Remove subtrees to add parallel histories

2048/.gitsubtree

@@ -1,2 +0,0 @@
-https://github.com/eugene-kirzhanov/flipper-zero-2048-game main /
-https://github.com/xMasterX/all-the-plugins dev base_pack/game_2048

2048/LICENSE

@@ -1,21 +0,0 @@
-MIT License
-
-Copyright (c) 2022 Eugene Kirzhanov
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.

2048/README-catalog.md

@@ -1,7 +0,0 @@
-In this classic game, your objective is to collect the highest number of points by connecting identical numbers on the playing field.
-
-You can control the game using the Up, Down, Right, and Left buttons, which allow you to move all cells on the playing field simultaneously.
-
-Whenever you merge two identical numbers, their value doubles. For instance, combining 2 and 2 results in 4.
-
-The game ends when no further moves are possible. Exiting the game will save the current state of the game board.

2048/README.md

@@ -1,17 +0,0 @@
-# "2048" game for Flipper Zero
-- play up to 65K
-- progress is saved on exit
-
-![Game screen](images/screenshot1.png)
-![Menu screen](images/screenshot2.png)
-
-#### TODO:
- - add animations
- 
-#### Thanks to:
- - [DroomOne's FlappyBird](https://github.com/DroomOne/flipperzero-firmware/tree/dev/applications/flappy_bird)
- - [x27's "15" Game](https://github.com/x27/flipperzero-game15)
-
-#### License
-[MIT](LICENSE)
-Copyright 2022 Eugene Kirzhanov

2048/application.fam

@@ -1,16 +0,0 @@
-App(
-    appid="game_2048",
-    name="2048",
-    apptype=FlipperAppType.EXTERNAL,
-    entry_point="game_2048_app",
-    requires=[
-        "gui",
-    ],
-    stack_size=1 * 1024,
-    order=90,
-    fap_icon="game_2048.png",
-    fap_category="Games",
-    fap_author="@eugene-kirzhanov",
-    fap_version="1.2",
-    fap_description="Play the port of the 2048 game on Flipper Zero.",
-)

2048/array_utils.c

@@ -1,40 +0,0 @@
-#include "array_utils.h"
-
-void reverse_array(int length, uint8_t arr[length]) {
-    uint8_t tmp;
-    for(int low = 0, high = length - 1; low < high; low++, high--) {
-        tmp = arr[low];
-        arr[low] = arr[high];
-        arr[high] = tmp;
-    }
-}
-
-bool shift_array_to_left(int length, uint8_t arr[length], uint8_t from_index, uint8_t offset) {
-    if(from_index >= length) return false;
-    for(uint8_t i = from_index; i < length; i++) {
-        arr[i] = i < length - offset ? arr[i + offset] : 0;
-    }
-    return true;
-}
-
-void get_column_from_array(
-    int rows,
-    int cols,
-    uint8_t arr[rows][cols],
-    uint8_t column_index,
-    uint8_t* out) {
-    for(uint8_t i = 0; i < rows; i++) {
-        out[i] = arr[i][column_index];
-    }
-}
-
-void set_column_to_array(
-    int rows,
-    int cols,
-    uint8_t arr[rows][cols],
-    uint8_t column_index,
-    uint8_t* src) {
-    for(uint8_t i = 0; i < rows; i++) {
-        arr[i][column_index] = src[i];
-    }
-}

2048/array_utils.h

@@ -1,22 +0,0 @@
-#pragma once
-
-#include <stdint.h>
-#include <stdbool.h>
-
-void reverse_array(int length, uint8_t arr[length]);
-
-bool shift_array_to_left(int length, uint8_t arr[length], uint8_t from_index, uint8_t offset);
-
-void get_column_from_array(
-    int rows,
-    int cols,
-    uint8_t arr[rows][cols],
-    uint8_t column_index,
-    uint8_t* out);
-
-void set_column_to_array(
-    int rows,
-    int cols,
-    uint8_t arr[rows][cols],
-    uint8_t column_index,
-    uint8_t* src);

2048/digits.h

@@ -1,263 +0,0 @@
-#pragma once
-
-#include <stdint.h>
-
-uint8_t digits[16][14][14] = {
-
-    // 2
-    {{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}},
-
-    // 4
-    {{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}},
-
-    // 8
-    {{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}},
-
-    // 16
-    {{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0},
-     {0, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0},
-     {0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0},
-     {0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0},
-     {0, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0},
-     {0, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0},
-     {0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0},
-     {0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0},
-     {0, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0},
-     {0, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}},
-
-    // 32
-    {{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 0},
-     {0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 0},
-     {0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 0},
-     {0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 0},
-     {0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 0},
-     {0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 0},
-     {0, 0, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0},
-     {0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 0},
-     {0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}},
-
-    // 64
-    {{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 0},
-     {0, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 0},
-     {0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0},
-     {0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0},
-     {0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 0},
-     {0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 0},
-     {0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 0},
-     {0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 0},
-     {0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 0},
-     {0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}},
-
-    // 128
-    {{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0},
-     {0, 0, 1, 1, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0},
-     {0, 0, 0, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0},
-     {0, 0, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 0, 0},
-     {0, 0, 0, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}},
-
-    // 256
-    {{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0},
-     {0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 1, 0, 0, 0},
-     {0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0},
-     {0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 0, 1, 0},
-     {0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}},
-
-    // 512
-    {{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 1, 1, 1, 0, 0, 1, 0, 1, 1, 1, 0, 0},
-     {0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 0, 0},
-     {0, 0, 1, 1, 1, 0, 0, 1, 0, 1, 1, 1, 0, 0},
-     {0, 0, 0, 0, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0},
-     {0, 0, 1, 1, 1, 0, 0, 1, 0, 1, 1, 1, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}},
-
-    // 1K
-    {{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0},
-     {0, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}},
-
-    // 2K
-    {{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0},
-     {0, 0, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0},
-     {0, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0},
-     {0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0},
-     {0, 0, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}},
-
-    // 4K
-    {{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 1, 0, 1, 0, 1, 0, 0, 1, 0, 0, 0},
-     {0, 0, 0, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0},
-     {0, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 1, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}},
-
-    // 8K
-    {{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0},
-     {0, 0, 0, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0},
-     {0, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0},
-     {0, 0, 0, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0},
-     {0, 0, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}},
-
-    // 16K
-    {{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 1, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0},
-     {0, 0, 1, 1, 0, 1, 0, 0, 0, 1, 0, 1, 0, 0},
-     {0, 0, 0, 1, 0, 1, 1, 1, 0, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 0},
-     {0, 0, 0, 1, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}},
-
-    // 32K
-    {{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0},
-     {0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0},
-     {0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 0, 0, 0},
-     {0, 0, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 0, 0},
-     {0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}},
-
-    // 64K
-    {{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 1, 1, 1, 0, 1, 0, 1, 0, 1, 0, 0, 1, 0},
-     {0, 1, 0, 0, 0, 1, 0, 1, 0, 1, 0, 1, 0, 0},
-     {0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 0, 0, 0},
-     {0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0},
-     {0, 1, 1, 1, 0, 0, 0, 1, 0, 1, 0, 0, 1, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
-     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}}
-
-};

2048/game_2048.c

@@ -1,510 +0,0 @@
-/* 
- * Copyright 2022 Eugene Kirzhanov
- * Use of this source code is governed by an MIT-style
- * license that can be found in the LICENSE file or at
- * https://opensource.org/licenses/MIT
- * 
- * Thanks to:
- *  - DroomOne: https://github.com/DroomOne/flipperzero-firmware
- *  - x27: https://github.com/x27/flipperzero-game15
- */
-
-#include <furi.h>
-#include <gui/gui.h>
-#include <input/input.h>
-#include <storage/storage.h>
-#include <dolphin/dolphin.h>
-
-#include "digits.h"
-#include "array_utils.h"
-
-#define CELLS_COUNT 4
-#define CELL_INNER_SIZE 14
-#define FRAME_LEFT 10
-#define FRAME_TOP 1
-#define FRAME_SIZE 61
-
-#define SAVING_DIRECTORY STORAGE_APP_DATA_PATH_PREFIX
-#define SAVING_FILENAME SAVING_DIRECTORY "/game_2048.save"
-
-typedef enum {
-    GameStateMenu,
-    GameStateInProgress,
-    GameStateGameOver,
-} State;
-
-typedef struct {
-    FuriMutex* mutex;
-    State state;
-    uint8_t table[CELLS_COUNT][CELLS_COUNT];
-    uint32_t score;
-    uint32_t moves;
-    int8_t selected_menu_item;
-    uint32_t top_score;
-} GameState;
-
-typedef struct {
-    uint32_t points;
-    bool is_table_updated;
-} MoveResult;
-
-#define MENU_ITEMS_COUNT 2
-static const char* popup_menu_strings[] = {"Resume", "New Game"};
-
-static void input_callback(InputEvent* input_event, void* ctx) {
-    furi_assert(ctx);
-    FuriMessageQueue* event_queue = ctx;
-    furi_message_queue_put(event_queue, input_event, FuriWaitForever);
-}
-
-static void draw_frame(Canvas* canvas) {
-    canvas_draw_frame(canvas, FRAME_LEFT, FRAME_TOP, FRAME_SIZE, FRAME_SIZE);
-
-    uint8_t offs = FRAME_LEFT + CELL_INNER_SIZE + 1;
-    for(uint8_t i = 0; i < CELLS_COUNT - 1; i++) {
-        canvas_draw_line(canvas, offs, FRAME_TOP + 1, offs, FRAME_TOP + FRAME_SIZE - 2);
-        offs += CELL_INNER_SIZE + 1;
-    }
-    offs = FRAME_TOP + CELL_INNER_SIZE + 1;
-    for(uint8_t i = 0; i < CELLS_COUNT - 1; i++) {
-        canvas_draw_line(canvas, FRAME_LEFT + 1, offs, FRAME_LEFT + FRAME_SIZE - 2, offs);
-        offs += CELL_INNER_SIZE + 1;
-    }
-}
-
-static void draw_digit(Canvas* canvas, uint8_t row, uint8_t column, uint8_t value) {
-    if(value == 0) return;
-
-    uint8_t left = FRAME_LEFT + 1 + (column * (CELL_INNER_SIZE + 1));
-    uint8_t top = FRAME_TOP + 1 + (row * (CELL_INNER_SIZE + 1));
-
-    for(uint8_t r = 0; r < CELL_INNER_SIZE; r++) {
-        for(u_int8_t c = 0; c < CELL_INNER_SIZE; c++) {
-            if(digits[value - 1][r][c] == 1) {
-                canvas_draw_dot(canvas, left + c, top + r);
-            }
-        }
-    }
-}
-
-static void draw_table(Canvas* canvas, const uint8_t table[CELLS_COUNT][CELLS_COUNT]) {
-    for(uint8_t row = 0; row < CELLS_COUNT; row++) {
-        for(uint8_t column = 0; column < CELLS_COUNT; column++) {
-            draw_digit(canvas, row, column, table[row][column]);
-        }
-    }
-}
-
-static void gray_canvas(Canvas* const canvas) {
-    canvas_set_color(canvas, ColorWhite);
-    for(int x = 0; x < 128; x += 2) {
-        for(int y = 0; y < 64; y++) {
-            canvas_draw_dot(canvas, x + (y % 2 == 1 ? 0 : 1), y);
-        }
-    }
-}
-
-static void draw_callback(Canvas* const canvas, void* ctx) {
-    furi_assert(ctx);
-    const GameState* game_state = ctx;
-    furi_mutex_acquire(game_state->mutex, FuriWaitForever);
-
-    canvas_clear(canvas);
-
-    draw_frame(canvas);
-    draw_table(canvas, game_state->table);
-
-    canvas_set_font(canvas, FontPrimary);
-    canvas_draw_str_aligned(canvas, 128, FRAME_TOP, AlignRight, AlignTop, "Score");
-    canvas_draw_str_aligned(canvas, 128, FRAME_TOP + 20, AlignRight, AlignTop, "Moves");
-    canvas_draw_str_aligned(canvas, 128, FRAME_TOP + 40, AlignRight, AlignTop, "Top Score");
-
-    int bufSize = 12;
-    char buf[bufSize];
-    snprintf(buf, sizeof(buf), "%lu", game_state->score);
-    canvas_set_font(canvas, FontSecondary);
-    canvas_draw_str_aligned(canvas, 128, FRAME_TOP + 10, AlignRight, AlignTop, buf);
-
-    memset(buf, 0, bufSize);
-    snprintf(buf, sizeof(buf), "%lu", game_state->moves);
-    canvas_set_font(canvas, FontSecondary);
-    canvas_draw_str_aligned(canvas, 128, FRAME_TOP + 30, AlignRight, AlignTop, buf);
-
-    memset(buf, 0, bufSize);
-    snprintf(buf, sizeof(buf), "%lu", game_state->top_score);
-    canvas_set_font(canvas, FontSecondary);
-    canvas_draw_str_aligned(canvas, 128, FRAME_TOP + 50, AlignRight, AlignTop, buf);
-
-    if(game_state->state == GameStateMenu) {
-        gray_canvas(canvas);
-
-        canvas_set_color(canvas, ColorWhite);
-        canvas_draw_rbox(canvas, 28, 16, 72, 32, 4);
-        canvas_set_color(canvas, ColorBlack);
-        canvas_draw_rframe(canvas, 28, 16, 72, 32, 4);
-
-        for(int i = 0; i < MENU_ITEMS_COUNT; i++) {
-            if(i == game_state->selected_menu_item) {
-                canvas_set_color(canvas, ColorBlack);
-                canvas_draw_box(canvas, 34, 20 + 12 * i, 60, 12);
-            }
-
-            canvas_set_color(
-                canvas, i == game_state->selected_menu_item ? ColorWhite : ColorBlack);
-            canvas_draw_str_aligned(
-                canvas, 64, 26 + 12 * i, AlignCenter, AlignCenter, popup_menu_strings[i]);
-        }
-
-    } else if(game_state->state == GameStateGameOver) {
-        gray_canvas(canvas);
-
-        bool record_broken = game_state->score > game_state->top_score;
-
-        canvas_set_color(canvas, ColorWhite);
-        canvas_draw_rbox(canvas, 14, 12, 100, 40, 4);
-
-        canvas_set_color(canvas, ColorBlack);
-        canvas_draw_line(canvas, 14, 26, 114, 26);
-        canvas_draw_rframe(canvas, 14, 12, 100, 40, 4);
-
-        canvas_set_font(canvas, FontPrimary);
-        canvas_draw_str_aligned(canvas, 64, 15, AlignCenter, AlignTop, "Game Over");
-
-        canvas_set_font(canvas, FontSecondary);
-        if(record_broken) {
-            canvas_draw_str_aligned(canvas, 64, 29, AlignCenter, AlignTop, "New Top Score!!!");
-        } else {
-            canvas_draw_str_aligned(canvas, 64, 29, AlignCenter, AlignTop, "Your Score");
-        }
-
-        memset(buf, 0, bufSize);
-        snprintf(buf, sizeof(buf), "%lu", game_state->score);
-        canvas_set_font(canvas, FontPrimary);
-        canvas_draw_str_aligned(canvas, 64, 48, AlignCenter, AlignBottom, buf);
-    }
-
-    furi_mutex_release(game_state->mutex);
-}
-
-void calculate_move_to_left(uint8_t arr[], MoveResult* const move_result) {
-    uint8_t index = 0;
-    uint8_t next_index;
-    uint8_t offset;
-    bool was_moved;
-    while(index < CELLS_COUNT - 1) {
-        // find offset from [index] to next non-empty value
-        offset = 1;
-        while(index + offset < CELLS_COUNT && arr[index + offset] == 0) offset++;
-
-        // if all remaining values in this row are empty then go to next row
-        if(index + offset >= CELLS_COUNT) break;
-
-        // if current cell is empty then shift all cells [index+offset .. CELLS_COUNT-1] to [index]
-        if(arr[index] == 0) {
-            was_moved = shift_array_to_left(CELLS_COUNT, arr, index, offset);
-            if(was_moved) move_result->is_table_updated = true;
-        }
-
-        next_index = index + 1;
-        if(arr[next_index] == 0) {
-            // find offset from [next_index] to next non-empty value
-            offset = 1;
-            while(next_index + offset < CELLS_COUNT && arr[next_index + offset] == 0) offset++;
-
-            // if all remaining values in this row are empty then go to next row
-            if(next_index + offset >= CELLS_COUNT) break;
-
-            // if next cell is empty then shift cells [next_index+offset .. CELLS_COUNT-1] to [next_index]
-            was_moved = shift_array_to_left(CELLS_COUNT, arr, next_index, offset);
-            if(was_moved) move_result->is_table_updated = true;
-        }
-
-        if(arr[index] == arr[next_index]) {
-            arr[index]++;
-            shift_array_to_left(CELLS_COUNT, arr, next_index, 1);
-
-            move_result->is_table_updated = true;
-            move_result->points += 2 << (arr[index] - 1);
-        }
-
-        index++;
-    }
-}
-
-void move_left(uint8_t table[CELLS_COUNT][CELLS_COUNT], MoveResult* const move_result) {
-    for(uint8_t row_index = 0; row_index < CELLS_COUNT; row_index++) {
-        calculate_move_to_left(table[row_index], move_result);
-    }
-}
-
-void move_right(uint8_t table[CELLS_COUNT][CELLS_COUNT], MoveResult* const move_result) {
-    for(uint8_t row_index = 0; row_index < CELLS_COUNT; row_index++) {
-        reverse_array(CELLS_COUNT, table[row_index]);
-        calculate_move_to_left(table[row_index], move_result);
-        reverse_array(CELLS_COUNT, table[row_index]);
-    }
-}
-
-void move_up(uint8_t table[CELLS_COUNT][CELLS_COUNT], MoveResult* const move_result) {
-    uint8_t column[CELLS_COUNT];
-    for(uint8_t column_index = 0; column_index < CELLS_COUNT; column_index++) {
-        get_column_from_array(CELLS_COUNT, CELLS_COUNT, table, column_index, column);
-        calculate_move_to_left(column, move_result);
-        set_column_to_array(CELLS_COUNT, CELLS_COUNT, table, column_index, column);
-    }
-}
-
-void move_down(uint8_t table[CELLS_COUNT][CELLS_COUNT], MoveResult* const move_result) {
-    uint8_t column[CELLS_COUNT];
-    for(uint8_t column_index = 0; column_index < CELLS_COUNT; column_index++) {
-        get_column_from_array(CELLS_COUNT, CELLS_COUNT, table, column_index, column);
-        reverse_array(CELLS_COUNT, column);
-        calculate_move_to_left(column, move_result);
-        reverse_array(CELLS_COUNT, column);
-        set_column_to_array(CELLS_COUNT, CELLS_COUNT, table, column_index, column);
-    }
-}
-
-void add_new_digit(GameState* const game_state) {
-    uint8_t empty_cell_indexes[CELLS_COUNT * CELLS_COUNT];
-    uint8_t empty_cells_count = 0;
-    for(u_int8_t i = 0; i < CELLS_COUNT; i++) {
-        for(u_int8_t j = 0; j < CELLS_COUNT; j++) {
-            if(game_state->table[i][j] == 0) {
-                empty_cell_indexes[empty_cells_count++] = i * CELLS_COUNT + j;
-            }
-        }
-    }
-    if(empty_cells_count == 0) return;
-
-    int random_empty_cell_index = empty_cell_indexes[random() % empty_cells_count];
-    u_int8_t row = random_empty_cell_index / CELLS_COUNT;
-    u_int8_t col = random_empty_cell_index % CELLS_COUNT;
-
-    int random_value_percent = random() % 100;
-    game_state->table[row][col] = random_value_percent < 90 ? 1 : 2; // 90% for 2, 25% for 4
-}
-
-void init_game(GameState* const game_state, bool clear_top_score) {
-    memset(game_state->table, 0, CELLS_COUNT * CELLS_COUNT * sizeof(uint8_t));
-    add_new_digit(game_state);
-    add_new_digit(game_state);
-
-    game_state->score = 0;
-    game_state->moves = 0;
-    game_state->state = GameStateInProgress;
-    game_state->selected_menu_item = 0;
-    if(clear_top_score) {
-        game_state->top_score = 0;
-    }
-}
-
-bool load_game(GameState* game_state) {
-    Storage* storage = furi_record_open(RECORD_STORAGE);
-    storage_common_migrate(storage, EXT_PATH("apps/Games/game_2048.save"), SAVING_FILENAME);
-
-    File* file = storage_file_alloc(storage);
-    uint16_t bytes_readed = 0;
-    if(storage_file_open(file, SAVING_FILENAME, FSAM_READ, FSOM_OPEN_EXISTING)) {
-        bytes_readed = storage_file_read(file, game_state, sizeof(GameState));
-    }
-    storage_file_close(file);
-    storage_file_free(file);
-
-    furi_record_close(RECORD_STORAGE);
-
-    return bytes_readed == sizeof(GameState);
-}
-
-void save_game(GameState* game_state) {
-    Storage* storage = furi_record_open(RECORD_STORAGE);
-
-    File* file = storage_file_alloc(storage);
-    if(storage_file_open(file, SAVING_FILENAME, FSAM_WRITE, FSOM_CREATE_ALWAYS)) {
-        storage_file_write(file, game_state, sizeof(GameState));
-    }
-    storage_file_close(file);
-    storage_file_free(file);
-
-    furi_record_close(RECORD_STORAGE);
-}
-
-bool is_game_over(GameState* const game_state) {
-    FURI_LOG_I("is_game_over", "====check====");
-
-    // check if table contains at least one empty cell
-    for(uint8_t i = 0; i < CELLS_COUNT; i++) {
-        for(u_int8_t j = 0; j < CELLS_COUNT; j++) {
-            if(game_state->table[i][j] == 0) {
-                FURI_LOG_I("is_game_over", "has empty cells");
-                return false;
-            }
-        }
-    }
-    FURI_LOG_I("is_game_over", "no empty cells");
-
-    uint8_t tmp_table[CELLS_COUNT][CELLS_COUNT];
-    MoveResult* tmp_move_result = malloc(sizeof(MoveResult));
-
-    // check if we can move to any direction
-    memcpy(tmp_table, game_state->table, CELLS_COUNT * CELLS_COUNT * sizeof(uint8_t));
-    move_left(tmp_table, tmp_move_result);
-    if(tmp_move_result->is_table_updated) return false;
-    FURI_LOG_I("is_game_over", "can't move left");
-
-    memcpy(tmp_table, game_state->table, CELLS_COUNT * CELLS_COUNT * sizeof(uint8_t));
-    move_right(tmp_table, tmp_move_result);
-    if(tmp_move_result->is_table_updated) return false;
-    FURI_LOG_I("is_game_over", "can't move right");
-
-    memcpy(tmp_table, game_state->table, CELLS_COUNT * CELLS_COUNT * sizeof(uint8_t));
-    move_up(tmp_table, tmp_move_result);
-    if(tmp_move_result->is_table_updated) return false;
-    FURI_LOG_I("is_game_over", "can't move up");
-
-    memcpy(tmp_table, game_state->table, CELLS_COUNT * CELLS_COUNT * sizeof(uint8_t));
-    move_down(tmp_table, tmp_move_result);
-    if(tmp_move_result->is_table_updated) return false;
-    FURI_LOG_I("is_game_over", "can't move down");
-
-    return true;
-}
-
-int32_t game_2048_app() {
-    GameState* game_state = malloc(sizeof(GameState));
-    if(!load_game(game_state)) {
-        init_game(game_state, true);
-    }
-
-    MoveResult* move_result = malloc(sizeof(MoveResult));
-
-    game_state->mutex = furi_mutex_alloc(FuriMutexTypeNormal);
-    if(!game_state->mutex) {
-        FURI_LOG_E("2048Game", "cannot create mutex\r\n");
-        free(game_state);
-        return 255;
-    }
-
-    InputEvent input;
-    FuriMessageQueue* event_queue = furi_message_queue_alloc(8, sizeof(InputEvent));
-
-    ViewPort* view_port = view_port_alloc();
-    view_port_draw_callback_set(view_port, draw_callback, game_state);
-    view_port_input_callback_set(view_port, input_callback, event_queue);
-
-    Gui* gui = furi_record_open(RECORD_GUI);
-    gui_add_view_port(gui, view_port, GuiLayerFullscreen);
-
-    // Call dolphin deed on game start
-    dolphin_deed(DolphinDeedPluginGameStart);
-
-    bool is_finished = false;
-    while(!is_finished) {
-        FuriStatus event_status = furi_message_queue_get(event_queue, &input, FuriWaitForever);
-        if(event_status == FuriStatusOk) {
-            // handle only press event, ignore repeat/release events
-            if(input.type != InputTypePress) continue;
-
-            furi_mutex_acquire(game_state->mutex, FuriWaitForever);
-
-            switch(game_state->state) {
-            case GameStateMenu:
-
-                switch(input.key) {
-                case InputKeyUp:
-                    game_state->selected_menu_item--;
-                    if(game_state->selected_menu_item < 0) {
-                        game_state->selected_menu_item = MENU_ITEMS_COUNT - 1;
-                    }
-                    break;
-                case InputKeyDown:
-                    game_state->selected_menu_item++;
-                    if(game_state->selected_menu_item >= MENU_ITEMS_COUNT) {
-                        game_state->selected_menu_item = 0;
-                    }
-                    break;
-                case InputKeyOk:
-                    if(game_state->selected_menu_item == 1) {
-                        // new game
-                        init_game(game_state, false);
-                        save_game(game_state);
-                    }
-                    game_state->state = GameStateInProgress;
-                    break;
-                case InputKeyBack:
-                    game_state->state = GameStateInProgress;
-                    break;
-                default:
-                    break;
-                }
-
-                break;
-            case GameStateInProgress:
-                move_result->is_table_updated = false;
-                move_result->points = 0;
-
-                switch(input.key) {
-                case InputKeyLeft:
-                    move_left(game_state->table, move_result);
-                    break;
-                case InputKeyRight:
-                    move_right(game_state->table, move_result);
-                    break;
-                case InputKeyUp:
-                    move_up(game_state->table, move_result);
-                    break;
-                case InputKeyDown:
-                    move_down(game_state->table, move_result);
-                    break;
-                case InputKeyOk:
-                    game_state->state = GameStateMenu;
-                    game_state->selected_menu_item = 0;
-                    break;
-                case InputKeyBack:
-                    save_game(game_state);
-                    is_finished = true;
-                    break;
-                case InputKeyMAX:
-                    break;
-                }
-                game_state->score += move_result->points;
-
-                if(move_result->is_table_updated) {
-                    game_state->moves++;
-                    add_new_digit(game_state);
-                }
-
-                if(is_game_over(game_state)) {
-                    game_state->state = GameStateGameOver;
-                    if(game_state->score >= game_state->top_score) {
-                        game_state->top_score = game_state->score;
-                    }
-                }
-
-                break;
-            case GameStateGameOver:
-                if(input.key == InputKeyOk || input.key == InputKeyBack) {
-                    init_game(game_state, false);
-                    save_game(game_state);
-                }
-            }
-
-            furi_mutex_release(game_state->mutex);
-            view_port_update(view_port);
-        }
-    }
-
-    gui_remove_view_port(gui, view_port);
-    furi_record_close(RECORD_GUI);
-
-    view_port_free(view_port);
-
-    furi_message_queue_free(event_queue);
-
-    furi_mutex_free(game_state->mutex);
-
-    free(game_state);
-    free(move_result);
-
-    return 0;
-}

