorhub6_reg_t sh_byte_6;
-    lsm6ds3tr_c_sensorhub7_reg_t sh_byte_7;
-    lsm6ds3tr_c_sensorhub8_reg_t sh_byte_8;
-    lsm6ds3tr_c_sensorhub9_reg_t sh_byte_9;
-    lsm6ds3tr_c_sensorhub10_reg_t sh_byte_10;
-    lsm6ds3tr_c_sensorhub11_reg_t sh_byte_11;
-    lsm6ds3tr_c_sensorhub12_reg_t sh_byte_12;
-    lsm6ds3tr_c_sensorhub13_reg_t sh_byte_13;
-    lsm6ds3tr_c_sensorhub14_reg_t sh_byte_14;
-    lsm6ds3tr_c_sensorhub15_reg_t sh_byte_15;
-    lsm6ds3tr_c_sensorhub16_reg_t sh_byte_16;
-    lsm6ds3tr_c_sensorhub17_reg_t sh_byte_17;
-    lsm6ds3tr_c_sensorhub18_reg_t sh_byte_18;
-} lsm6ds3tr_c_emb_sh_read_t;
-int32_t lsm6ds3tr_c_sh_read_data_raw_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_emb_sh_read_t* val);
-
-int32_t lsm6ds3tr_c_sh_cmd_sens_sync_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_sh_cmd_sens_sync_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-int32_t lsm6ds3tr_c_sh_spi_sync_error_set(stmdev_ctx_t* ctx, uint8_t val);
-int32_t lsm6ds3tr_c_sh_spi_sync_error_get(stmdev_ctx_t* ctx, uint8_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_SLV_0 = 0,
-    LSM6DS3TR_C_SLV_0_1 = 1,
-    LSM6DS3TR_C_SLV_0_1_2 = 2,
-    LSM6DS3TR_C_SLV_0_1_2_3 = 3,
-    LSM6DS3TR_C_SLV_EN_ND = 4, /* ERROR CODE */
-} lsm6ds3tr_c_aux_sens_on_t;
-int32_t lsm6ds3tr_c_sh_num_of_dev_connected_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_aux_sens_on_t val);
-int32_t lsm6ds3tr_c_sh_num_of_dev_connected_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_aux_sens_on_t* val);
-
-typedef struct {
-    uint8_t slv0_add;
-    uint8_t slv0_subadd;
-    uint8_t slv0_data;
-} lsm6ds3tr_c_sh_cfg_write_t;
-int32_t lsm6ds3tr_c_sh_cfg_write(stmdev_ctx_t* ctx, lsm6ds3tr_c_sh_cfg_write_t* val);
-
-typedef struct {
-    uint8_t slv_add;
-    uint8_t slv_subadd;
-    uint8_t slv_len;
-} lsm6ds3tr_c_sh_cfg_read_t;
-int32_t lsm6ds3tr_c_sh_slv0_cfg_read(stmdev_ctx_t* ctx, lsm6ds3tr_c_sh_cfg_read_t* val);
-int32_t lsm6ds3tr_c_sh_slv1_cfg_read(stmdev_ctx_t* ctx, lsm6ds3tr_c_sh_cfg_read_t* val);
-int32_t lsm6ds3tr_c_sh_slv2_cfg_read(stmdev_ctx_t* ctx, lsm6ds3tr_c_sh_cfg_read_t* val);
-int32_t lsm6ds3tr_c_sh_slv3_cfg_read(stmdev_ctx_t* ctx, lsm6ds3tr_c_sh_cfg_read_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_SL0_NO_DEC = 0,
-    LSM6DS3TR_C_SL0_DEC_2 = 1,
-    LSM6DS3TR_C_SL0_DEC_4 = 2,
-    LSM6DS3TR_C_SL0_DEC_8 = 3,
-    LSM6DS3TR_C_SL0_DEC_ND = 4, /* ERROR CODE */
-} lsm6ds3tr_c_slave0_rate_t;
-int32_t lsm6ds3tr_c_sh_slave_0_dec_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_slave0_rate_t val);
-int32_t lsm6ds3tr_c_sh_slave_0_dec_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_slave0_rate_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_EACH_SH_CYCLE = 0,
-    LSM6DS3TR_C_ONLY_FIRST_CYCLE = 1,
-    LSM6DS3TR_C_SH_WR_MODE_ND = 2, /* ERROR CODE */
-} lsm6ds3tr_c_write_once_t;
-int32_t lsm6ds3tr_c_sh_write_mode_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_write_once_t val);
-int32_t lsm6ds3tr_c_sh_write_mode_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_write_once_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_SL1_NO_DEC = 0,
-    LSM6DS3TR_C_SL1_DEC_2 = 1,
-    LSM6DS3TR_C_SL1_DEC_4 = 2,
-    LSM6DS3TR_C_SL1_DEC_8 = 3,
-    LSM6DS3TR_C_SL1_DEC_ND = 4, /* ERROR CODE */
-} lsm6ds3tr_c_slave1_rate_t;
-int32_t lsm6ds3tr_c_sh_slave_1_dec_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_slave1_rate_t val);
-int32_t lsm6ds3tr_c_sh_slave_1_dec_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_slave1_rate_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_SL2_NO_DEC = 0,
-    LSM6DS3TR_C_SL2_DEC_2 = 1,
-    LSM6DS3TR_C_SL2_DEC_4 = 2,
-    LSM6DS3TR_C_SL2_DEC_8 = 3,
-    LSM6DS3TR_C_SL2_DEC_ND = 4, /* ERROR CODE */
-} lsm6ds3tr_c_slave2_rate_t;
-int32_t lsm6ds3tr_c_sh_slave_2_dec_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_slave2_rate_t val);
-int32_t lsm6ds3tr_c_sh_slave_2_dec_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_slave2_rate_t* val);
-
-typedef enum {
-    LSM6DS3TR_C_SL3_NO_DEC = 0,
-    LSM6DS3TR_C_SL3_DEC_2 = 1,
-    LSM6DS3TR_C_SL3_DEC_4 = 2,
-    LSM6DS3TR_C_SL3_DEC_8 = 3,
-    LSM6DS3TR_C_SL3_DEC_ND = 4, /* ERROR CODE */
-} lsm6ds3tr_c_slave3_rate_t;
-int32_t lsm6ds3tr_c_sh_slave_3_dec_set(stmdev_ctx_t* ctx, lsm6ds3tr_c_slave3_rate_t val);
-int32_t lsm6ds3tr_c_sh_slave_3_dec_get(stmdev_ctx_t* ctx, lsm6ds3tr_c_slave3_rate_t* val);
-
-/**
-  * @}
-  *
-  */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* LSM6DS3TR_C_DRIVER_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