4inrow/.gitsubtree

@@ -1,2 +0,0 @@
-https://github.com/leo-need-more-coffee/flipperzero-4inrow main /
-https://github.com/xMasterX/all-the-plugins dev apps_source_code/4inrow_game

4inrow/4inrow.c

@@ -1,325 +0,0 @@
-#include <stdio.h>
-#include <furi.h>
-#include <gui/gui.h>
-#include <input/input.h>
-#include <notification/notification.h>
-#include <notification/notification_messages.h>
-#include <dolphin/dolphin.h>
-
-static int matrix[6][7] = {0};
-static int cursorx = 3;
-static int cursory = 5;
-static int player = 1;
-static int scoreX = 0;
-static int scoreO = 0;
-
-typedef struct {
-    FuriMutex* mutex;
-} FourInRowState;
-
-void init() {
-    for(size_t i = 0; i < 6; i++) {
-        for(size_t j = 0; j < 7; j++) {
-            matrix[i][j] = 0;
-        }
-    }
-    cursorx = 3;
-    cursory = 5;
-    player = 1;
-}
-
-const NotificationSequence end = {
-    &message_vibro_on,
-
-    &message_note_ds4,
-    &message_delay_10,
-    &message_sound_off,
-    &message_delay_10,
-
-    &message_note_ds4,
-    &message_delay_10,
-    &message_sound_off,
-    &message_delay_10,
-
-    &message_note_ds4,
-    &message_delay_10,
-    &message_sound_off,
-    &message_delay_10,
-
-    &message_vibro_off,
-    NULL,
-};
-
-void intToStr(int num, char* str) {
-    int i = 0, sign = 0;
-
-    if(num < 0) {
-        num = -num;
-        sign = 1;
-    }
-
-    do {
-        str[i++] = num % 10 + '0';
-        num /= 10;
-    } while(num > 0);
-
-    if(sign) {
-        str[i++] = '-';
-    }
-
-    str[i] = '\0';
-
-    // Reverse the string
-    int j, len = i;
-    char temp;
-    for(j = 0; j < len / 2; j++) {
-        temp = str[j];
-        str[j] = str[len - j - 1];
-        str[len - j - 1] = temp;
-    }
-}
-
-int next_height(int x) {
-    if(matrix[0][x] != 0) {
-        return -1;
-    }
-    for(size_t y = 1; y < 6; y++) {
-        if(matrix[y][x] != 0) {
-            return y - 1;
-        }
-    }
-    return 5;
-}
-
-int wincheck() {
-    for(size_t y = 0; y <= 2; y++) {
-        for(size_t x = 0; x <= 6; x++) {
-            if(matrix[y][x] != 0 && matrix[y][x] == matrix[y + 1][x] &&
-               matrix[y][x] == matrix[y + 2][x] && matrix[y][x] == matrix[y + 3][x]) {
-                return matrix[y][x];
-            }
-        }
-    }
-
-    for(size_t y = 0; y <= 5; y++) {
-        for(size_t x = 0; x <= 3; x++) {
-            if(matrix[y][x] != 0 && matrix[y][x] == matrix[y][x + 1] &&
-               matrix[y][x] == matrix[y][x + 2] && matrix[y][x] == matrix[y][x + 3]) {
-                return matrix[y][x];
-            }
-        }
-    }
-
-    for(size_t y = 0; y <= 2; y++) {
-        for(size_t x = 0; x <= 3; x++) {
-            if(matrix[y][x] != 0 && matrix[y][x] == matrix[y + 1][x + 1] &&
-               matrix[y][x] == matrix[y + 2][x + 2] && matrix[y][x] == matrix[y + 3][x + 3]) {
-                return matrix[y][x];
-            }
-        }
-    }
-
-    for(size_t y = 3; y <= 5; y++) {
-        for(size_t x = 0; x <= 3; x++) {
-            if(matrix[y][x] != 0 && matrix[y][x] == matrix[y - 1][x + 1] &&
-               matrix[y][x] == matrix[y - 2][x + 2] && matrix[y][x] == matrix[y - 3][x + 3]) {
-                return matrix[y][x];
-            }
-        }
-    }
-
-    bool tf = true;
-    for(size_t y = 0; y < 6; y++) {
-        for(size_t x = 0; x < 7; x++) {
-            if(matrix[y][x] == 0) {
-                tf = false;
-            }
-        }
-    }
-    if(tf) {
-        return 0;
-    }
-
-    return -1;
-}
-
-static void draw_callback(Canvas* canvas, void* ctx) {
-    furi_assert(ctx);
-    const FourInRowState* fourinrow_state = ctx;
-
-    furi_mutex_acquire(fourinrow_state->mutex, FuriWaitForever);
-    canvas_clear(canvas);
-
-    if(wincheck() != -1) {
-        canvas_set_font(canvas, FontPrimary);
-
-        if(wincheck() == 0) {
-            canvas_draw_str(canvas, 30, 35, "Draw! O_o");
-        }
-        if(wincheck() == 1) {
-            canvas_draw_str(canvas, 30, 35, "Player X win!");
-        }
-        if(wincheck() == 2) {
-            canvas_draw_str(canvas, 30, 35, "Player O win!");
-        }
-
-        furi_mutex_release(fourinrow_state->mutex);
-
-        return;
-    }
-
-    for(size_t i = 0; i < 6; i++) {
-        for(size_t j = 0; j < 7; j++) {
-            char el[2];
-            switch(matrix[i][j]) {
-            case 0:
-                strcpy(el, "_\0");
-                break;
-
-            case 1:
-                strcpy(el, "X\0");
-                break;
-
-            case 2:
-                strcpy(el, "O\0");
-                break;
-            }
-            canvas_draw_str(canvas, j * 10 + 10, i * 10 + 10, el);
-        }
-    }
-    canvas_draw_str(canvas, cursorx * 10 + 8, cursory * 10 + 10, "[ ]");
-
-    if(player == 1) {
-        canvas_draw_str(canvas, 80, 10, "Turn: X");
-    }
-    if(player == 2) {
-        canvas_draw_str(canvas, 80, 10, "Turn: O");
-    }
-    char scX[1];
-    intToStr(scoreX, scX);
-    char scO[1];
-    intToStr(scoreO, scO);
-
-    canvas_draw_str(canvas, 80, 20, "X:");
-    canvas_draw_str(canvas, 90, 20, scX);
-
-    canvas_draw_str(canvas, 80, 30, "O:");
-    canvas_draw_str(canvas, 90, 30, scO);
-
-    furi_mutex_release(fourinrow_state->mutex);
-}
-
-static void input_callback(InputEvent* input_event, void* ctx) {
-    // Проверяем, что контекст не нулевой
-    furi_assert(ctx);
-    FuriMessageQueue* event_queue = ctx;
-
-    furi_message_queue_put(event_queue, input_event, FuriWaitForever);
-}
-
-int32_t four_in_row_app(void* p) {
-    UNUSED(p);
-
-    // Текущее событие типа InputEvent
-    InputEvent event;
-    // Очередь событий на 8 элементов размера InputEvent
-    FuriMessageQueue* event_queue = furi_message_queue_alloc(8, sizeof(InputEvent));
-
-    FourInRowState* fourinrow_state = malloc(sizeof(FourInRowState));
-
-    fourinrow_state->mutex = furi_mutex_alloc(FuriMutexTypeNormal); // Alloc Mutex
-    if(!fourinrow_state->mutex) {
-        FURI_LOG_E("4inRow", "cannot create mutex\r\n");
-        furi_message_queue_free(event_queue);
-        free(fourinrow_state);
-        return 255;
-    }
-
-    dolphin_deed(DolphinDeedPluginGameStart);
-
-    // Создаем новый view port
-    ViewPort* view_port = view_port_alloc();
-    // Создаем callback отрисовки, без контекста
-    view_port_draw_callback_set(view_port, draw_callback, fourinrow_state);
-    // Создаем callback нажатий на клавиши, в качестве контекста передаем
-    // нашу очередь сообщений, чтоб запихивать в неё эти события
-    view_port_input_callback_set(view_port, input_callback, event_queue);
-
-    // Создаем GUI приложения
-    Gui* gui = furi_record_open(RECORD_GUI);
-    // Подключаем view port к GUI в полноэкранном режиме
-    gui_add_view_port(gui, view_port, GuiLayerFullscreen);
-    NotificationApp* notification = furi_record_open(RECORD_NOTIFICATION);
-    notification_message_block(notification, &sequence_display_backlight_enforce_on);
-
-    // Бесконечный цикл обработки очереди событий
-    while(1) {
-        // Выбираем событие из очереди в переменную event (ждем бесконечно долго, если очередь пуста)
-        // и проверяем, что у нас получилось это сделать
-        if(furi_message_queue_get(event_queue, &event, FuriWaitForever) == FuriStatusOk) {
-            if((event.type == InputTypePress) && (event.key == InputKeyBack)) {
-                break;
-            }
-
-            furi_mutex_acquire(fourinrow_state->mutex, FuriWaitForever);
-            if(wincheck() != -1) {
-                notification_message(notification, &end);
-                furi_delay_ms(1000);
-                if(wincheck() == 1) {
-                    scoreX++;
-                }
-                if(wincheck() == 2) {
-                    scoreO++;
-                }
-                init();
-                furi_mutex_release(fourinrow_state->mutex);
-                continue;
-            }
-
-            if(event.type == InputTypePress) {
-                if(event.key == InputKeyOk) {
-                    int nh = next_height(cursorx);
-                    if(nh != -1) {
-                        matrix[nh][cursorx] = player;
-                        player = 3 - player;
-                    }
-                }
-                if(event.key == InputKeyUp) {
-                    //cursory--;
-                }
-                if(event.key == InputKeyDown) {
-                    //cursory++;
-                }
-                if(event.key == InputKeyLeft) {
-                    if(cursorx > 0) {
-                        cursorx--;
-                    }
-                }
-                if(event.key == InputKeyRight) {
-                    if(cursorx < 6) {
-                        cursorx++;
-                    }
-                }
-            }
-
-            furi_mutex_release(fourinrow_state->mutex);
-        }
-        view_port_update(view_port);
-    }
-
-    // Чистим созданные объекты, связанные с интерфейсом
-    view_port_enabled_set(view_port, false);
-    gui_remove_view_port(gui, view_port);
-    view_port_free(view_port);
-    furi_message_queue_free(event_queue);
-    furi_record_close(RECORD_GUI);
-    // Clear notification
-    notification_message_block(notification, &sequence_display_backlight_enforce_auto);
-    furi_record_close(RECORD_NOTIFICATION);
-
-    furi_mutex_free(fourinrow_state->mutex);
-
-    free(fourinrow_state);
-
-    return 0;
-}

4inrow/ReadMe.md

@@ -1 +0,0 @@
-Four in row for flipper zero!!

4inrow/application.fam

@@ -1,17 +0,0 @@
-App(
-    appid="4inrow",
-    name="4 in a Row",
-    apptype=FlipperAppType.EXTERNAL,
-    entry_point="four_in_row_app",
-    requires=[
-        "gui",
-    ],
-    stack_size=1 * 1024,
-    order=90,
-    fap_icon="4inrow_10px.png",
-    fap_category="Games",
-    fap_author="leo-need-more-coffee",
-    fap_weburl="https://github.com/leo-need-more-coffee/flipperzero-4inrow",
-    fap_version="1.1",
-    fap_description="4 in row Game",
-)

airmouse/.gitsubtree

@@ -1,2 +0,0 @@
-https://github.com/ginkage/FlippAirMouse/ main /
-https://github.com/xMasterX/all-the-plugins dev non_catalog_apps/airmouse

airmouse/LICENSE

@@ -1,201 +0,0 @@
-                                 Apache License
-                           Version 2.0, January 2004
-                        http://www.apache.org/licenses/
-
-   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
-
-   1. Definitions.
-
-      "License" shall mean the terms and conditions for use, reproduction,
-      and distribution as defined by Sections 1 through 9 of this document.
-
-      "Licensor" shall mean the copyright owner or entity authorized by
-      the copyright owner that is granting the License.
-
-      "Legal Entity" shall mean the union of the acting entity and all
-      other entities that control, are controlled by, or are under common
-      control with that entity. For the purposes of this definition,
-      "control" means (i) the power, direct or indirect, to cause the
-      direction or management of such entity, whether by contract or
-      otherwise, or (ii) ownership of fifty percent (50%) or more of the
-      outstanding shares, or (iii) beneficial ownership of such entity.
-
-      "You" (or "Your") shall mean an individual or Legal Entity
-      exercising permissions granted by this License.
-
-      "Source" form shall mean the preferred form for making modifications,
-      including but not limited to software source code, documentation
-      source, and configuration files.
-
-      "Object" form shall mean any form resulting from mechanical
-      transformation or translation of a Source form, including but
-      not limited to compiled object code, generated documentation,
-      and conversions to other media types.
-
-      "Work" shall mean the work of authorship, whether in Source or
-      Object form, made available under the License, as indicated by a
-      copyright notice that is included in or attached to the work
-      (an example is provided in the Appendix below).
-
-      "Derivative Works" shall mean any work, whether in Source or Object
-      form, that is based on (or derived from) the Work and for which the
-      editorial revisions, annotations, elaborations, or other modifications
-      represent, as a whole, an original work of authorship. For the purposes
-      of this License, Derivative Works shall not include works that remain
-      separable from, or merely link (or bind by name) to the interfaces of,
-      the Work and Derivative Works thereof.
-
-      "Contribution" shall mean any work of authorship, including
-      the original version of the Work and any modifications or additions
-      to that Work or Derivative Works thereof, that is intentionally
-      submitted to Licensor for inclusion in the Work by the copyright owner
-      or by an individual or Legal Entity authorized to submit on behalf of
-      the copyright owner. For the purposes of this definition, "submitted"
-      means any form of electronic, verbal, or written communication sent
-      to the Licensor or its representatives, including but not limited to
-      communication on electronic mailing lists, source code control systems,
-      and issue tracking systems that are managed by, or on behalf of, the
-      Licensor for the purpose of discussing and improving the Work, but
-      excluding communication that is conspicuously marked or otherwise
-      designated in writing by the copyright owner as "Not a Contribution."
-
-      "Contributor" shall mean Licensor and any individual or Legal Entity
-      on behalf of whom a Contribution has been received by Licensor and
-      subsequently incorporated within the Work.
-
-   2. Grant of Copyright License. Subject to the terms and conditions of
-      this License, each Contributor hereby grants to You a perpetual,
-      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
-      copyright license to reproduce, prepare Derivative Works of,
-      publicly display, publicly perform, sublicense, and distribute the
-      Work and such Derivative Works in Source or Object form.
-
-   3. Grant of Patent License. Subject to the terms and conditions of
-      this License, each Contributor hereby grants to You a perpetual,
-      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
-      (except as stated in this section) patent license to make, have made,
-      use, offer to sell, sell, import, and otherwise transfer the Work,
-      where such license applies only to those patent claims licensable
-      by such Contributor that are necessarily infringed by their
-      Contribution(s) alone or by combination of their Contribution(s)
-      with the Work to which such Contribution(s) was submitted. If You
-      institute patent litigation against any entity (including a
-      cross-claim or counterclaim in a lawsuit) alleging that the Work
-      or a Contribution incorporated within the Work constitutes direct
-      or contributory patent infringement, then any patent licenses
-      granted to You under this License for that Work shall terminate
-      as of the date such litigation is filed.
-
-   4. Redistribution. You may reproduce and distribute copies of the
-      Work or Derivative Works thereof in any medium, with or without
-      modifications, and in Source or Object form, provided that You
-      meet the following conditions:
-
-      (a) You must give any other recipients of the Work or
-          Derivative Works a copy of this License; and
-
-      (b) You must cause any modified files to carry prominent notices
-          stating that You changed the files; and
-
-      (c) You must retain, in the Source form of any Derivative Works
-          that You distribute, all copyright, patent, trademark, and
-          attribution notices from the Source form of the Work,
-          excluding those notices that do not pertain to any part of
-          the Derivative Works; and
-
-      (d) If the Work includes a "NOTICE" text file as part of its
-          distribution, then any Derivative Works that You distribute must
-          include a readable copy of the attribution notices contained
-          within such NOTICE file, excluding those notices that do not
-          pertain to any part of the Derivative Works, in at least one
-          of the following places: within a NOTICE text file distributed
-          as part of the Derivative Works; within the Source form or
-          documentation, if provided along with the Derivative Works; or,
-          within a display generated by the Derivative Works, if and
-          wherever such third-party notices normally appear. The contents
-          of the NOTICE file are for informational purposes only and
-          do not modify the License. You may add Your own attribution
-          notices within Derivative Works that You distribute, alongside
-          or as an addendum to the NOTICE text from the Work, provided
-          that such additional attribution notices cannot be construed
-          as modifying the License.
-
-      You may add Your own copyright statement to Your modifications and
-      may provide additional or different license terms and conditions
-      for use, reproduction, or distribution of Your modifications, or
-      for any such Derivative Works as a whole, provided Your use,
-      reproduction, and distribution of the Work otherwise complies with
-      the conditions stated in this License.
-
-   5. Submission of Contributions. Unless You explicitly state otherwise,
-      any Contribution intentionally submitted for inclusion in the Work
-      by You to the Licensor shall be under the terms and conditions of
-      this License, without any additional terms or conditions.
-      Notwithstanding the above, nothing herein shall supersede or modify
-      the terms of any separate license agreement you may have executed
-      with Licensor regarding such Contributions.
-
-   6. Trademarks. This License does not grant permission to use the trade
-      names, trademarks, service marks, or product names of the Licensor,
-      except as required for reasonable and customary use in describing the
-      origin of the Work and reproducing the content of the NOTICE file.
-
-   7. Disclaimer of Warranty. Unless required by applicable law or
-      agreed to in writing, Licensor provides the Work (and each
-      Contributor provides its Contributions) on an "AS IS" BASIS,
-      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
-      implied, including, without limitation, any warranties or conditions
-      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
-      PARTICULAR PURPOSE. You are solely responsible for determining the
-      appropriateness of using or redistributing the Work and assume any
-      risks associated with Your exercise of permissions under this License.
-
-   8. Limitation of Liability. In no event and under no legal theory,
-      whether in tort (including negligence), contract, or otherwise,
-      unless required by applicable law (such as deliberate and grossly
-      negligent acts) or agreed to in writing, shall any Contributor be
-      liable to You for damages, including any direct, indirect, special,
-      incidental, or consequential damages of any character arising as a
-      result of this License or out of the use or inability to use the
-      Work (including but not limited to damages for loss of goodwill,
-      work stoppage, computer failure or malfunction, or any and all
-      other commercial damages or losses), even if such Contributor
-      has been advised of the possibility of such damages.
-
-   9. Accepting Warranty or Additional Liability. While redistributing
-      the Work or Derivative Works thereof, You may choose to offer,
-      and charge a fee for, acceptance of support, warranty, indemnity,
-      or other liability obligations and/or rights consistent with this
-      License. However, in accepting such obligations, You may act only
-      on Your own behalf and on Your sole responsibility, not on behalf
-      of any other Contributor, and only if You agree to indemnify,
-      defend, and hold each Contributor harmless for any liability
-      incurred by, or claims asserted against, such Contributor by reason
-      of your accepting any such warranty or additional liability.
-
-   END OF TERMS AND CONDITIONS
-
-   APPENDIX: How to apply the Apache License to your work.
-
-      To apply the Apache License to your work, attach the following
-      boilerplate notice, with the fields enclosed by brackets "[]"
-      replaced with your own identifying information. (Don't include
-      the brackets!)  The text should be enclosed in the appropriate
-      comment syntax for the file format. We also recommend that a
-      file or class name and description of purpose be included on the
-      same "printed page" as the copyright notice for easier
-      identification within third-party archives.
-
-   Copyright [yyyy] [name of copyright owner]
-
-   Licensed under the Apache License, Version 2.0 (the "License");
-   you may not use this file except in compliance with the License.
-   You may obtain a copy of the License at
-
-       http://www.apache.org/licenses/LICENSE-2.0
-
-   Unless required by applicable law or agreed to in writing, software
-   distributed under the License is distributed on an "AS IS" BASIS,
-   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-   See the License for the specific language governing permissions and
-   limitations under the License.

airmouse/README.md

@@ -1,60 +0,0 @@
-# Flipper Air Mouse
-
-## Brief
-
-> "You can turn anything into an air mouse if you're brave enough"
-
- — Piper, a.k.a. Pez
-
-Naturally, the quote above applies to [Flipper](https://flipperzero.one/) as well.
-
-## What?
-
-The app allows you to turn your Flipper into a USB or Bluetooth air mouse (you do need an extra module, see the Hardware section below)...
-
-Using it is really simple:
- * Connect the Flipper via a USB cable and pick `USB`, or pick `Bluetooth` and pair it with your PC;
- * Hold the Flipper in your hand with the buttons pointing towards the screen;
- * Wave your Flipper like you don't care to move the cursor;
- * Up button for Left mouse click;
- * Down button for Right mouse click;
- * Center button for Middle mouse click;
- * Left and Right buttons for scrolling;
- * Use calibration menu option if you notice significant drift (place your Flipper onto a level surface, make sure it doesn't move, run this option, wait 2 seconds, done).
-
-See early prototype [in action](https://www.youtube.com/watch?v=DdxAmmsYfMA).
-
-## Hardware
-
-The custom module is using Bosch BMI160 accelerometer/gyroscope chip connected via I2C.
-
-Take a look into the [schematic](https://github.com/ginkage/FlippAirMouse/tree/main/schematic) folder for Gerber, BOM and CPL files, so you can order directly from JLCPCB.
-
-Original idea:
-
-![What I thought it would look like](https://github.com/ginkage/FlippAirMouse/blob/main/schematic/schematic.png)
-
-Expectation:
-
-![What EDA though it would look like](https://github.com/ginkage/FlippAirMouse/blob/main/schematic/render.png)
-
-Reality:
-
-![What it looks like](https://github.com/ginkage/FlippAirMouse/blob/main/schematic/flipper.jpg)
-
-## Software
-
-The code is based on the original Bosch [driver](https://github.com/BoschSensortec/BMI160_driver/) and an orientation tracking implementation from the Google [Cardboard](https://github.com/googlevr/cardboard/tree/master/sdk/sensors) project
-
-If you're familiar with Flipper applications, start in the [firmware](https://github.com/flipperdevices/flipperzero-firmware) checkout folder and do the following:
-```
-cd applications/plugins
-git clone https://github.com/ginkage/FlippAirMouse
-cd ../..
-./fbt fap_air_mouse
-```
-If you're not familiar with those, just grab a `fap` file from Releases.
-
-## License
-
-TL;DR: Use the code however you want, give credit where it's due, no warranty of any kind is provided.

airmouse/air_mouse.c

@@ -1,160 +0,0 @@
-#include "air_mouse.h"
-#include <storage/storage.h>
-
-#include <furi.h>
-#include "tracking/imu/imu.h"
-
-#define TAG "AirMouseApp"
-
-enum AirMouseSubmenuIndex {
-    AirMouseSubmenuIndexBtMouse,
-    AirMouseSubmenuIndexUsbMouse,
-    AirMouseSubmenuIndexCalibration,
-};
-
-void air_mouse_submenu_callback(void* context, uint32_t index) {
-    furi_assert(context);
-    AirMouse* app = context;
-    if(index == AirMouseSubmenuIndexBtMouse) {
-        app->view_id = AirMouseViewBtMouse;
-        view_dispatcher_switch_to_view(app->view_dispatcher, AirMouseViewBtMouse);
-    } else if(index == AirMouseSubmenuIndexUsbMouse) {
-        app->view_id = AirMouseViewUsbMouse;
-        view_dispatcher_switch_to_view(app->view_dispatcher, AirMouseViewUsbMouse);
-    } else if(index == AirMouseSubmenuIndexCalibration) {
-        app->view_id = AirMouseViewCalibration;
-        view_dispatcher_switch_to_view(app->view_dispatcher, AirMouseViewCalibration);
-    }
-}
-
-void air_mouse_dialog_callback(DialogExResult result, void* context) {
-    furi_assert(context);
-    AirMouse* app = context;
-    if(result == DialogExResultLeft) {
-        view_dispatcher_switch_to_view(app->view_dispatcher, VIEW_NONE); // Exit
-    } else if(result == DialogExResultRight) {
-        view_dispatcher_switch_to_view(app->view_dispatcher, app->view_id); // Show last view
-    } else if(result == DialogExResultCenter) {
-        view_dispatcher_switch_to_view(app->view_dispatcher, AirMouseViewSubmenu); // Menu
-    }
-}
-
-uint32_t air_mouse_exit_confirm_view(void* context) {
-    UNUSED(context);
-    return AirMouseViewExitConfirm;
-}
-
-uint32_t air_mouse_exit(void* context) {
-    UNUSED(context);
-    return VIEW_NONE;
-}
-
-AirMouse* air_mouse_app_alloc() {
-    AirMouse* app = malloc(sizeof(AirMouse));
-
-    Storage* storage = furi_record_open(RECORD_STORAGE);
-    storage_simply_mkdir(storage, EXT_PATH("apps_data/air_mouse"));
-    storage_common_migrate(
-        storage, EXT_PATH(".calibration.data"), EXT_PATH("apps_data/air_mouse/calibration.data"));
-    furi_record_close(RECORD_STORAGE);
-
-    // Gui
-    app->gui = furi_record_open(RECORD_GUI);
-
-    // View dispatcher
-    app->view_dispatcher = view_dispatcher_alloc();
-    view_dispatcher_enable_queue(app->view_dispatcher);
-    view_dispatcher_attach_to_gui(app->view_dispatcher, app->gui, ViewDispatcherTypeFullscreen);
-
-    // Submenu view
-    app->submenu = submenu_alloc();
-    submenu_add_item(
-        app->submenu, "Bluetooth", AirMouseSubmenuIndexBtMouse, air_mouse_submenu_callback, app);
-    submenu_add_item(
-        app->submenu, "USB", AirMouseSubmenuIndexUsbMouse, air_mouse_submenu_callback, app);
-    submenu_add_item(
-        app->submenu,
-        "Calibration",
-        AirMouseSubmenuIndexCalibration,
-        air_mouse_submenu_callback,
-        app);
-    view_set_previous_callback(submenu_get_view(app->submenu), air_mouse_exit);
-    view_dispatcher_add_view(
-        app->view_dispatcher, AirMouseViewSubmenu, submenu_get_view(app->submenu));
-
-    // Dialog view
-    app->dialog = dialog_ex_alloc();
-    dialog_ex_set_result_callback(app->dialog, air_mouse_dialog_callback);
-    dialog_ex_set_context(app->dialog, app);
-    dialog_ex_set_left_button_text(app->dialog, "Exit");
-    dialog_ex_set_right_button_text(app->dialog, "Stay");
-    dialog_ex_set_center_button_text(app->dialog, "Menu");
-    dialog_ex_set_header(app->dialog, "Close Current App?", 16, 12, AlignLeft, AlignTop);
-    view_dispatcher_add_view(
-        app->view_dispatcher, AirMouseViewExitConfirm, dialog_ex_get_view(app->dialog));
-
-    // Bluetooth view
-    app->bt_mouse = bt_mouse_alloc(app->view_dispatcher);
-    view_set_previous_callback(bt_mouse_get_view(app->bt_mouse), air_mouse_exit_confirm_view);
-    view_dispatcher_add_view(
-        app->view_dispatcher, AirMouseViewBtMouse, bt_mouse_get_view(app->bt_mouse));
-
-    // USB view
-    app->usb_mouse = usb_mouse_alloc(app->view_dispatcher);
-    view_set_previous_callback(usb_mouse_get_view(app->usb_mouse), air_mouse_exit_confirm_view);
-    view_dispatcher_add_view(
-        app->view_dispatcher, AirMouseViewUsbMouse, usb_mouse_get_view(app->usb_mouse));
-
-    // Calibration view
-    app->calibration = calibration_alloc(app->view_dispatcher);
-    view_set_previous_callback(
-        calibration_get_view(app->calibration), air_mouse_exit_confirm_view);
-    view_dispatcher_add_view(
-        app->view_dispatcher, AirMouseViewCalibration, calibration_get_view(app->calibration));
-
-    app->view_id = AirMouseViewSubmenu;
-    view_dispatcher_switch_to_view(app->view_dispatcher, app->view_id);
-
-    return app;
-}
-
-void air_mouse_app_free(AirMouse* app) {
-    furi_assert(app);
-
-    // Free views
-    view_dispatcher_remove_view(app->view_dispatcher, AirMouseViewSubmenu);
-    submenu_free(app->submenu);
-    view_dispatcher_remove_view(app->view_dispatcher, AirMouseViewExitConfirm);
-    dialog_ex_free(app->dialog);
-    view_dispatcher_remove_view(app->view_dispatcher, AirMouseViewBtMouse);
-    bt_mouse_free(app->bt_mouse);
-    view_dispatcher_remove_view(app->view_dispatcher, AirMouseViewUsbMouse);
-    usb_mouse_free(app->usb_mouse);
-    view_dispatcher_remove_view(app->view_dispatcher, AirMouseViewCalibration);
-    calibration_free(app->calibration);
-    view_dispatcher_free(app->view_dispatcher);
-
-    // Close records
-    furi_record_close(RECORD_GUI);
-    app->gui = NULL;
-
-    // Free rest
-    free(app);
-}
-
-int32_t air_mouse_app(void* p) {
-    UNUSED(p);
-
-    AirMouse* app = air_mouse_app_alloc();
-    if(!imu_begin()) {
-        air_mouse_app_free(app);
-        return -1;
-    }
-
-    view_dispatcher_run(app->view_dispatcher);
-
-    imu_end();
-    air_mouse_app_free(app);
-
-    return 0;
-}

airmouse/air_mouse.h

@@ -1,30 +0,0 @@
-#pragma once
-
-#include <gui/gui.h>
-#include <gui/view.h>
-#include <gui/view_dispatcher.h>
-#include <gui/modules/submenu.h>
-#include <gui/modules/dialog_ex.h>
-
-#include "views/bt_mouse.h"
-#include "views/usb_mouse.h"
-#include "views/calibration.h"
-
-typedef struct {
-    Gui* gui;
-    ViewDispatcher* view_dispatcher;
-    Submenu* submenu;
-    DialogEx* dialog;
-    BtMouse* bt_mouse;
-    UsbMouse* usb_mouse;
-    Calibration* calibration;
-    uint32_t view_id;
-} AirMouse;
-
-typedef enum {
-    AirMouseViewSubmenu,
-    AirMouseViewBtMouse,
-    AirMouseViewUsbMouse,
-    AirMouseViewCalibration,
-    AirMouseViewExitConfirm,
-} AirMouseView;

airmouse/application.fam

@@ -1,11 +0,0 @@
-App(
-    appid="air_mouse",
-    name="[BMI160] Air Mouse",
-    apptype=FlipperAppType.EXTERNAL,
-    entry_point="air_mouse_app",
-    stack_size=10 * 1024,
-    fap_category="GPIO",
-    fap_icon="mouse_10px.png",
-    fap_version="0.8",
-    sources=["*.c", "*.cc"],
-)