tracking/imu/imu_lsm6ds3trc.c → tracking/imu/lsm6ds3trc.c

@@ -1,33 +1,26 @@
-#include "lsm6ds3tr_c_reg.h"
+#include "lsm6ds3trc.h"
 
-#include <furi_hal.h>
-
-#include "imu.h"
-
-#define TAG "LSM6DS3TR-C"
-
-#define LSM6DS3_ADDRESS (0x6A << 1)
-
-static const double DEG_TO_RAD = 0.017453292519943295769236907684886;
+#define LSM6DS3_TAG "LSM6DS3"
+#define LSM6DS3_DEV_ADDRESS (0x6A << 1)
 
 stmdev_ctx_t lsm6ds3trc_ctx;
 
 int32_t lsm6ds3trc_write_i2c(void* handle, uint8_t reg_addr, const uint8_t* data, uint16_t len) {
-    if(furi_hal_i2c_write_mem(handle, LSM6DS3_ADDRESS, reg_addr, (uint8_t*)data, len, 50))
+    if(furi_hal_i2c_write_mem(handle, LSM6DS3_DEV_ADDRESS, reg_addr, (uint8_t*)data, len, 50))
         return 0;
     return -1;
 }
 
 int32_t lsm6ds3trc_read_i2c(void* handle, uint8_t reg_addr, uint8_t* read_data, uint16_t len) {
-    if(furi_hal_i2c_read_mem(handle, LSM6DS3_ADDRESS, reg_addr, read_data, len, 50)) return 0;
+    if(furi_hal_i2c_read_mem(handle, LSM6DS3_DEV_ADDRESS, reg_addr, read_data, len, 50)) return 0;
     return -1;
 }
 
 bool lsm6ds3trc_begin() {
-    FURI_LOG_I(TAG, "Init LSM6DS3TR-C");
+    FURI_LOG_I(LSM6DS3_TAG, "Init LSM6DS3TR-C");
 