airmouse/tracking/calibration_data.cc

@@ -1,85 +0,0 @@
-#include <furi.h>
-#include <furi_hal.h>
-
-#define TAG "tracker"
-
-#include "calibration_data.h"
-
-#include <cmath>
-#include <algorithm>
-
-// Student's distribution T value for 95% (two-sided) confidence interval.
-static const double Tn = 1.960;
-
-// Number of samples (degrees of freedom) for the corresponding T values.
-static const int Nn = 200;
-
-void CalibrationData::reset()
-{
-    complete = false;
-    count = 0;
-    sum = Vector::Zero();
-    sumSq = Vector::Zero();
-    mean = Vector::Zero();
-    median = Vector::Zero();
-    sigma = Vector::Zero();
-    delta = Vector::Zero();
-    xData.clear();
-    yData.clear();
-    zData.clear();
-}
-
-bool CalibrationData::add(Vector& data)
-{
-    if (complete) {
-        return true;
-    }
-
-    xData.push_back(data[0]);
-    yData.push_back(data[1]);
-    zData.push_back(data[2]);
-
-    sum += data;
-    sumSq += data * data;
-    count++;
-
-    if (count >= Nn) {
-        calcDelta();
-        complete = true;
-    }
-
-    return complete;
-}
-
-static inline double medianOf(std::vector<double>& list)
-{
-    std::sort(list.begin(), list.end());
-    int count = list.size();
-    int middle = count / 2;
-    return (count % 2 == 1) ? list[middle] : (list[middle - 1] + list[middle]) / 2.0l;
-}
-
-void CalibrationData::calcDelta()
-{
-    median.Set(medianOf(xData), medianOf(yData), medianOf(zData));
-
-    mean = sum / count;
-    Vector m2 = mean * mean;
-    Vector d = sumSq / count - m2;
-    Vector s2 = (d * count) / (count - 1);
-    sigma = Vector(std::sqrt(d[0]), std::sqrt(d[1]), std::sqrt(d[2]));
-    Vector s = Vector(std::sqrt(s2[0]), std::sqrt(s2[1]), std::sqrt(s2[2]));
-    delta = s * Tn / std::sqrt((double)count);
-    Vector low = mean - delta;
-    Vector high = mean + delta;
-
-    FURI_LOG_I(TAG,
-        "M[x] = { %f ... %f }  //  median = %f  //  avg = %f  //  delta = %f  //  sigma = %f",
-        low[0], high[0], median[0], mean[0], delta[0], sigma[0]);
-    FURI_LOG_I(TAG,
-        "M[y] = { %f ... %f }  //  median = %f  //  avg = %f  //  delta = %f  //  sigma = %f",
-        low[1], high[1], median[1], mean[1], delta[1], sigma[1]);
-    FURI_LOG_I(TAG,
-        "M[z] = { %f ... %f }  //  median = %f  //  avg = %f  //  delta = %f  //  sigma = %f",
-        low[2], high[2], median[2], mean[2], delta[2], sigma[2]);
-}

airmouse/tracking/calibration_data.h

@@ -1,117 +0,0 @@
-#pragma once
-
-#include <toolbox/saved_struct.h>
-#include <storage/storage.h>
-#include <vector>
-
-#include "util/vector.h"
-
-#define CALIBRATION_DATA_VER (1)
-#define CALIBRATION_DATA_FILE_NAME "calibration.data"
-#define CALIBRATION_DATA_PATH EXT_PATH("apps_data/air_mouse/" CALIBRATION_DATA_FILE_NAME)
-#define CALIBRATION_DATA_MAGIC (0x23)
-
-#define CALIBRATION_DATA_SAVE(x)   \
-    saved_struct_save(             \
-        CALIBRATION_DATA_PATH,     \
-        (x),                       \
-        sizeof(CalibrationMedian), \
-        CALIBRATION_DATA_MAGIC,    \
-        CALIBRATION_DATA_VER)
-
-#define CALIBRATION_DATA_LOAD(x)   \
-    saved_struct_load(             \
-        CALIBRATION_DATA_PATH,     \
-        (x),                       \
-        sizeof(CalibrationMedian), \
-        CALIBRATION_DATA_MAGIC,    \
-        CALIBRATION_DATA_VER)
-
-typedef struct {
-    double x;
-    double y;
-    double z;
-} CalibrationMedian;
-
-typedef cardboard::Vector3 Vector;
-
-/**
- * Helper class to gather some stats and store the calibration data. Right now it calculates a lot
- * more stats than actually needed. Some of them are used for logging the sensors quality (and
- * filing bugs), other may be required in the future, e.g. for bias.
- */
-class CalibrationData {
-public:
-    /**
-     * Check if the sensors were calibrated before.
-     *
-     * @return {@code true} if calibration data is available, or {@code false} otherwise.
-     */
-    bool isComplete() {
-        return complete;
-    }
-
-    /** Prepare to collect new calibration data. */
-    void reset();
-
-    /**
-     * Retrieve the median gyroscope readings.
-     *
-     * @return Three-axis median vector.
-     */
-    Vector getMedian() {
-        return median;
-    }
-
-    /**
-     * Retrieve the mean gyroscope readings.
-     *
-     * @return Three-axis mean vector.
-     */
-    Vector getMean() {
-        return mean;
-    }
-
-    /**
-     * Retrieve the standard deviation of gyroscope readings.
-     *
-     * @return Three-axis standard deviation vector.
-     */
-    Vector getSigma() {
-        return sigma;
-    }
-
-    /**
-     * Retrieve the confidence interval size of gyroscope readings.
-     *
-     * @return Three-axis confidence interval size vector.
-     */
-    Vector getDelta() {
-        return delta;
-    }
-
-    /**
-     * Add a new gyroscope reading to the stats.
-     *
-     * @param data gyroscope values vector.
-     * @return {@code true} if we now have enough data for calibration, or {@code false} otherwise.
-     */
-    bool add(Vector& data);
-
-private:
-    // Calculates the confidence interval (mean +- delta) and some other related values, like
-    // standard deviation, etc. See https://en.wikipedia.org/wiki/Student%27s_t-distribution
-    void calcDelta();
-
-    int count;
-    bool complete;
-    Vector sum;
-    Vector sumSq;
-    Vector mean;
-    Vector median;
-    Vector sigma;
-    Vector delta;
-    std::vector<double> xData;
-    std::vector<double> yData;
-    std::vector<double> zData;
-};

airmouse/tracking/imu/bmi160.c

@@ -1,5988 +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.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;
-
-        while((try--) && (dev->chip_id != BMI160_CHIP_ID)) {
-            /* Read chip_id */
-            rslt = bmi160_get_regs(BMI160_CHIP_ID_ADDR, &dev->chip_id, 1, dev);
-        }
-
-        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;
-}
-
-/*!
- * @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;
-}
-
-/*!
- * @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;
-
-    /* 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;
-        }
-    }
-
-    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;
-
-            /* Perform soft reset */
-            rslt = bmi160_soft_reset(dev);
-        }
-
-        /* Check to ensure bus operations are success */
-        if(rslt == BMI160_OK) {
-            /* Restore self_test_rslt as return value */
-            rslt = self_test_rslt;
-        }
-    }
-
-    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;
-            }
-
-            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);
-        }
-    }
-
-    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);
-    }
-
-    return rslt;
-}
-
-/*!
- * @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;
-                }
-            }
-        }
-    }
-
-    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);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @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;
-}
-
-/*!
- *  @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;
-
-    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;
-}

airmouse/tracking/imu/bmi160.h

@@ -1,992 +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.h
-* @date       2021-10-05
-* @version    v3.9.2
-*
-*/
-
-/*!
- * @defgroup bmi160 BMI160
- */
-
-#ifndef BMI160_H_
-#define BMI160_H_
-
-/*************************** C++ guard macro *****************************/
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#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_ */

airmouse/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_ */

airmouse/tracking/imu/imu.c

@@ -1,29 +0,0 @@
-#include "imu.h"
-#include <furi_hal.h>
-
-bool bmi160_begin();
-int bmi160_read(double* vec);
-
-bool lsm6ds3trc_begin();
-void lsm6ds3trc_end();
-int lsm6ds3trc_read(double* vec);
-
-bool imu_begin() {
-    furi_hal_i2c_acquire(&furi_hal_i2c_handle_external);
-    bool ret = bmi160_begin(); // lsm6ds3trc_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);
-}
-
-int imu_read(double* vec) {
-    furi_hal_i2c_acquire(&furi_hal_i2c_handle_external);
-    int ret = bmi160_read(vec); // lsm6ds3trc_read(vec);
-    furi_hal_i2c_release(&furi_hal_i2c_handle_external);
-    return ret;
-}

airmouse/tracking/imu/imu.h

@@ -1,18 +0,0 @@
-#pragma once
-
-#include <stdbool.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#define ACC_DATA_READY (1 << 0)
-#define GYR_DATA_READY (1 << 1)
-
-bool imu_begin();
-void imu_end();
-int imu_read(double* vec);
-
-#ifdef __cplusplus
-}
-#endif

airmouse/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;
-}

airmouse/tracking/imu/imu_lsm6ds3trc.c

@@ -1,94 +0,0 @@
-#include "lsm6ds3tr_c_reg.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;
-
-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))
-        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;
-    return -1;
-}
-
-bool lsm6ds3trc_begin() {
-    FURI_LOG_I(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");
-        return false;
-    }
-
-    lsm6ds3trc_ctx.write_reg = lsm6ds3trc_write_i2c;
-    lsm6ds3trc_ctx.read_reg = lsm6ds3trc_read_i2c;
-    lsm6ds3trc_ctx.mdelay = furi_delay_ms;
-    lsm6ds3trc_ctx.handle = &furi_hal_i2c_handle_external;
-
-    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);
-        return false;
-    }
-
-    lsm6ds3tr_c_reset_set(&lsm6ds3trc_ctx, PROPERTY_ENABLE);
-    uint8_t rst = PROPERTY_ENABLE;
-    while(rst) lsm6ds3tr_c_reset_get(&lsm6ds3trc_ctx, &rst);
-
-    lsm6ds3tr_c_block_data_update_set(&lsm6ds3trc_ctx, PROPERTY_ENABLE);
-    lsm6ds3tr_c_fifo_mode_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_BYPASS_MODE);
-
-    lsm6ds3tr_c_xl_data_rate_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_XL_ODR_104Hz);
-    lsm6ds3tr_c_xl_full_scale_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_4g);
-    lsm6ds3tr_c_xl_lp1_bandwidth_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_XL_LP1_ODR_DIV_4);
-
-    lsm6ds3tr_c_gy_data_rate_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_GY_ODR_104Hz);
-    lsm6ds3tr_c_gy_full_scale_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_2000dps);
-    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");
-    return true;
-}
-
-void lsm6ds3trc_end() {
-    lsm6ds3tr_c_xl_data_rate_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_XL_ODR_OFF);
-    lsm6ds3tr_c_gy_data_rate_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_GY_ODR_OFF);
-}
-
-int lsm6ds3trc_read(double* vec) {
-    int ret = 0;
-    int16_t data[3];
-    lsm6ds3tr_c_reg_t reg;
-    lsm6ds3tr_c_status_reg_get(&lsm6ds3trc_ctx, &reg.status_reg);
-
-    if(reg.status_reg.xlda) {
-        lsm6ds3tr_c_acceleration_raw_get(&lsm6ds3trc_ctx, data);
-        vec[2] = (double)lsm6ds3tr_c_from_fs2g_to_mg(data[0]) / 1000;
-        vec[0] = (double)lsm6ds3tr_c_from_fs2g_to_mg(data[1]) / 1000;
-        vec[1] = (double)lsm6ds3tr_c_from_fs2g_to_mg(data[2]) / 1000;
-        ret |= ACC_DATA_READY;
-    }
-
-    if(reg.status_reg.gda) {
-        lsm6ds3tr_c_angular_rate_raw_get(&lsm6ds3trc_ctx, data);
-        vec[5] = (double)lsm6ds3tr_c_from_fs2000dps_to_mdps(data[0]) * DEG_TO_RAD / 1000;
-        vec[3] = (double)lsm6ds3tr_c_from_fs2000dps_to_mdps(data[1]) * DEG_TO_RAD / 1000;
-        vec[4] = (double)lsm6ds3tr_c_from_fs2000dps_to_mdps(data[2]) * DEG_TO_RAD / 1000;
-        ret |= GYR_DATA_READY;
-    }
-
-    return ret;
-}

airmouse/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****/

airmouse/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****/

airmouse/tracking/main_loop.cc

@@ -1,230 +0,0 @@
-#include "main_loop.h"
-
-#include <furi.h>
-#include <furi_hal.h>
-
-#include "imu/imu.h"
-#include "orientation_tracker.h"
-#include "calibration_data.h"
-
-#define TAG "tracker"
-
-static const float CURSOR_SPEED = 1024.0 / (M_PI / 4);
-static const float STABILIZE_BIAS = 16.0;
-
-class TrackingState {
-private:
-    float yaw;
-    float pitch;
-    float dYaw;
-    float dPitch;
-    bool firstRead;
-    bool stabilize;
-    CalibrationData calibration;
-    cardboard::OrientationTracker tracker;
-    uint64_t ippus, ippus2;
-
-private:
-    float clamp(float val) {
-        while (val <= -M_PI) {
-            val += 2 * M_PI;
-        }
-        while (val >= M_PI) {
-            val -= 2 * M_PI;
-        }
-        return val;
-    }
-
-    float highpass(float oldVal, float newVal) {
-        if (!stabilize) {
-            return newVal;
-        }
-        float delta = clamp(oldVal - newVal);
-        float alpha = (float) std::max(0.0, 1 - std::pow(std::fabs(delta) * CURSOR_SPEED / STABILIZE_BIAS, 3.0));
-        return newVal + alpha * delta;
-    }
-
-    void sendCurrentState(MouseMoveCallback mouse_move, void *context) {
-        float dX = dYaw * CURSOR_SPEED;
-        float dY = dPitch * CURSOR_SPEED;
-
-        // Scale the shift down to fit the protocol.
-        if (dX > 127) {
-            dY *= 127.0 / dX;
-            dX = 127;
-        }
-        if (dX < -127) {
-            dY *= -127.0 / dX;
-            dX = -127;
-        }
-        if (dY > 127) {
-            dX *= 127.0 / dY;
-            dY = 127;
-        }
-        if (dY < -127) {
-            dX *= -127.0 / dY;
-            dY = -127;
-        }
-
-        const int8_t x = (int8_t)std::floor(dX + 0.5);
-        const int8_t y = (int8_t)std::floor(dY + 0.5);
-
-        mouse_move(x, y, context);
-
-        // Only subtract the part of the error that was already sent.
-        if (x != 0) {
-            dYaw -= x / CURSOR_SPEED;
-        }
-        if (y != 0) {
-            dPitch -= y / CURSOR_SPEED;
-        }
-    }
-
-    void onOrientation(cardboard::Vector4& quaternion) {
-        float q1 = quaternion[0]; // X * sin(T/2)
-        float q2 = quaternion[1]; // Y * sin(T/2)
-        float q3 = quaternion[2]; // Z * sin(T/2)
-        float q0 = quaternion[3]; // cos(T/2)
-
-        float yaw = std::atan2(2 * (q0 * q3 - q1 * q2), (1 - 2 * (q1 * q1 + q3 * q3)));
-        float pitch = std::asin(2 * (q0 * q1 + q2 * q3));
-        // float roll = std::atan2(2 * (q0 * q2 - q1 * q3), (1 - 2 * (q1 * q1 + q2 * q2)));
-
-        if (yaw == NAN || pitch == NAN) {
-            // NaN case, skip it
-            return;
-        }
-
-        if (firstRead) {
-            this->yaw = yaw;
-            this->pitch = pitch;
-            firstRead = false;
-        } else {
-            const float newYaw = highpass(this->yaw, yaw);
-            const float newPitch = highpass(this->pitch, pitch);
-
-            float dYaw = clamp(this->yaw - newYaw);
-            float dPitch = this->pitch - newPitch;
-            this->yaw = newYaw;
-            this->pitch = newPitch;
-
-            // Accumulate the error locally.
-            this->dYaw += dYaw;
-            this->dPitch += dPitch;
-        }
-    }
-
-public:
-    TrackingState()
-        : yaw(0)
-        , pitch(0)
-        , dYaw(0)
-        , dPitch(0)
-        , firstRead(true)
-        , stabilize(true)
-        , tracker(10000000l) { // 10 ms / 100 Hz
-        ippus = furi_hal_cortex_instructions_per_microsecond();
-        ippus2 = ippus / 2;
-    }
-
-    void beginCalibration() {
-        calibration.reset();
-    }
-
-    bool stepCalibration() {
-        if (calibration.isComplete())
-            return true;
-
-        double vec[6];
-        if (imu_read(vec) & GYR_DATA_READY) {
-            cardboard::Vector3 data(vec[3], vec[4], vec[5]);
-            furi_delay_ms(9); // Artificially limit to ~100Hz
-            return calibration.add(data);
-        }
-
-        return false;
-    }
-
-    void saveCalibration() {
-        CalibrationMedian store;
-        cardboard::Vector3 median = calibration.getMedian();
-        store.x = median[0];
-        store.y = median[1];
-        store.z = median[2];
-        CALIBRATION_DATA_SAVE(&store);
-    }
-
-    void loadCalibration() {
-        CalibrationMedian store;
-        cardboard::Vector3 median = calibration.getMedian();
-        if (CALIBRATION_DATA_LOAD(&store)) {
-            median[0] = store.x;
-            median[1] = store.y;
-            median[2] = store.z;
-        }
-
-        tracker.SetCalibration(median);
-    }
-
-    void beginTracking() {
-        loadCalibration();
-        tracker.Resume();
-    }
-
-    void stepTracking(MouseMoveCallback mouse_move, void *context) {
-        double vec[6];
-        int ret = imu_read(vec);
-        if (ret != 0) {
-            uint64_t t = (DWT->CYCCNT * 1000llu + ippus2) / ippus;
-            if (ret & ACC_DATA_READY) {
-                cardboard::AccelerometerData adata
-                    = { .system_timestamp = t, .sensor_timestamp_ns = t,
-                        .data = cardboard::Vector3(vec[0], vec[1], vec[2]) };
-                tracker.OnAccelerometerData(adata);
-            }
-            if (ret & GYR_DATA_READY) {
-                cardboard::GyroscopeData gdata
-                    = { .system_timestamp = t, .sensor_timestamp_ns = t,
-                        .data = cardboard::Vector3(vec[3], vec[4], vec[5]) };
-                cardboard::Vector4 pose = tracker.OnGyroscopeData(gdata);
-                onOrientation(pose);
-                sendCurrentState(mouse_move, context);
-            }
-        }
-    }
-
-    void stopTracking() {
-        tracker.Pause();
-    }
-};
-
-static TrackingState g_state;
-
-extern "C" {
-
-void calibration_begin() {
-    g_state.beginCalibration();
-    FURI_LOG_I(TAG, "Calibrating");
-}
-
-bool calibration_step() {
-    return g_state.stepCalibration();
-}
-
-void calibration_end() {
-    g_state.saveCalibration();
-}
-
-void tracking_begin() {
-    g_state.beginTracking();
-}
-
-void tracking_step(MouseMoveCallback mouse_move, void *context) {
-    g_state.stepTracking(mouse_move, context);
-}
-
-void tracking_end() {
-    g_state.stopTracking();
-}
-
-}

airmouse/tracking/main_loop.h

@@ -1,21 +0,0 @@
-#pragma once
-
-#include <stdint.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef bool (*MouseMoveCallback)(int8_t x, int8_t y, void* context);
-
-void calibration_begin();
-bool calibration_step();
-void calibration_end();
-
-void tracking_begin();
-void tracking_step(MouseMoveCallback mouse_move, void* context);
-void tracking_end();
-
-#ifdef __cplusplus
-}
-#endif

airmouse/tracking/orientation_tracker.cc

@@ -1,95 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#include "orientation_tracker.h"
-
-#include "sensors/pose_prediction.h"
-#include "util/logging.h"
-#include "util/vector.h"
-#include "util/vectorutils.h"
-
-namespace cardboard {
-
-OrientationTracker::OrientationTracker(const long sampling_period_ns)
-    : sampling_period_ns_(sampling_period_ns)
-    , calibration_(Vector3::Zero())
-    , is_tracking_(false)
-    , sensor_fusion_(new SensorFusionEkf())
-    , latest_gyroscope_data_({ 0, 0, Vector3::Zero() })
-{
-    sensor_fusion_->SetBiasEstimationEnabled(/*kGyroBiasEstimationEnabled*/ true);
-}
-
-void OrientationTracker::SetCalibration(const Vector3& calibration) {
-    calibration_ = calibration;
-}
-
-void OrientationTracker::Pause()
-{
-    if (!is_tracking_) {
-        return;
-    }
-
-    // Create a gyro event with zero velocity. This effectively stops the prediction.
-    GyroscopeData event = latest_gyroscope_data_;
-    event.data = Vector3::Zero();
-
-    OnGyroscopeData(event);
-
-    is_tracking_ = false;
-}
-
-void OrientationTracker::Resume() { is_tracking_ = true; }
-
-Vector4 OrientationTracker::GetPose(int64_t timestamp_ns) const
-{
-    Rotation predicted_rotation;
-    const PoseState pose_state = sensor_fusion_->GetLatestPoseState();
-    if (sensor_fusion_->IsFullyInitialized()) {
-        predicted_rotation = pose_state.sensor_from_start_rotation;
-    } else {
-        CARDBOARD_LOGI("Tracker not fully initialized yet. Using pose prediction only.");
-        predicted_rotation = pose_prediction::PredictPose(timestamp_ns, pose_state);
-    }
-
-    return (-predicted_rotation).GetQuaternion();
-}
-
-void OrientationTracker::OnAccelerometerData(const AccelerometerData& event)
-{
-    if (!is_tracking_) {
-        return;
-    }
-    sensor_fusion_->ProcessAccelerometerSample(event);
-}
-
-Vector4 OrientationTracker::OnGyroscopeData(const GyroscopeData& event)
-{
-    if (!is_tracking_) {
-        return Vector4();
-    }
-
-    const GyroscopeData data = { .system_timestamp = event.system_timestamp,
-        .sensor_timestamp_ns = event.sensor_timestamp_ns,
-        .data = event.data - calibration_ };
-
-    latest_gyroscope_data_ = data;
-
-    sensor_fusion_->ProcessGyroscopeSample(data);
-
-    return GetPose(data.sensor_timestamp_ns + sampling_period_ns_);
-}
-
-} // namespace cardboard

airmouse/tracking/orientation_tracker.h

@@ -1,68 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#pragma once
-
-#include <array>
-#include <memory>
-#include <mutex> // NOLINT
-
-#include "sensors/accelerometer_data.h"
-#include "sensors/gyroscope_data.h"
-#include "sensors/sensor_fusion_ekf.h"
-#include "util/rotation.h"
-
-namespace cardboard {
-
-// OrientationTracker encapsulates pose tracking by connecting sensors
-// to SensorFusion.
-// This pose tracker reports poses in display space.
-class OrientationTracker {
-public:
-    OrientationTracker(const long sampling_period_ns);
-
-    void SetCalibration(const Vector3& calibration);
-
-    // Pauses tracking and sensors.
-    void Pause();
-
-    // Resumes tracking ans sensors.
-    void Resume();
-
-    // Gets the predicted pose for a given timestamp.
-    Vector4 GetPose(int64_t timestamp_ns) const;
-
-    // Function called when receiving AccelerometerData.
-    //
-    // @param event sensor event.
-    void OnAccelerometerData(const AccelerometerData& event);
-
-    // Function called when receiving GyroscopeData.
-    //
-    // @param event sensor event.
-    Vector4 OnGyroscopeData(const GyroscopeData& event);
-
-private:
-    long sampling_period_ns_;
-    Vector3 calibration_;
-
-    std::atomic<bool> is_tracking_;
-    // Sensor Fusion object that stores the internal state of the filter.
-    std::unique_ptr<SensorFusionEkf> sensor_fusion_;
-    // Latest gyroscope data.
-    GyroscopeData latest_gyroscope_data_;
-};
-
-} // namespace cardboard

airmouse/tracking/sensors/accelerometer_data.h

@@ -1,38 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef CARDBOARD_SDK_SENSORS_ACCELEROMETER_DATA_H_
-#define CARDBOARD_SDK_SENSORS_ACCELEROMETER_DATA_H_
-
-#include "../util/vector.h"
-
-namespace cardboard {
-
-struct AccelerometerData {
-    // System wall time.
-    uint64_t system_timestamp;
-
-    // Sensor clock time in nanoseconds.
-    uint64_t sensor_timestamp_ns;
-
-    // Acceleration force along the x,y,z axes in m/s^2. This follows android
-    // specification
-    // (https://developer.android.com/guide/topics/sensors/sensors_overview.html#sensors-coords).
-    Vector3 data;
-};
-
-} // namespace cardboard
-
-#endif // CARDBOARD_SDK_SENSORS_ACCELEROMETER_DATA_H_

airmouse/tracking/sensors/gyroscope_bias_estimator.cc

@@ -1,313 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#include "gyroscope_bias_estimator.h"
-
-#include <algorithm>
-#include <chrono> // NOLINT
-
-#include "../util/rotation.h"
-#include "../util/vector.h"
-
-namespace {
-
-// Cutoff frequencies in Hertz applied to our various signals, and their
-// corresponding filters.
-const float kAccelerometerLowPassCutOffFrequencyHz = 1.0f;
-const float kRotationVelocityBasedAccelerometerLowPassCutOffFrequencyHz = 0.15f;
-const float kGyroscopeLowPassCutOffFrequencyHz = 1.0f;
-const float kGyroscopeBiasLowPassCutOffFrequencyHz = 0.15f;
-
-// Note that MEMS IMU are not that precise.
-const double kEpsilon = 1.0e-8;
-
-// Size of the filtering window for the mean and median filter. The larger the
-// windows the larger the filter delay.
-const int kFilterWindowSize = 5;
-
-// Threshold used to compare rotation computed from the accelerometer and the
-// gyroscope bias.
-const double kRatioBetweenGyroBiasAndAccel = 1.5;
-
-// The minimum sum of weights we need to acquire before returning a bias
-// estimation.
-const float kMinSumOfWeightsGyroBiasThreshold = 25.0f;
-
-// Amount of change in m/s^3 we allow on the smoothed accelerometer values to
-// consider the phone static.
-const double kAccelerometerDeltaStaticThreshold = 0.5;
-
-// Amount of change in radians/s^2 we allow on the smoothed gyroscope values to
-// consider the phone static.
-const double kGyroscopeDeltaStaticThreshold = 0.03;
-
-// If the gyroscope value is above this threshold, don't update the gyroscope
-// bias estimation. This threshold is applied to the magnitude of gyroscope
-// vectors in radians/s.
-const float kGyroscopeForBiasThreshold = 0.30f;
-
-// Used to monitor if accelerometer and gyroscope have been static for a few
-// frames.
-const int kStaticFrameDetectionThreshold = 50;
-
-// Minimum time step between sensor updates.
-const double kMinTimestep = 1; // std::chrono::nanoseconds(1);
-} // namespace
-
-namespace cardboard {
-
-// A helper class to keep track of whether some signal can be considered static
-// over specified number of frames.
-class GyroscopeBiasEstimator::IsStaticCounter {
-public:
-    // Initializes a counter with the number of consecutive frames we require
-    // the signal to be static before IsRecentlyStatic returns true.
-    //
-    // @param min_static_frames_threshold number of consecutive frames we
-    //     require the signal to be static before IsRecentlyStatic returns true.
-    explicit IsStaticCounter(int min_static_frames_threshold)
-        : min_static_frames_threshold_(min_static_frames_threshold)
-        , consecutive_static_frames_(0)
-    {
-    }
-
-    // Specifies whether the current frame is considered static.
-    //
-    // @param is_static static flag for current frame.
-    void AppendFrame(bool is_static)
-    {
-        if (is_static) {
-            ++consecutive_static_frames_;
-        } else {
-            consecutive_static_frames_ = 0;
-        }
-    }
-
-    // Returns if static movement is assumed.
-    bool IsRecentlyStatic() const
-    {
-        return consecutive_static_frames_ >= min_static_frames_threshold_;
-    }
-    // Resets counter.
-    void Reset() { consecutive_static_frames_ = 0; }
-
-private:
-    const int min_static_frames_threshold_;
-    int consecutive_static_frames_;
-};
-
-GyroscopeBiasEstimator::GyroscopeBiasEstimator()
-    : accelerometer_lowpass_filter_(kAccelerometerLowPassCutOffFrequencyHz)
-    , simulated_gyroscope_from_accelerometer_lowpass_filter_(
-          kRotationVelocityBasedAccelerometerLowPassCutOffFrequencyHz)
-    , gyroscope_lowpass_filter_(kGyroscopeLowPassCutOffFrequencyHz)
-    , gyroscope_bias_lowpass_filter_(kGyroscopeBiasLowPassCutOffFrequencyHz)
-    , accelerometer_static_counter_(new IsStaticCounter(kStaticFrameDetectionThreshold))
-    , gyroscope_static_counter_(new IsStaticCounter(kStaticFrameDetectionThreshold))
-    , current_accumulated_weights_gyroscope_bias_(0.f)
-    , mean_filter_(kFilterWindowSize)
-    , median_filter_(kFilterWindowSize)
-    , last_mean_filtered_accelerometer_value_({ 0, 0, 0 })
-{
-    Reset();
-}
-
-GyroscopeBiasEstimator::~GyroscopeBiasEstimator() { }
-
-void GyroscopeBiasEstimator::Reset()
-{
-    accelerometer_lowpass_filter_.Reset();
-    gyroscope_lowpass_filter_.Reset();
-    gyroscope_bias_lowpass_filter_.Reset();
-    accelerometer_static_counter_->Reset();
-    gyroscope_static_counter_->Reset();
-}
-
-void GyroscopeBiasEstimator::ProcessGyroscope(
-    const Vector3& gyroscope_sample, uint64_t timestamp_ns)
-{
-    // Update gyroscope and gyroscope delta low-pass filters.
-    gyroscope_lowpass_filter_.AddSample(gyroscope_sample, timestamp_ns);
-
-    const auto smoothed_gyroscope_delta
-        = gyroscope_sample - gyroscope_lowpass_filter_.GetFilteredData();
-
-    gyroscope_static_counter_->AppendFrame(
-        Length(smoothed_gyroscope_delta) < kGyroscopeDeltaStaticThreshold);
-
-    // Only update the bias if the gyroscope and accelerometer signals have been
-    // relatively static recently.
-    if (gyroscope_static_counter_->IsRecentlyStatic()
-        && accelerometer_static_counter_->IsRecentlyStatic()) {
-        // Reset static counter when updating the bias fails.
-        if (!UpdateGyroscopeBias(gyroscope_sample, timestamp_ns)) {
-            // Bias update fails because of large motion, thus reset the static
-            // counter.
-            gyroscope_static_counter_->AppendFrame(false);
-        }
-    } else {
-        // Reset weights, if not static.
-        current_accumulated_weights_gyroscope_bias_ = 0;
-    }
-}
-
-void GyroscopeBiasEstimator::ProcessAccelerometer(
-    const Vector3& accelerometer_sample, uint64_t timestamp_ns)
-{
-    // Get current state of the filter.
-    const uint64_t previous_accel_timestamp_ns
-        = accelerometer_lowpass_filter_.GetMostRecentTimestampNs();
-    const bool is_low_pass_filter_init = accelerometer_lowpass_filter_.IsInitialized();
-
-    // Update accel and accel delta low-pass filters.
-    accelerometer_lowpass_filter_.AddSample(accelerometer_sample, timestamp_ns);
-
-    const auto smoothed_accelerometer_delta
-        = accelerometer_sample - accelerometer_lowpass_filter_.GetFilteredData();
-
-    accelerometer_static_counter_->AppendFrame(
-        Length(smoothed_accelerometer_delta) < kAccelerometerDeltaStaticThreshold);
-
-    // Rotation from accel cannot be differentiated with only one sample.
-    if (!is_low_pass_filter_init) {
-        simulated_gyroscope_from_accelerometer_lowpass_filter_.AddSample({ 0, 0, 0 }, timestamp_ns);
-        return;
-    }
-
-    // No need to update the simulated gyroscope at this point because the motion
-    // is too large.
-    if (!accelerometer_static_counter_->IsRecentlyStatic()) {
-        return;
-    }
-
-    median_filter_.AddSample(accelerometer_lowpass_filter_.GetFilteredData());
-
-    // This processing can only be started if the buffer is fully initialized.
-    if (!median_filter_.IsValid()) {
-        mean_filter_.AddSample(accelerometer_lowpass_filter_.GetFilteredData());
-
-        // Update the last filtered accelerometer value.
-        last_mean_filtered_accelerometer_value_ = accelerometer_lowpass_filter_.GetFilteredData();
-        return;
-    }
-
-    mean_filter_.AddSample(median_filter_.GetFilteredData());
-
-    // Compute a mock gyroscope value from accelerometer.
-    const int64_t diff = timestamp_ns - previous_accel_timestamp_ns;
-    const double timestep = static_cast<double>(diff);
-
-    simulated_gyroscope_from_accelerometer_lowpass_filter_.AddSample(
-        ComputeAngularVelocityFromLatestAccelerometer(timestep), timestamp_ns);
-    last_mean_filtered_accelerometer_value_ = mean_filter_.GetFilteredData();
-}
-
-Vector3 GyroscopeBiasEstimator::ComputeAngularVelocityFromLatestAccelerometer(double timestep) const
-{
-    if (timestep < kMinTimestep) {
-        return { 0, 0, 0 };
-    }
-
-    const auto mean_of_median = mean_filter_.GetFilteredData();
-
-    // Compute an incremental rotation between the last state and the current
-    // state.
-    //
-    // Note that we switch to double precision here because of precision problem
-    // with small rotation.
-    const auto incremental_rotation = Rotation::RotateInto(
-        Vector3(last_mean_filtered_accelerometer_value_[0],
-            last_mean_filtered_accelerometer_value_[1], last_mean_filtered_accelerometer_value_[2]),
-        Vector3(mean_of_median[0], mean_of_median[1], mean_of_median[2]));
-
-    // We use axis angle here because this is how gyroscope values are stored.
-    Vector3 incremental_rotation_axis;
-    double incremental_rotation_angle;
-    incremental_rotation.GetAxisAndAngle(&incremental_rotation_axis, &incremental_rotation_angle);
-
-    incremental_rotation_axis *= incremental_rotation_angle / timestep;
-
-    return { static_cast<float>(incremental_rotation_axis[0]),
-        static_cast<float>(incremental_rotation_axis[1]),
-        static_cast<float>(incremental_rotation_axis[2]) };
-}
-
-bool GyroscopeBiasEstimator::UpdateGyroscopeBias(
-    const Vector3& gyroscope_sample, uint64_t timestamp_ns)
-{
-    // Gyroscope values that are too big are potentially dangerous as they could
-    // originate from slow and steady head rotations.
-    //
-    // Therefore we compute an update weight which:
-    // * favors gyroscope values that are closer to 0
-    // * is set to zero if gyroscope values are greater than a threshold.
-    //
-    // This way, the gyroscope bias estimation converges faster if the phone is
-    // flat on a table, as opposed to held up somewhat stationary in the user's
-    // hands.
-
-    // If magnitude is too big, don't update the filter at all so that we don't
-    // artificially increase the number of samples accumulated by the filter.
-    const float gyroscope_sample_norm2 = Length(gyroscope_sample);
-    if (gyroscope_sample_norm2 >= kGyroscopeForBiasThreshold) {
-        return false;
-    }
-
-    float update_weight
-        = std::max(0.0f, 1 - gyroscope_sample_norm2 / kGyroscopeForBiasThreshold);
-    update_weight *= update_weight;
-    gyroscope_bias_lowpass_filter_.AddWeightedSample(
-        gyroscope_lowpass_filter_.GetFilteredData(), timestamp_ns, update_weight);
-
-    // This counter is only partially valid as the low pass filter drops large
-    // samples.
-    current_accumulated_weights_gyroscope_bias_ += update_weight;
-
-    return true;
-}
-
-Vector3 GyroscopeBiasEstimator::GetGyroscopeBias() const
-{
-    return gyroscope_bias_lowpass_filter_.GetFilteredData();
-}
-
-bool GyroscopeBiasEstimator::IsCurrentEstimateValid() const
-{
-    // Remove any bias component along the gravity because they cannot be
-    // evaluated from accelerometer.
-    const auto current_gravity_dir = Normalized(last_mean_filtered_accelerometer_value_);
-    const auto gyro_bias_lowpass = gyroscope_bias_lowpass_filter_.GetFilteredData();
-
-    const auto off_gravity_gyro_bias
-        = gyro_bias_lowpass - current_gravity_dir * Dot(gyro_bias_lowpass, current_gravity_dir);
-
-    // Checks that the current bias estimate is not correlated with the
-    // rotation computed from accelerometer.
-    const auto gyro_from_accel
-        = simulated_gyroscope_from_accelerometer_lowpass_filter_.GetFilteredData();
-    const bool isGyroscopeBiasCorrelatedWithSimulatedGyro
-        = (Length(gyro_from_accel) * kRatioBetweenGyroBiasAndAccel
-            > (Length(off_gravity_gyro_bias) + kEpsilon));
-    const bool hasEnoughSamples
-        = current_accumulated_weights_gyroscope_bias_ > kMinSumOfWeightsGyroBiasThreshold;
-    const bool areCountersStatic = gyroscope_static_counter_->IsRecentlyStatic()
-        && accelerometer_static_counter_->IsRecentlyStatic();
-
-    const bool isStatic
-        = hasEnoughSamples && areCountersStatic && !isGyroscopeBiasCorrelatedWithSimulatedGyro;
-    return isStatic;
-}
-
-} // namespace cardboard