-    if(!furi_hal_i2c_is_device_ready(&furi_hal_i2c_handle_external, LSM6DS3_ADDRESS, 50)) {
-        FURI_LOG_E(TAG, "Not ready");
+    if(!furi_hal_i2c_is_device_ready(&furi_hal_i2c_handle_external, LSM6DS3_DEV_ADDRESS, 50)) {
+        FURI_LOG_E(LSM6DS3_TAG, "Not ready");
         return false;
     }
 
@@ -39,7 +32,7 @@ bool lsm6ds3trc_begin() {
     uint8_t whoami;
     lsm6ds3tr_c_device_id_get(&lsm6ds3trc_ctx, &whoami);
     if(whoami != LSM6DS3TR_C_ID) {
-        FURI_LOG_I(TAG, "Unknown model: %x", (int)whoami);
+        FURI_LOG_I(LSM6DS3_TAG, "Unknown model: %x", (int)whoami);
         return false;
     }
 
@@ -59,7 +52,7 @@ bool lsm6ds3trc_begin() {
     lsm6ds3tr_c_gy_power_mode_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_GY_HIGH_PERFORMANCE);
     lsm6ds3tr_c_gy_band_pass_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_LP2_ONLY);
 
-    FURI_LOG_I(TAG, "Init OK");
+    FURI_LOG_I(LSM6DS3_TAG, "Init OK");
     return true;
 }
 
@@ -92,3 +85,11 @@ int lsm6ds3trc_read(double* vec) {
 
     return ret;
 }
+
+struct imu_t imu_lsm6ds3trc = {
+    LSM6DS3_DEV_ADDRESS,
+    lsm6ds3trc_begin,
+    lsm6ds3trc_end,
+    lsm6ds3trc_read,
+    LSM6DS3_TAG
+};

tracking/imu/lsm6ds3trc.h

@@ -0,0 +1,22 @@
+#ifndef IMU_LSM6DS3TRC_H
+#define IMU_LSM6DS3TRC_H
+
+#include "../../lib/lsm6ds3tr-api/lsm6ds3tr-c_reg.h"
+
+#include <furi_hal.h>
+
+#include "imu.h"
+
+// External variable declaration
+extern stmdev_ctx_t lsm6ds3trc_ctx;
+
+// Function declarations
+int32_t lsm6ds3trc_write_i2c(void* handle, uint8_t reg_addr, const uint8_t* data, uint16_t len);
+int32_t lsm6ds3trc_read_i2c(void* handle, uint8_t reg_addr, uint8_t* read_data, uint16_t len);
+bool lsm6ds3trc_begin(void);
+void lsm6ds3trc_end(void);
+int lsm6ds3trc_read(double* vec);
+
+extern struct imu_t imu_lsm6ds3trc;
+
+#endif // LSM6DS3TRC_H