airmouse/tracking/sensors/gyroscope_bias_estimator.h

@@ -1,134 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef CARDBOARD_SDK_SENSORS_GYROSCOPE_BIAS_ESTIMATOR_H_
-#define CARDBOARD_SDK_SENSORS_GYROSCOPE_BIAS_ESTIMATOR_H_
-
-#include <chrono> // NOLINT
-#include <cstdint>
-#include <list>
-#include <memory>
-#include <vector>
-
-#include "lowpass_filter.h"
-#include "mean_filter.h"
-#include "median_filter.h"
-#include "../util/vector.h"
-
-namespace cardboard {
-
-// Class that attempts to estimate the gyroscope's bias.
-// Its main idea is that it averages the gyroscope values when the phone is
-// considered stationary.
-// Usage: A client should call the ProcessGyroscope and ProcessAccelerometer
-// methods for every accelerometer and gyroscope sensor sample. This class
-// expects these calls to be frequent, i.e., at least at 10 Hz. The client can
-// then call GetGyroBias to retrieve the current estimate of the gyroscope bias.
-// For best results, the fastest available delay option should be used when
-// registering to sensors. Note that this class is not thread-safe.
-//
-// The filtering applied to the accelerometer to estimate a rotation
-// from it follows :
-// Baptiste Delporte, Laurent Perroton, Thierry Grandpierre, Jacques Trichet.
-// Accelerometer and Magnetometer Based Gyroscope Emulation on Smart Sensor
-// for a Virtual Reality Application. Sensor and Transducers Journal, 2012.
-//
-// which is a combination of a IIR filter, a median and a mean filter.
-class GyroscopeBiasEstimator {
-public:
-    GyroscopeBiasEstimator();
-    virtual ~GyroscopeBiasEstimator();
-
-    // Updates the estimator with a gyroscope event.
-    //
-    // @param gyroscope_sample the angular speed around the x, y, z axis in
-    //     radians/sec.
-    // @param timestamp_ns the nanosecond at which the event occurred. Only
-    //     guaranteed to be comparable with timestamps from other PocessGyroscope
-    //     invocations.
-    virtual void ProcessGyroscope(const Vector3& gyroscope_sample, uint64_t timestamp_ns);
-
-    // Processes accelerometer samples to estimate if device is
-    // stable or not.
-    //
-    // First we filter the accelerometer. This is done with 3 filters.
-    //  - A IIR low-pass filter
-    //  - A median filter
-    //  - A mean filter.
-    // Then a rotation is computed between consecutive filtered accelerometer
-    // samples.
-    // Finally this is converted to a velocity to emulate a gyroscope.
-    //
-    // @param accelerometer_sample the acceleration (including gravity) on the x,
-    //     y, z axis in meters/s^2.
-    // @param timestamp_ns the nanosecond at which the event occurred. Only
-    //     guaranteed to be comparable with timestamps from other
-    //     ProcessAccelerometer invocations.
-    virtual void ProcessAccelerometer(const Vector3& accelerometer_sample, uint64_t timestamp_ns);
-
-    // Returns the estimated gyroscope bias.
-    //
-    // @return Estimated gyroscope bias. A vector with zeros is returned if no
-    //     estimate has been computed.
-    virtual Vector3 GetGyroscopeBias() const;
-
-    // Resets the estimator state.
-    void Reset();
-
-    // Returns true if the current estimate returned by GetGyroscopeBias is
-    // correct. The device (measured using the sensors) has to be static for this
-    // function to return true.
-    virtual bool IsCurrentEstimateValid() const;
-
-private:
-    // A helper class to keep track of whether some signal can be considered
-    // static over specified number of frames.
-    class IsStaticCounter;
-
-    // Updates gyroscope bias estimation.
-    //
-    // @return false if the current sample is too large.
-    bool UpdateGyroscopeBias(const Vector3& gyroscope_sample, uint64_t timestamp_ns);
-
-    // Returns device angular velocity (rad/s) from the latest accelerometer data.
-    //
-    // @param timestep in seconds between the last two samples.
-    // @return rotation velocity from latest accelerometer. This can be
-    // interpreted as an gyroscope.
-    Vector3 ComputeAngularVelocityFromLatestAccelerometer(double timestep) const;
-
-    LowpassFilter accelerometer_lowpass_filter_;
-    LowpassFilter simulated_gyroscope_from_accelerometer_lowpass_filter_;
-    LowpassFilter gyroscope_lowpass_filter_;
-    LowpassFilter gyroscope_bias_lowpass_filter_;
-
-    std::unique_ptr<IsStaticCounter> accelerometer_static_counter_;
-    std::unique_ptr<IsStaticCounter> gyroscope_static_counter_;
-
-    // Sum of the weight of sample used for gyroscope filtering.
-    float current_accumulated_weights_gyroscope_bias_;
-
-    // Set of filters for accelerometer data to estimate a rotation
-    // based only on accelerometer.
-    MeanFilter mean_filter_;
-    MedianFilter median_filter_;
-
-    // Last computed filter accelerometer value used for finite differences.
-    Vector3 last_mean_filtered_accelerometer_value_;
-};
-
-} // namespace cardboard
-
-#endif // CARDBOARD_SDK_SENSORS_GYROSCOPE_BIAS_ESTIMATOR_H_

airmouse/tracking/sensors/gyroscope_data.h

@@ -1,38 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef CARDBOARD_SDK_SENSORS_GYROSCOPE_DATA_H_
-#define CARDBOARD_SDK_SENSORS_GYROSCOPE_DATA_H_
-
-#include "../util/vector.h"
-
-namespace cardboard {
-
-struct GyroscopeData {
-    // System wall time.
-    uint64_t system_timestamp;
-
-    // Sensor clock time in nanoseconds.
-    uint64_t sensor_timestamp_ns;
-
-    // Rate of rotation around the x,y,z axes in rad/s. This follows android
-    // specification
-    // (https://developer.android.com/guide/topics/sensors/sensors_overview.html#sensors-coords).
-    Vector3 data;
-};
-
-} // namespace cardboard
-
-#endif // CARDBOARD_SDK_SENSORS_GYROSCOPE_DATA_H_

airmouse/tracking/sensors/lowpass_filter.cc

@@ -1,84 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#include "lowpass_filter.h"
-
-#include <cmath>
-
-namespace {
-
-const double kSecondsFromNanoseconds = 1.0e-9;
-
-// Minimum time step between sensor updates. This corresponds to 1000 Hz.
-const double kMinTimestepS = 0.001f;
-
-// Maximum time step between sensor updates. This corresponds to 1 Hz.
-const double kMaxTimestepS = 1.00f;
-
-} // namespace
-
-namespace cardboard {
-
-LowpassFilter::LowpassFilter(double cutoff_freq_hz)
-    : cutoff_time_constant_(1 / (2 * (double)M_PI * cutoff_freq_hz))
-    , initialized_(false)
-{
-    Reset();
-}
-
-void LowpassFilter::AddSample(const Vector3& sample, uint64_t timestamp_ns)
-{
-    AddWeightedSample(sample, timestamp_ns, 1.0);
-}
-
-void LowpassFilter::AddWeightedSample(const Vector3& sample, uint64_t timestamp_ns, double weight)
-{
-    if (!initialized_) {
-        // Initialize filter state
-        filtered_data_ = { sample[0], sample[1], sample[2] };
-        timestamp_most_recent_update_ns_ = timestamp_ns;
-        initialized_ = true;
-        return;
-    }
-
-    if (timestamp_ns < timestamp_most_recent_update_ns_) {
-        timestamp_most_recent_update_ns_ = timestamp_ns;
-        return;
-    }
-
-    const double delta_s = static_cast<double>(timestamp_ns - timestamp_most_recent_update_ns_)
-        * kSecondsFromNanoseconds;
-    if (delta_s <= kMinTimestepS || delta_s > kMaxTimestepS) {
-        timestamp_most_recent_update_ns_ = timestamp_ns;
-        return;
-    }
-
-    const double weighted_delta_secs = weight * delta_s;
-
-    const double alpha = weighted_delta_secs / (cutoff_time_constant_ + weighted_delta_secs);
-
-    for (int i = 0; i < 3; ++i) {
-        filtered_data_[i] = (1 - alpha) * filtered_data_[i] + alpha * sample[i];
-    }
-    timestamp_most_recent_update_ns_ = timestamp_ns;
-}
-
-void LowpassFilter::Reset()
-{
-    initialized_ = false;
-    filtered_data_ = { 0, 0, 0 };
-}
-
-} // namespace cardboard

airmouse/tracking/sensors/lowpass_filter.h

@@ -1,81 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef CARDBOARD_SDK_SENSORS_LOWPASS_FILTER_H_
-#define CARDBOARD_SDK_SENSORS_LOWPASS_FILTER_H_
-
-#include <array>
-#include <memory>
-
-#include "../util/vector.h"
-
-namespace cardboard {
-
-// Implements an IIR, first order, low pass filter over vectors of the given
-// dimension = 3.
-// See http://en.wikipedia.org/wiki/Low-pass_filter
-class LowpassFilter {
-public:
-    // Initializes a filter with the given cutoff frequency in Hz.
-    explicit LowpassFilter(double cutoff_freq_hz);
-
-    // Updates the filter with the given sample. Note that samples with
-    // non-monotonic timestamps and successive samples with a time steps below 1
-    // ms or above 1 s are ignored.
-    //
-    // @param sample current sample data.
-    // @param timestamp_ns timestamp associated to this sample in nanoseconds.
-    void AddSample(const Vector3& sample, uint64_t timestamp_ns);
-
-    // Updates the filter with the given weighted sample.
-    //
-    // @param sample current sample data.
-    // @param timestamp_ns timestamp associated to this sample in nanoseconds.
-    // @param weight typically a [0, 1] weight factor used when applying a new
-    //     sample. A weight of 1 corresponds to calling AddSample. A weight of 0
-    //     makes the update no-op. The first initial sample is not affected by
-    //     this.
-    void AddWeightedSample(const Vector3& sample, uint64_t timestamp_ns, double weight);
-
-    // Returns the filtered value. A vector with zeros is returned if no samples
-    // have been added.
-    Vector3 GetFilteredData() const {
-        return filtered_data_;
-    }
-
-    // Returns the most recent update timestamp in ns.
-    uint64_t GetMostRecentTimestampNs() const {
-        return timestamp_most_recent_update_ns_;
-    }
-
-    // Returns true when the filter is initialized.
-    bool IsInitialized() const {
-        return initialized_;
-    }
-
-    // Resets filter state.
-    void Reset();
-
-private:
-    const double cutoff_time_constant_;
-    uint64_t timestamp_most_recent_update_ns_;
-    bool initialized_;
-
-    Vector3 filtered_data_;
-};
-
-} // namespace cardboard
-
-#endif // CARDBOARD_SDK_SENSORS_LOWPASS_FILTER_H_

airmouse/tracking/sensors/mean_filter.cc

@@ -1,46 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#include "mean_filter.h"
-
-namespace cardboard {
-
-MeanFilter::MeanFilter(size_t filter_size)
-    : filter_size_(filter_size)
-{
-}
-
-void MeanFilter::AddSample(const Vector3& sample)
-{
-    buffer_.push_back(sample);
-    if (buffer_.size() > filter_size_) {
-        buffer_.pop_front();
-    }
-}
-
-bool MeanFilter::IsValid() const { return buffer_.size() == filter_size_; }
-
-Vector3 MeanFilter::GetFilteredData() const
-{
-    // Compute mean of the samples stored in buffer_.
-    Vector3 mean = Vector3::Zero();
-    for (auto sample : buffer_) {
-        mean += sample;
-    }
-
-    return mean / static_cast<double>(filter_size_);
-}
-
-} // namespace cardboard

airmouse/tracking/sensors/mean_filter.h

@@ -1,48 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef CARDBOARD_SDK_SENSORS_MEAN_FILTER_H_
-#define CARDBOARD_SDK_SENSORS_MEAN_FILTER_H_
-
-#include <deque>
-
-#include "../util/vector.h"
-
-namespace cardboard {
-
-// Fixed window FIFO mean filter for vectors of the given dimension.
-class MeanFilter {
-public:
-    // Create a mean filter of size filter_size.
-    // @param filter_size size of the internal filter.
-    explicit MeanFilter(size_t filter_size);
-
-    // Add sample to buffer_ if buffer_ is full it drop the oldest sample.
-    void AddSample(const Vector3& sample);
-
-    // Returns true if buffer has filter_size_ sample, false otherwise.
-    bool IsValid() const;
-
-    // Returns the mean of values stored in the internal buffer.
-    Vector3 GetFilteredData() const;
-
-private:
-    const size_t filter_size_;
-    std::deque<Vector3> buffer_;
-};
-
-} // namespace cardboard
-
-#endif // CARDBOARD_SDK_SENSORS_MEAN_FILTER_H_

airmouse/tracking/sensors/median_filter.cc

@@ -1,69 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#include "median_filter.h"
-
-#include <algorithm>
-#include <vector>
-
-#include "../util/vector.h"
-#include "../util/vectorutils.h"
-
-namespace cardboard {
-
-MedianFilter::MedianFilter(size_t filter_size)
-    : filter_size_(filter_size)
-{
-}
-
-void MedianFilter::AddSample(const Vector3& sample)
-{
-    buffer_.push_back(sample);
-    norms_.push_back(Length(sample));
-    if (buffer_.size() > filter_size_) {
-        buffer_.pop_front();
-        norms_.pop_front();
-    }
-}
-
-bool MedianFilter::IsValid() const { return buffer_.size() == filter_size_; }
-
-Vector3 MedianFilter::GetFilteredData() const
-{
-    std::vector<float> norms(norms_.begin(), norms_.end());
-
-    // Get median of value of the norms.
-    std::nth_element(norms.begin(), norms.begin() + filter_size_ / 2, norms.end());
-    const float median_norm = norms[filter_size_ / 2];
-
-    // Get median value based on their norm.
-    auto median_it = buffer_.begin();
-    for (const auto norm : norms_) {
-        if (norm == median_norm) {
-            break;
-        }
-        ++median_it;
-    }
-
-    return *median_it;
-}
-
-void MedianFilter::Reset()
-{
-    buffer_.clear();
-    norms_.clear();
-}
-
-} // namespace cardboard

airmouse/tracking/sensors/median_filter.h

@@ -1,53 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef CARDBOARD_SDK_SENSORS_MEDIAN_FILTER_H_
-#define CARDBOARD_SDK_SENSORS_MEDIAN_FILTER_H_
-
-#include <deque>
-
-#include "../util/vector.h"
-
-namespace cardboard {
-
-// Fixed window FIFO median filter for vectors of the given dimension = 3.
-class MedianFilter {
-public:
-    // Creates a median filter of size filter_size.
-    // @param filter_size size of the internal filter.
-    explicit MedianFilter(size_t filter_size);
-
-    // Adds sample to buffer_ if buffer_ is full it drops the oldest sample.
-    void AddSample(const Vector3& sample);
-
-    // Returns true if buffer has filter_size_ sample, false otherwise.
-    bool IsValid() const;
-
-    // Returns the median of values store in the internal buffer.
-    Vector3 GetFilteredData() const;
-
-    // Resets the filter, removing all samples that have been added.
-    void Reset();
-
-private:
-    const size_t filter_size_;
-    std::deque<Vector3> buffer_;
-    // Contains norms of the elements stored in buffer_.
-    std::deque<float> norms_;
-};
-
-} // namespace cardboard
-
-#endif // CARDBOARD_SDK_SENSORS_MEDIAN_FILTER_H_

airmouse/tracking/sensors/pose_prediction.cc

@@ -1,71 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#include "pose_prediction.h"
-
-#include <chrono> // NOLINT
-
-#include "../util/logging.h"
-#include "../util/vectorutils.h"
-
-namespace cardboard {
-
-namespace {
-    const double kEpsilon = 1.0e-15;
-} // namespace
-
-namespace pose_prediction {
-
-    Rotation GetRotationFromGyroscope(const Vector3& gyroscope_value, double timestep_s)
-    {
-        const double velocity = Length(gyroscope_value);
-
-        // When there is no rotation data return an identity rotation.
-        if (velocity < kEpsilon) {
-            CARDBOARD_LOGI("PosePrediction::GetRotationFromGyroscope: Velocity really small, "
-                           "returning identity rotation.");
-            return Rotation::Identity();
-        }
-        // Since the gyroscope_value is a start from sensor transformation we need to
-        // invert it to have a sensor from start transformation, hence the minus sign.
-        // For more info:
-        // http://developer.android.com/guide/topics/sensors/sensors_motion.html#sensors-motion-gyro
-        return Rotation::FromAxisAndAngle(gyroscope_value / velocity, -timestep_s * velocity);
-    }
-
-    Rotation PredictPose(int64_t requested_pose_timestamp, const PoseState& current_state)
-    {
-        // Subtracting unsigned numbers is bad when the result is negative.
-        const int64_t diff = requested_pose_timestamp - current_state.timestamp;
-        const double timestep_s = diff * 1.0e-9;
-
-        const Rotation update = GetRotationFromGyroscope(
-            current_state.sensor_from_start_rotation_velocity, timestep_s);
-        return update * current_state.sensor_from_start_rotation;
-    }
-
-    Rotation PredictPoseInv(int64_t requested_pose_timestamp, const PoseState& current_state)
-    {
-        // Subtracting unsigned numbers is bad when the result is negative.
-        const int64_t diff = requested_pose_timestamp - current_state.timestamp;
-        const double timestep_s = diff * 1.0e-9;
-
-        const Rotation update = GetRotationFromGyroscope(
-            current_state.sensor_from_start_rotation_velocity, timestep_s);
-        return current_state.sensor_from_start_rotation * (-update);
-    }
-
-} // namespace pose_prediction
-} // namespace cardboard

airmouse/tracking/sensors/pose_prediction.h

@@ -1,55 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef CARDBOARD_SDK_SENSORS_POSE_PREDICTION_H_
-#define CARDBOARD_SDK_SENSORS_POSE_PREDICTION_H_
-
-#include <cstdint>
-
-#include "pose_state.h"
-#include "../util/rotation.h"
-
-namespace cardboard {
-namespace pose_prediction {
-
-// Returns a rotation matrix based on the integration of the gyroscope_value
-// over the timestep_s in seconds.
-// TODO(pfg): Document the space better here.
-//
-// @param gyroscope_value gyroscope sensor values.
-// @param timestep_s integration period in seconds.
-// @return Integration of the gyroscope value the rotation is from Start to
-//         Sensor Space.
-Rotation GetRotationFromGyroscope(const Vector3& gyroscope_value, double timestep_s);
-
-// Gets a predicted pose for a given time in the future (e.g. rendering time)
-// based on a linear prediction model. This uses the system current state
-// (position, velocity, etc) from the past to extrapolate a position in the
-// future.
-//
-// @param requested_pose_timestamp time at which you want the pose.
-// @param current_state current state that stores the pose and linear model at a
-//        given time prior to requested_pose_timestamp_ns.
-// @return pose from Start to Sensor Space.
-Rotation PredictPose(int64_t requested_pose_timestamp, const PoseState& current_state);
-
-// Equivalent to PredictPose, but for use with poses relative to Start Space
-// rather than sensor space.
-Rotation PredictPoseInv(int64_t requested_pose_timestamp, const PoseState& current_state);
-
-} // namespace pose_prediction
-} // namespace cardboard
-
-#endif // CARDBOARD_SDK_SENSORS_POSE_PREDICTION_H_

airmouse/tracking/sensors/pose_state.h

@@ -1,56 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef CARDBOARD_SDK_SENSORS_POSE_STATE_H_
-#define CARDBOARD_SDK_SENSORS_POSE_STATE_H_
-
-#include "../util/rotation.h"
-#include "../util/vector.h"
-
-namespace cardboard {
-
-enum {
-    kPoseStateFlagInvalid = 1U << 0,
-    kPoseStateFlagInitializing = 1U << 1,
-    kPoseStateFlagHas6DoF = 1U << 2,
-};
-
-// Stores a head pose pose plus derivatives. This can be used for prediction.
-struct PoseState {
-    // System wall time.
-    int64_t timestamp;
-
-    // Rotation from Sensor Space to Start Space.
-    Rotation sensor_from_start_rotation;
-
-    // First derivative of the rotation.
-    Vector3 sensor_from_start_rotation_velocity;
-
-    // Current gyroscope bias in rad/s.
-    Vector3 bias;
-
-    // The position of the headset.
-    Vector3 position = Vector3(0, 0, 0);
-
-    // In the same coordinate frame as the position.
-    Vector3 velocity = Vector3(0, 0, 0);
-
-    // Flags indicating the status of the pose.
-    uint64_t flags = 0U;
-};
-
-} // namespace cardboard
-
-#endif // CARDBOARD_SDK_SENSORS_POSE_STATE_H_