tracking/imu/lsm6dso.c

@@ -0,0 +1,97 @@
+#include "lsm6dso.h"
+
+#define LSM6DSO_TAG "LSM6DO"
+#define LSM6DSO_DEV_ADDRESS (0x6B << 1)
+
+stmdev_ctx_t lsm6dso_ctx;
+
+int32_t lsm6dso_write_i2c(void* handle, uint8_t reg_addr, uint8_t* data, uint16_t len) {
+    if(furi_hal_i2c_write_mem(handle, LSM6DSO_DEV_ADDRESS, reg_addr, data, len, 50))
+        return 0;
+    return -2;
+}
+
+int32_t lsm6dso_read_i2c(void* handle, uint8_t reg_addr, uint8_t* read_data, uint16_t len) {
+    if(furi_hal_i2c_read_mem(handle, LSM6DSO_DEV_ADDRESS, reg_addr, read_data, len, 50))
+        return 0;
+    return -2;
+}
+
+bool lsm6dso_begin() {
+    FURI_LOG_I(LSM6DSO_TAG, "Init LSM6DSOTR-C");
+
+    if(!furi_hal_i2c_is_device_ready(&furi_hal_i2c_handle_external, LSM6DSO_DEV_ADDRESS, 50)) {
+        FURI_LOG_E(LSM6DSO_TAG, "Not ready");
+        return false;
+    }
+
+    lsm6dso_ctx.write_reg = lsm6dso_write_i2c;
+    lsm6dso_ctx.read_reg = lsm6dso_read_i2c;
+    lsm6dso_ctx.mdelay = furi_delay_ms;
+    lsm6dso_ctx.handle = &furi_hal_i2c_handle_external;
+
+    uint8_t whoami;
+    lsm6dso_device_id_get(&lsm6dso_ctx, &whoami);
+    if(whoami != LSM6DSO_ID) {
+        FURI_LOG_I(LSM6DSO_TAG, "Unknown model: %x", (int)whoami);
+        return false;
+    }
+
+    lsm6dso_reset_set(&lsm6dso_ctx, PROPERTY_ENABLE);
+    uint8_t rst = PROPERTY_ENABLE;
+    while(rst) lsm6dso_reset_get(&lsm6dso_ctx, &rst);
+
+    lsm6dso_block_data_update_set(&lsm6dso_ctx, PROPERTY_ENABLE);
+    lsm6dso_fifo_mode_set(&lsm6dso_ctx, LSM6DSO_BYPASS_MODE);
+
+    lsm6dso_xl_data_rate_set(&lsm6dso_ctx, LSM6DSO_XL_ODR_104Hz);
+    lsm6dso_xl_full_scale_set(&lsm6dso_ctx, LSM6DSO_4g);
+    //lsm6dso_xl_lp1_bandwidth_set(&lsm6dso_ctx, LSM6DSO_XL_LP1_ODR_DIV_4);
+    //lsm6dso_aux_gy_lp1_bandwidth_set() ???
+
+    lsm6dso_gy_data_rate_set(&lsm6dso_ctx, LSM6DSO_GY_ODR_104Hz);
+    lsm6dso_gy_full_scale_set(&lsm6dso_ctx, LSM6DSO_2000dps);
+    lsm6dso_gy_power_mode_set(&lsm6dso_ctx, LSM6DSO_GY_HIGH_PERFORMANCE);
+    //lsm6dso_gy_band_pass_set(&lsm6dso_ctx, LSM6DSO_LP2_ONLY);
+
+    FURI_LOG_I(LSM6DSO_TAG, "Init OK");
+    return true;
+}
+
+void lsm6dso_end() {
+    lsm6dso_xl_data_rate_set(&lsm6dso_ctx, LSM6DSO_XL_ODR_OFF);
+    lsm6dso_gy_data_rate_set(&lsm6dso_ctx, LSM6DSO_GY_ODR_OFF);
+}
+
+int lsm6dso_read(double* vec) {
+    int ret = 0;
+    int16_t data[3];
+    lsm6dso_reg_t reg;
+    lsm6dso_status_reg_get(&lsm6dso_ctx, &reg.status_reg);
+
+    if(reg.status_reg.xlda) {
+        lsm6dso_acceleration_raw_get(&lsm6dso_ctx, data);
+        vec[2] = (double)lsm6dso_from_fs2_to_mg(data[0]) / 1000;
+        vec[0] = (double)lsm6dso_from_fs2_to_mg(data[1]) / 1000;
+        vec[1] = (double)lsm6dso_from_fs2_to_mg(data[2]) / 1000;
+        ret |= ACC_DATA_READY;
+    }
+
+    if(reg.status_reg.gda) {
+        lsm6dso_angular_rate_raw_get(&lsm6dso_ctx, data);
+        vec[5] = (double)lsm6dso_from_fs2000_to_mdps(data[0]) * DEG_TO_RAD / 1000;
+        vec[3] = (double)lsm6dso_from_fs2000_to_mdps(data[1]) * DEG_TO_RAD / 1000;
+        vec[4] = (double)lsm6dso_from_fs2000_to_mdps(data[2]) * DEG_TO_RAD / 1000;
+        ret |= GYR_DATA_READY;
+    }
+
+    return ret;
+}
+
+struct imu_t imu_lsm6dso = {
+    LSM6DSO_DEV_ADDRESS,
+    lsm6dso_begin,
+    lsm6dso_end,
+    lsm6dso_read,
+    LSM6DSO_TAG
+};

tracking/imu/lsm6dso.h

@@ -0,0 +1,19 @@
+#ifndef IMU_LSM6DSO_H
+#define IMU_LSM6DSO_H
+
+#include "../../lib/lsm6dso-api/lsm6dso_reg.h"
+
+#include <furi_hal.h>
+
+#include "imu.h"
+
+int32_t lsm6dso_write_i2c(void* handle, uint8_t reg_addr, uint8_t* data, uint16_t len);
+int32_t lsm6dso_read_i2c(void* handle, uint8_t reg_addr, uint8_t* read_data, uint16_t len);
+
+bool lsm6dso_begin();
+void lsm6dso_end();
+int lsm6dso_read(double* vec);
+
+extern struct imu_t imu_lsm6dso;
+
+#endif // IMU_LSM6DSO_H