airmouse/tracking/sensors/sensor_fusion_ekf.cc

@@ -1,336 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#include "sensor_fusion_ekf.h"
-
-#include <algorithm>
-#include <cmath>
-
-#include "accelerometer_data.h"
-#include "gyroscope_data.h"
-#include "pose_prediction.h"
-#include "../util/matrixutils.h"
-
-namespace cardboard {
-
-namespace {
-
-    const double kFiniteDifferencingEpsilon = 1.0e-7;
-    const double kEpsilon = 1.0e-15;
-    // Default gyroscope frequency. This corresponds to 100 Hz.
-    const double kDefaultGyroscopeTimestep_s = 0.01f;
-    // Maximum time between gyroscope before we start limiting the integration.
-    const double kMaximumGyroscopeSampleDelay_s = 0.04f;
-    // Compute a first-order exponential moving average of changes in accel norm per
-    // frame.
-    const double kSmoothingFactor = 0.5;
-    // Minimum and maximum values used for accelerometer noise covariance matrix.
-    // The smaller the sigma value, the more weight is given to the accelerometer
-    // signal.
-    const double kMinAccelNoiseSigma = 0.75;
-    const double kMaxAccelNoiseSigma = 7.0;
-    // Initial value for the diagonal elements of the different covariance matrices.
-    const double kInitialStateCovarianceValue = 25.0;
-    const double kInitialProcessCovarianceValue = 1.0;
-    // Maximum accelerometer norm change allowed before capping it covariance to a
-    // large value.
-    const double kMaxAccelNormChange = 0.15;
-    // Timestep IIR filtering coefficient.
-    const double kTimestepFilterCoeff = 0.95;
-    // Minimum number of sample for timestep filtering.
-    const int kTimestepFilterMinSamples = 10;
-
-    // Z direction in start space.
-    const Vector3 kCanonicalZDirection(0.0, 0.0, 1.0);
-
-    // Computes an axis-angle rotation from the input vector.
-    // angle = norm(a)
-    // axis = a.normalized()
-    // If norm(a) == 0, it returns an identity rotation.
-    static inline void RotationFromVector(const Vector3& a, Rotation& r)
-    {
-        const double norm_a = Length(a);
-        if (norm_a < kEpsilon) {
-            r = Rotation::Identity();
-            return;
-        }
-        r = Rotation::FromAxisAndAngle(a / norm_a, norm_a);
-    }
-
-} // namespace
-
-SensorFusionEkf::SensorFusionEkf()
-    : execute_reset_with_next_accelerometer_sample_(false)
-    , bias_estimation_enabled_(true)
-    , gyroscope_bias_estimate_({ 0, 0, 0 })
-{
-    ResetState();
-}
-
-void SensorFusionEkf::Reset() { execute_reset_with_next_accelerometer_sample_ = true; }
-
-void SensorFusionEkf::ResetState()
-{
-    current_state_.sensor_from_start_rotation = Rotation::Identity();
-    current_state_.sensor_from_start_rotation_velocity = Vector3::Zero();
-
-    current_gyroscope_sensor_timestamp_ns_ = 0;
-    current_accelerometer_sensor_timestamp_ns_ = 0;
-
-    state_covariance_ = Matrix3x3::Identity() * kInitialStateCovarianceValue;
-    process_covariance_ = Matrix3x3::Identity() * kInitialProcessCovarianceValue;
-    accelerometer_measurement_covariance_
-        = Matrix3x3::Identity() * kMinAccelNoiseSigma * kMinAccelNoiseSigma;
-    innovation_covariance_ = Matrix3x3::Identity();
-
-    accelerometer_measurement_jacobian_ = Matrix3x3::Zero();
-    kalman_gain_ = Matrix3x3::Zero();
-    innovation_ = Vector3::Zero();
-    accelerometer_measurement_ = Vector3::Zero();
-    prediction_ = Vector3::Zero();
-    control_input_ = Vector3::Zero();
-    state_update_ = Vector3::Zero();
-
-    moving_average_accelerometer_norm_change_ = 0.0;
-
-    is_timestep_filter_initialized_ = false;
-    is_gyroscope_filter_valid_ = false;
-    is_aligned_with_gravity_ = false;
-
-    // Reset biases.
-    gyroscope_bias_estimator_.Reset();
-    gyroscope_bias_estimate_ = { 0, 0, 0 };
-}
-
-// Here I am doing something wrong relative to time stamps. The state timestamps
-// always correspond to the gyrostamps because it would require additional
-// extrapolation if I wanted to do otherwise.
-PoseState SensorFusionEkf::GetLatestPoseState() const { return current_state_; }
-
-void SensorFusionEkf::ProcessGyroscopeSample(const GyroscopeData& sample)
-{
-    // Don't accept gyroscope sample when waiting for a reset.
-    if (execute_reset_with_next_accelerometer_sample_) {
-        return;
-    }
-
-    // Discard outdated samples.
-    if (current_gyroscope_sensor_timestamp_ns_ >= sample.sensor_timestamp_ns) {
-        current_gyroscope_sensor_timestamp_ns_ = sample.sensor_timestamp_ns;
-        return;
-    }
-
-    // Checks that we received at least one gyroscope sample in the past.
-    if (current_gyroscope_sensor_timestamp_ns_ != 0) {
-        double current_timestep_s = std::chrono::duration_cast<std::chrono::duration<double>>(
-            std::chrono::nanoseconds(
-                sample.sensor_timestamp_ns - current_gyroscope_sensor_timestamp_ns_))
-                                        .count();
-        if (current_timestep_s > kMaximumGyroscopeSampleDelay_s) {
-            if (is_gyroscope_filter_valid_) {
-                // Replaces the delta timestamp by the filtered estimates of the delta time.
-                current_timestep_s = filtered_gyroscope_timestep_s_;
-            } else {
-                current_timestep_s = kDefaultGyroscopeTimestep_s;
-            }
-        } else {
-            FilterGyroscopeTimestep(current_timestep_s);
-        }
-
-        if (bias_estimation_enabled_) {
-            gyroscope_bias_estimator_.ProcessGyroscope(sample.data, sample.sensor_timestamp_ns);
-
-            if (gyroscope_bias_estimator_.IsCurrentEstimateValid()) {
-                // As soon as the device is considered to be static, the bias estimator
-                // should have a precise estimate of the gyroscope bias.
-                gyroscope_bias_estimate_ = gyroscope_bias_estimator_.GetGyroscopeBias();
-            }
-        }
-
-        // Only integrate after receiving an accelerometer sample.
-        if (is_aligned_with_gravity_) {
-            const Rotation rotation_from_gyroscope = pose_prediction::GetRotationFromGyroscope(
-                { sample.data[0] - gyroscope_bias_estimate_[0],
-                    sample.data[1] - gyroscope_bias_estimate_[1],
-                    sample.data[2] - gyroscope_bias_estimate_[2] },
-                current_timestep_s);
-            current_state_.sensor_from_start_rotation
-                = rotation_from_gyroscope * current_state_.sensor_from_start_rotation;
-            UpdateStateCovariance(RotationMatrixNH(rotation_from_gyroscope));
-            state_covariance_ = state_covariance_
-                + ((current_timestep_s * current_timestep_s) * process_covariance_);
-        }
-    }
-
-    // Saves gyroscope event for future prediction.
-    current_state_.timestamp = sample.system_timestamp;
-    current_gyroscope_sensor_timestamp_ns_ = sample.sensor_timestamp_ns;
-    current_state_.sensor_from_start_rotation_velocity.Set(
-        sample.data[0] - gyroscope_bias_estimate_[0], sample.data[1] - gyroscope_bias_estimate_[1],
-        sample.data[2] - gyroscope_bias_estimate_[2]);
-}
-
-Vector3 SensorFusionEkf::ComputeInnovation(const Rotation& pose)
-{
-    const Vector3 predicted_down_direction = pose * kCanonicalZDirection;
-
-    const Rotation rotation
-        = Rotation::RotateInto(predicted_down_direction, accelerometer_measurement_);
-    Vector3 axis;
-    double angle;
-    rotation.GetAxisAndAngle(&axis, &angle);
-    return axis * angle;
-}
-
-void SensorFusionEkf::ComputeMeasurementJacobian()
-{
-    for (int dof = 0; dof < 3; dof++) {
-        Vector3 delta = Vector3::Zero();
-        delta[dof] = kFiniteDifferencingEpsilon;
-
-        Rotation epsilon_rotation;
-        RotationFromVector(delta, epsilon_rotation);
-        const Vector3 delta_rotation
-            = ComputeInnovation(epsilon_rotation * current_state_.sensor_from_start_rotation);
-
-        const Vector3 col = (innovation_ - delta_rotation) / kFiniteDifferencingEpsilon;
-        accelerometer_measurement_jacobian_(0, dof) = col[0];
-        accelerometer_measurement_jacobian_(1, dof) = col[1];
-        accelerometer_measurement_jacobian_(2, dof) = col[2];
-    }
-}
-
-void SensorFusionEkf::ProcessAccelerometerSample(const AccelerometerData& sample)
-{
-    // Discard outdated samples.
-    if (current_accelerometer_sensor_timestamp_ns_ >= sample.sensor_timestamp_ns) {
-        current_accelerometer_sensor_timestamp_ns_ = sample.sensor_timestamp_ns;
-        return;
-    }
-
-    // Call reset state if required.
-    if (execute_reset_with_next_accelerometer_sample_.exchange(false)) {
-        ResetState();
-    }
-
-    accelerometer_measurement_.Set(sample.data[0], sample.data[1], sample.data[2]);
-    current_accelerometer_sensor_timestamp_ns_ = sample.sensor_timestamp_ns;
-
-    if (bias_estimation_enabled_) {
-        gyroscope_bias_estimator_.ProcessAccelerometer(sample.data, sample.sensor_timestamp_ns);
-    }
-
-    if (!is_aligned_with_gravity_) {
-        // This is the first accelerometer measurement so it initializes the
-        // orientation estimate.
-        current_state_.sensor_from_start_rotation
-            = Rotation::RotateInto(kCanonicalZDirection, accelerometer_measurement_);
-        is_aligned_with_gravity_ = true;
-
-        previous_accelerometer_norm_ = Length(accelerometer_measurement_);
-        return;
-    }
-
-    UpdateMeasurementCovariance();
-
-    innovation_ = ComputeInnovation(current_state_.sensor_from_start_rotation);
-    ComputeMeasurementJacobian();
-
-    // S = H * P * H' + R
-    innovation_covariance_ = accelerometer_measurement_jacobian_ * state_covariance_
-            * Transpose(accelerometer_measurement_jacobian_)
-        + accelerometer_measurement_covariance_;
-
-    // K = P * H' * S^-1
-    kalman_gain_ = state_covariance_ * Transpose(accelerometer_measurement_jacobian_)
-        * Inverse(innovation_covariance_);
-
-    // x_update = K*nu
-    state_update_ = kalman_gain_ * innovation_;
-
-    // P = (I - K * H) * P;
-    state_covariance_ = (Matrix3x3::Identity() - kalman_gain_ * accelerometer_measurement_jacobian_)
-        * state_covariance_;
-
-    // Updates pose and associate covariance matrix.
-    Rotation rotation_from_state_update;
-    RotationFromVector(state_update_, rotation_from_state_update);
-
-    current_state_.sensor_from_start_rotation
-        = rotation_from_state_update * current_state_.sensor_from_start_rotation;
-    UpdateStateCovariance(RotationMatrixNH(rotation_from_state_update));
-}
-
-void SensorFusionEkf::UpdateStateCovariance(const Matrix3x3& motion_update)
-{
-    state_covariance_ = motion_update * state_covariance_ * Transpose(motion_update);
-}
-
-void SensorFusionEkf::FilterGyroscopeTimestep(double gyroscope_timestep_s)
-{
-    if (!is_timestep_filter_initialized_) {
-        // Initializes the filter.
-        filtered_gyroscope_timestep_s_ = gyroscope_timestep_s;
-        num_gyroscope_timestep_samples_ = 1;
-        is_timestep_filter_initialized_ = true;
-        return;
-    }
-
-    // Computes the IIR filter response.
-    filtered_gyroscope_timestep_s_ = kTimestepFilterCoeff * filtered_gyroscope_timestep_s_
-        + (1 - kTimestepFilterCoeff) * gyroscope_timestep_s;
-    ++num_gyroscope_timestep_samples_;
-
-    if (num_gyroscope_timestep_samples_ > kTimestepFilterMinSamples) {
-        is_gyroscope_filter_valid_ = true;
-    }
-}
-
-void SensorFusionEkf::UpdateMeasurementCovariance()
-{
-    const double current_accelerometer_norm = Length(accelerometer_measurement_);
-    // Norm change between current and previous accel readings.
-    const double current_accelerometer_norm_change
-        = std::abs(current_accelerometer_norm - previous_accelerometer_norm_);
-    previous_accelerometer_norm_ = current_accelerometer_norm;
-
-    moving_average_accelerometer_norm_change_ = kSmoothingFactor * current_accelerometer_norm_change
-        + (1 - kSmoothingFactor) * moving_average_accelerometer_norm_change_;
-
-    // If we hit the accel norm change threshold, we use the maximum noise sigma
-    // for the accel covariance. For anything below that, we use a linear
-    // combination between min and max sigma values.
-    const double norm_change_ratio
-        = moving_average_accelerometer_norm_change_ / kMaxAccelNormChange;
-    const double accelerometer_noise_sigma = std::min(kMaxAccelNoiseSigma,
-        kMinAccelNoiseSigma + norm_change_ratio * (kMaxAccelNoiseSigma - kMinAccelNoiseSigma));
-
-    // Updates the accel covariance matrix with the new sigma value.
-    accelerometer_measurement_covariance_
-        = Matrix3x3::Identity() * accelerometer_noise_sigma * accelerometer_noise_sigma;
-}
-
-bool SensorFusionEkf::IsBiasEstimationEnabled() const { return bias_estimation_enabled_; }
-
-void SensorFusionEkf::SetBiasEstimationEnabled(bool enable)
-{
-    if (bias_estimation_enabled_ != enable) {
-        bias_estimation_enabled_ = enable;
-        gyroscope_bias_estimate_ = { 0, 0, 0 };
-        gyroscope_bias_estimator_.Reset();
-    }
-}
-
-} // namespace cardboard

airmouse/tracking/sensors/sensor_fusion_ekf.h

@@ -1,188 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef CARDBOARD_SDK_SENSORS_SENSOR_FUSION_EKF_H_
-#define CARDBOARD_SDK_SENSORS_SENSOR_FUSION_EKF_H_
-
-#include <array>
-#include <atomic>
-#include <cstdint>
-
-#include "accelerometer_data.h"
-#include "gyroscope_bias_estimator.h"
-#include "gyroscope_data.h"
-#include "pose_state.h"
-#include "../util/matrix_3x3.h"
-#include "../util/rotation.h"
-#include "../util/vector.h"
-
-namespace cardboard {
-
-// Sensor fusion class that implements an Extended Kalman Filter (EKF) to
-// estimate a 3D rotation from a gyroscope and an accelerometer.
-// This system only has one state, the pose. It does not estimate any velocity
-// or acceleration.
-//
-// To learn more about Kalman filtering one can read this article which is a
-// good introduction: https://en.wikipedia.org/wiki/Kalman_filter
-class SensorFusionEkf {
-public:
-    SensorFusionEkf();
-
-    // Resets the state of the sensor fusion. It sets the velocity for
-    // prediction to zero. The reset will happen with the next
-    // accelerometer sample. Gyroscope sample will be discarded until a new
-    // accelerometer sample arrives.
-    void Reset();
-
-    // Gets the PoseState representing the latest pose and  derivatives at a
-    // particular timestamp as estimated by SensorFusion.
-    PoseState GetLatestPoseState() const;
-
-    // Processes one gyroscope sample event. This updates the pose of the system
-    // and the prediction model. The gyroscope data is assumed to be in axis angle
-    // form. Angle = ||v|| and Axis = v / ||v||, with v = [v_x, v_y, v_z]^T.
-    //
-    // @param sample gyroscope sample data.
-    void ProcessGyroscopeSample(const GyroscopeData& sample);
-
-    // Processes one accelerometer sample event. This updates the pose of the
-    // system. If the Accelerometer norm changes too much between sample it is not
-    // trusted as much.
-    //
-    // @param sample accelerometer sample data.
-    void ProcessAccelerometerSample(const AccelerometerData& sample);
-
-    // Enables or disables the drift correction by estimating the gyroscope bias.
-    //
-    // @param enable Enable drift correction.
-    void SetBiasEstimationEnabled(bool enable);
-
-    // Returns a boolean that indicates if bias estimation is enabled or disabled.
-    //
-    // @return true if bias estimation is enabled, false otherwise.
-    bool IsBiasEstimationEnabled() const;
-
-    // Returns the current gyroscope bias estimate from GyroscopeBiasEstimator.
-    Vector3 GetGyroscopeBias() const {
-        return {
-            gyroscope_bias_estimate_[0], gyroscope_bias_estimate_[1], gyroscope_bias_estimate_[2]};
-    }
-
-    // Returns true after receiving the first accelerometer measurement.
-    bool IsFullyInitialized() const {
-        return is_aligned_with_gravity_;
-    }
-
-private:
-    // Estimates the average timestep between gyroscope event.
-    void FilterGyroscopeTimestep(double gyroscope_timestep);
-
-    // Updates the state covariance with an incremental motion. It changes the
-    // space of the quadric.
-    void UpdateStateCovariance(const Matrix3x3& motion_update);
-
-    // Computes the innovation vector of the Kalman based on the input pose.
-    // It uses the latest measurement vector (i.e. accelerometer data), which must
-    // be set prior to calling this function.
-    Vector3 ComputeInnovation(const Rotation& pose);
-
-    // This computes the measurement_jacobian_ via numerical differentiation based
-    // on the current value of sensor_from_start_rotation_.
-    void ComputeMeasurementJacobian();
-
-    // Updates the accelerometer covariance matrix.
-    //
-    // This looks at the norm of recent accelerometer readings. If it has changed
-    // significantly, it means the phone receives additional acceleration than
-    // just gravity, and so the down vector information gravity signal is noisier.
-    void UpdateMeasurementCovariance();
-
-    // Reset all internal states. This is not thread safe. Lock should be acquired
-    // outside of it. This function is called in ProcessAccelerometerSample.
-    void ResetState();
-
-    // Current transformation from Sensor Space to Start Space.
-    // x_sensor = sensor_from_start_rotation_ * x_start;
-    PoseState current_state_;
-
-    // Filtering of the gyroscope timestep started?
-    bool is_timestep_filter_initialized_;
-    // Filtered gyroscope timestep valid?
-    bool is_gyroscope_filter_valid_;
-    // Sensor fusion currently aligned with gravity? After initialization
-    // it will requires a couple of accelerometer data for the system to get
-    // aligned.
-    std::atomic<bool> is_aligned_with_gravity_;
-
-    // Covariance of Kalman filter state (P in common formulation).
-    Matrix3x3 state_covariance_;
-    // Covariance of the process noise (Q in common formulation).
-    Matrix3x3 process_covariance_;
-    // Covariance of the accelerometer measurement (R in common formulation).
-    Matrix3x3 accelerometer_measurement_covariance_;
-    // Covariance of innovation (S in common formulation).
-    Matrix3x3 innovation_covariance_;
-    // Jacobian of the measurements (H in common formulation).
-    Matrix3x3 accelerometer_measurement_jacobian_;
-    // Gain of the Kalman filter (K in common formulation).
-    Matrix3x3 kalman_gain_;
-    // Parameter update a.k.a. innovation vector. (\nu in common formulation).
-    Vector3 innovation_;
-    // Measurement vector (z in common formulation).
-    Vector3 accelerometer_measurement_;
-    // Current prediction vector (g in common formulation).
-    Vector3 prediction_;
-    // Control input, currently this is only the gyroscope data (\mu in common
-    // formulation).
-    Vector3 control_input_;
-    // Update of the state vector. (x in common formulation).
-    Vector3 state_update_;
-
-    // Sensor time of the last gyroscope processed event.
-    uint64_t current_gyroscope_sensor_timestamp_ns_;
-    // Sensor time of the last accelerometer processed event.
-    uint64_t current_accelerometer_sensor_timestamp_ns_;
-
-    // Estimates of the timestep between gyroscope event in seconds.
-    double filtered_gyroscope_timestep_s_;
-    // Number of timestep samples processed so far by the filter.
-    uint32_t num_gyroscope_timestep_samples_;
-    // Norm of the accelerometer for the previous measurement.
-    double previous_accelerometer_norm_;
-    // Moving average of the accelerometer norm changes. It is computed for every
-    // sensor datum.
-    double moving_average_accelerometer_norm_change_;
-
-    // Flag indicating if a state reset should be executed with the next
-    // accelerometer sample.
-    std::atomic<bool> execute_reset_with_next_accelerometer_sample_;
-
-    // Flag indicating if bias estimation is enabled (enabled by default).
-    std::atomic<bool> bias_estimation_enabled_;
-
-    // Bias estimator and static device detector.
-    GyroscopeBiasEstimator gyroscope_bias_estimator_;
-
-    // Current bias estimate_;
-    Vector3 gyroscope_bias_estimate_;
-
-    SensorFusionEkf(const SensorFusionEkf&) = delete;
-    SensorFusionEkf& operator=(const SensorFusionEkf&) = delete;
-};
-
-} // namespace cardboard
-
-#endif // CARDBOARD_SDK_SENSORS_SENSOR_FUSION_EKF_H_

airmouse/tracking/util/logging.h

@@ -1,38 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef CARDBOARD_SDK_UTIL_LOGGING_H_
-#define CARDBOARD_SDK_UTIL_LOGGING_H_
-
-#include <furi.h>
-#include <furi_hal.h>
-
-#if defined(__ANDROID__)
-
-#include <android/log.h>
-
-// Uncomment these to enable debug logging from native code
-
-#define CARDBOARD_LOGI(...) // __android_log_print(ANDROID_LOG_INFO, "CardboardSDK", __VA_ARGS__)
-#define CARDBOARD_LOGE(...) // __android_log_print(ANDROID_LOG_ERROR, "CardboardSDK", __VA_ARGS__)
-
-#else
-
-#define CARDBOARD_LOGI(...) // FURI_LOG_I("CardboardSDK", __VA_ARGS__)
-#define CARDBOARD_LOGE(...) // FURI_LOG_E("CardboardSDK", __VA_ARGS__)
-
-#endif
-
-#endif // CARDBOARD_SDK_UTIL_LOGGING_H_

airmouse/tracking/util/matrix_3x3.cc

@@ -1,121 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#include "matrix_3x3.h"
-
-namespace cardboard {
-
-Matrix3x3::Matrix3x3(double m00, double m01, double m02, double m10, double m11, double m12,
-    double m20, double m21, double m22)
-    : elem_ { { { m00, m01, m02 }, { m10, m11, m12 }, { m20, m21, m22 } } }
-{
-}
-
-Matrix3x3::Matrix3x3()
-{
-    for (int row = 0; row < 3; ++row) {
-        for (int col = 0; col < 3; ++col)
-            elem_[row][col] = 0;
-    }
-}
-
-Matrix3x3 Matrix3x3::Zero()
-{
-    Matrix3x3 result;
-    return result;
-}
-
-Matrix3x3 Matrix3x3::Identity()
-{
-    Matrix3x3 result;
-    for (int row = 0; row < 3; ++row) {
-        result.elem_[row][row] = 1;
-    }
-    return result;
-}
-
-void Matrix3x3::MultiplyScalar(double s)
-{
-    for (int row = 0; row < 3; ++row) {
-        for (int col = 0; col < 3; ++col)
-            elem_[row][col] *= s;
-    }
-}
-
-Matrix3x3 Matrix3x3::Negation() const
-{
-    Matrix3x3 result;
-    for (int row = 0; row < 3; ++row) {
-        for (int col = 0; col < 3; ++col)
-            result.elem_[row][col] = -elem_[row][col];
-    }
-    return result;
-}
-
-Matrix3x3 Matrix3x3::Scale(const Matrix3x3& m, double s)
-{
-    Matrix3x3 result;
-    for (int row = 0; row < 3; ++row) {
-        for (int col = 0; col < 3; ++col)
-            result.elem_[row][col] = m.elem_[row][col] * s;
-    }
-    return result;
-}
-
-Matrix3x3 Matrix3x3::Addition(const Matrix3x3& lhs, const Matrix3x3& rhs)
-{
-    Matrix3x3 result;
-    for (int row = 0; row < 3; ++row) {
-        for (int col = 0; col < 3; ++col)
-            result.elem_[row][col] = lhs.elem_[row][col] + rhs.elem_[row][col];
-    }
-    return result;
-}
-
-Matrix3x3 Matrix3x3::Subtraction(const Matrix3x3& lhs, const Matrix3x3& rhs)
-{
-    Matrix3x3 result;
-    for (int row = 0; row < 3; ++row) {
-        for (int col = 0; col < 3; ++col)
-            result.elem_[row][col] = lhs.elem_[row][col] - rhs.elem_[row][col];
-    }
-    return result;
-}
-
-Matrix3x3 Matrix3x3::Product(const Matrix3x3& m0, const Matrix3x3& m1)
-{
-    Matrix3x3 result;
-    for (int row = 0; row < 3; ++row) {
-        for (int col = 0; col < 3; ++col) {
-            result.elem_[row][col] = 0;
-            for (int i = 0; i < 3; ++i)
-                result.elem_[row][col] += m0.elem_[row][i] * m1.elem_[i][col];
-        }
-    }
-    return result;
-}
-
-bool Matrix3x3::AreEqual(const Matrix3x3& m0, const Matrix3x3& m1)
-{
-    for (int row = 0; row < 3; ++row) {
-        for (int col = 0; col < 3; ++col) {
-            if (m0.elem_[row][col] != m1.elem_[row][col])
-                return false;
-        }
-    }
-    return true;
-}
-
-} // namespace cardboard

airmouse/tracking/util/matrix_3x3.h

@@ -1,138 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef CARDBOARD_SDK_UTIL_MATRIX_3X3_H_
-#define CARDBOARD_SDK_UTIL_MATRIX_3X3_H_
-
-#include <array>
-#include <cstring> // For memcpy().
-#include <istream> // NOLINT
-#include <ostream> // NOLINT
-
-namespace cardboard {
-
-// The Matrix3x3 class defines a square 3-dimensional matrix. Elements are
-// stored in row-major order.
-// TODO(b/135461889): Make this class consistent with Matrix4x4.
-class Matrix3x3 {
-public:
-    // The default constructor zero-initializes all elements.
-    Matrix3x3();
-
-    // Dimension-specific constructors that are passed individual element values.
-    Matrix3x3(
-        double m00,
-        double m01,
-        double m02,
-        double m10,
-        double m11,
-        double m12,
-        double m20,
-        double m21,
-        double m22);
-
-    // Constructor that reads elements from a linear array of the correct size.
-    explicit Matrix3x3(const double array[3 * 3]);
-
-    // Returns a Matrix3x3 containing all zeroes.
-    static Matrix3x3 Zero();
-
-    // Returns an identity Matrix3x3.
-    static Matrix3x3 Identity();
-
-    // Mutable element accessors.
-    double& operator()(int row, int col) {
-        return elem_[row][col];
-    }
-    std::array<double, 3>& operator[](int row) {
-        return elem_[row];
-    }
-
-    // Read-only element accessors.
-    const double& operator()(int row, int col) const {
-        return elem_[row][col];
-    }
-    const std::array<double, 3>& operator[](int row) const {
-        return elem_[row];
-    }
-
-    // Return a pointer to the data for interfacing with libraries.
-    double* Data() {
-        return &elem_[0][0];
-    }
-    const double* Data() const {
-        return &elem_[0][0];
-    }
-
-    // Self-modifying multiplication operators.
-    void operator*=(double s) {
-        MultiplyScalar(s);
-    }
-    void operator*=(const Matrix3x3& m) {
-        *this = Product(*this, m);
-    }
-
-    // Unary operators.
-    Matrix3x3 operator-() const {
-        return Negation();
-    }
-
-    // Binary scale operators.
-    friend Matrix3x3 operator*(const Matrix3x3& m, double s) {
-        return Scale(m, s);
-    }
-    friend Matrix3x3 operator*(double s, const Matrix3x3& m) {
-        return Scale(m, s);
-    }
-
-    // Binary matrix addition.
-    friend Matrix3x3 operator+(const Matrix3x3& lhs, const Matrix3x3& rhs) {
-        return Addition(lhs, rhs);
-    }
-
-    // Binary matrix subtraction.
-    friend Matrix3x3 operator-(const Matrix3x3& lhs, const Matrix3x3& rhs) {
-        return Subtraction(lhs, rhs);
-    }
-
-    // Binary multiplication operator.
-    friend Matrix3x3 operator*(const Matrix3x3& m0, const Matrix3x3& m1) {
-        return Product(m0, m1);
-    }
-
-    // Exact equality and inequality comparisons.
-    friend bool operator==(const Matrix3x3& m0, const Matrix3x3& m1) {
-        return AreEqual(m0, m1);
-    }
-    friend bool operator!=(const Matrix3x3& m0, const Matrix3x3& m1) {
-        return !AreEqual(m0, m1);
-    }
-
-private:
-    // These private functions implement most of the operators.
-    void MultiplyScalar(double s);
-    Matrix3x3 Negation() const;
-    static Matrix3x3 Addition(const Matrix3x3& lhs, const Matrix3x3& rhs);
-    static Matrix3x3 Subtraction(const Matrix3x3& lhs, const Matrix3x3& rhs);
-    static Matrix3x3 Scale(const Matrix3x3& m, double s);
-    static Matrix3x3 Product(const Matrix3x3& m0, const Matrix3x3& m1);
-    static bool AreEqual(const Matrix3x3& m0, const Matrix3x3& m1);
-
-    std::array<std::array<double, 3>, 3> elem_;
-};
-
-} // namespace cardboard
-
-#endif // CARDBOARD_SDK_UTIL_MATRIX_3X3_H_

airmouse/tracking/util/matrix_4x4.cc

@@ -1,87 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#include "matrix_4x4.h"
-
-#include <algorithm>
-#include <cmath>
-#include <cstring>
-
-namespace cardboard {
-
-Matrix4x4 Matrix4x4::Identity()
-{
-    Matrix4x4 ret;
-    for (int j = 0; j < 4; ++j) {
-        for (int i = 0; i < 4; ++i) {
-            ret.m[j][i] = (i == j) ? 1 : 0;
-        }
-    }
-
-    return ret;
-}
-
-Matrix4x4 Matrix4x4::Zeros()
-{
-    Matrix4x4 ret;
-    for (int j = 0; j < 4; ++j) {
-        for (int i = 0; i < 4; ++i) {
-            ret.m[j][i] = 0;
-        }
-    }
-
-    return ret;
-}
-
-Matrix4x4 Matrix4x4::Translation(float x, float y, float z)
-{
-    Matrix4x4 ret = Matrix4x4::Identity();
-    ret.m[3][0] = x;
-    ret.m[3][1] = y;
-    ret.m[3][2] = z;
-
-    return ret;
-}
-
-Matrix4x4 Matrix4x4::Perspective(const std::array<float, 4>& fov, float zNear, float zFar)
-{
-    Matrix4x4 ret = Matrix4x4::Zeros();
-
-    const float xLeft = -std::tan(fov[0] * M_PI / 180.0f) * zNear;
-    const float xRight = std::tan(fov[1] * M_PI / 180.0f) * zNear;
-    const float yBottom = -std::tan(fov[2] * M_PI / 180.0f) * zNear;
-    const float yTop = std::tan(fov[3] * M_PI / 180.0f) * zNear;
-
-    const float X = (2 * zNear) / (xRight - xLeft);
-    const float Y = (2 * zNear) / (yTop - yBottom);
-    const float A = (xRight + xLeft) / (xRight - xLeft);
-    const float B = (yTop + yBottom) / (yTop - yBottom);
-    const float C = (zNear + zFar) / (zNear - zFar);
-    const float D = (2 * zNear * zFar) / (zNear - zFar);
-
-    ret.m[0][0] = X;
-    ret.m[2][0] = A;
-    ret.m[1][1] = Y;
-    ret.m[2][1] = B;
-    ret.m[2][2] = C;
-    ret.m[3][2] = D;
-    ret.m[2][3] = -1;
-
-    return ret;
-}
-
-void Matrix4x4::ToArray(float* array) const { std::memcpy(array, &m[0][0], 16 * sizeof(float)); }
-
-} // namespace cardboard

airmouse/tracking/util/matrix_4x4.h

@@ -1,37 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef CARDBOARD_SDK_UTIL_MATRIX_4X4_H_
-#define CARDBOARD_SDK_UTIL_MATRIX_4X4_H_
-
-#include <array>
-
-namespace cardboard {
-
-class Matrix4x4 {
-public:
-    static Matrix4x4 Identity();
-    static Matrix4x4 Zeros();
-    static Matrix4x4 Translation(float x, float y, float z);
-    static Matrix4x4 Perspective(const std::array<float, 4>& fov, float zNear, float zFar);
-    void ToArray(float* array) const;
-
-private:
-    std::array<std::array<float, 4>, 4> m;
-};
-
-} // namespace cardboard
-
-#endif // CARDBOARD_SDK_UTIL_MATRIX4X4_H_

airmouse/tracking/util/matrixutils.cc

@@ -1,148 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#include "matrixutils.h"
-
-#include "vectorutils.h"
-
-namespace cardboard {
-
-namespace {
-
-    // Returns true if the cofactor for a given row and column should be negated.
-    static bool IsCofactorNegated(int row, int col)
-    {
-        // Negated iff (row + col) is odd.
-        return ((row + col) & 1) != 0;
-    }
-
-    static double CofactorElement3(const Matrix3x3& m, int row, int col)
-    {
-        static const int index[3][2] = { { 1, 2 }, { 0, 2 }, { 0, 1 } };
-        const int i0 = index[row][0];
-        const int i1 = index[row][1];
-        const int j0 = index[col][0];
-        const int j1 = index[col][1];
-        const double cofactor = m(i0, j0) * m(i1, j1) - m(i0, j1) * m(i1, j0);
-        return IsCofactorNegated(row, col) ? -cofactor : cofactor;
-    }
-
-    // Multiplies a matrix and some type of column vector to
-    // produce another column vector of the same type.
-    Vector3 MultiplyMatrixAndVector(const Matrix3x3& m, const Vector3& v)
-    {
-        Vector3 result = Vector3::Zero();
-        for (int row = 0; row < 3; ++row) {
-            for (int col = 0; col < 3; ++col)
-                result[row] += m(row, col) * v[col];
-        }
-        return result;
-    }
-
-    // Sets the upper 3x3 of a Matrix to represent a 3D rotation.
-    void RotationMatrix3x3(const Rotation& r, Matrix3x3* matrix)
-    {
-        //
-        // Given a quaternion (a,b,c,d) where d is the scalar part, the 3x3 rotation
-        // matrix is:
-        //
-        //   a^2 - b^2 - c^2 + d^2         2ab - 2cd               2ac + 2bd
-        //         2ab + 2cd        -a^2 + b^2 - c^2 + d^2         2bc - 2ad
-        //         2ac - 2bd               2bc + 2ad        -a^2 - b^2 + c^2 + d^2
-        //
-        const Vector<4>& quat = r.GetQuaternion();
-        const double aa = quat[0] * quat[0];
-        const double bb = quat[1] * quat[1];
-        const double cc = quat[2] * quat[2];
-        const double dd = quat[3] * quat[3];
-
-        const double ab = quat[0] * quat[1];
-        const double ac = quat[0] * quat[2];
-        const double bc = quat[1] * quat[2];
-
-        const double ad = quat[0] * quat[3];
-        const double bd = quat[1] * quat[3];
-        const double cd = quat[2] * quat[3];
-
-        Matrix3x3& m = *matrix;
-        m[0][0] = aa - bb - cc + dd;
-        m[0][1] = 2 * ab - 2 * cd;
-        m[0][2] = 2 * ac + 2 * bd;
-        m[1][0] = 2 * ab + 2 * cd;
-        m[1][1] = -aa + bb - cc + dd;
-        m[1][2] = 2 * bc - 2 * ad;
-        m[2][0] = 2 * ac - 2 * bd;
-        m[2][1] = 2 * bc + 2 * ad;
-        m[2][2] = -aa - bb + cc + dd;
-    }
-
-} // anonymous namespace
-
-Vector3 operator*(const Matrix3x3& m, const Vector3& v) { return MultiplyMatrixAndVector(m, v); }
-
-Matrix3x3 CofactorMatrix(const Matrix3x3& m)
-{
-    Matrix3x3 result;
-    for (int row = 0; row < 3; ++row) {
-        for (int col = 0; col < 3; ++col)
-            result(row, col) = CofactorElement3(m, row, col);
-    }
-    return result;
-}
-
-Matrix3x3 AdjugateWithDeterminant(const Matrix3x3& m, double* determinant)
-{
-    const Matrix3x3 cofactor_matrix = CofactorMatrix(m);
-    if (determinant) {
-        *determinant = m(0, 0) * cofactor_matrix(0, 0) + m(0, 1) * cofactor_matrix(0, 1)
-            + m(0, 2) * cofactor_matrix(0, 2);
-    }
-    return Transpose(cofactor_matrix);
-}
-
-// Returns the transpose of a matrix.
-Matrix3x3 Transpose(const Matrix3x3& m)
-{
-    Matrix3x3 result;
-    for (int row = 0; row < 3; ++row) {
-        for (int col = 0; col < 3; ++col)
-            result(row, col) = m(col, row);
-    }
-    return result;
-}
-
-Matrix3x3 InverseWithDeterminant(const Matrix3x3& m, double* determinant)
-{
-    // The inverse is the adjugate divided by the determinant.
-    double det;
-    Matrix3x3 adjugate = AdjugateWithDeterminant(m, &det);
-    if (determinant)
-        *determinant = det;
-    if (det == 0)
-        return Matrix3x3::Zero();
-    else
-        return adjugate * (1 / det);
-}
-
-Matrix3x3 Inverse(const Matrix3x3& m) { return InverseWithDeterminant(m, nullptr); }
-
-Matrix3x3 RotationMatrixNH(const Rotation& r)
-{
-    Matrix3x3 m;
-    RotationMatrix3x3(r, &m);
-    return m;
-}
-
-} // namespace cardboard

airmouse/tracking/util/matrixutils.h

@@ -1,65 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef CARDBOARD_SDK_UTIL_MATRIXUTILS_H_
-#define CARDBOARD_SDK_UTIL_MATRIXUTILS_H_
-
-//
-// This file contains operators and free functions that define generic Matrix
-// operations.
-//
-
-#include "matrix_3x3.h"
-#include "rotation.h"
-#include "vector.h"
-
-namespace cardboard {
-
-// Returns the transpose of a matrix.
-Matrix3x3 Transpose(const Matrix3x3& m);
-
-// Multiplies a Matrix and a column Vector of the same Dimension to produce
-// another column Vector.
-Vector3 operator*(const Matrix3x3& m, const Vector3& v);
-
-// Returns the determinant of the matrix. This function is defined for all the
-// typedef'ed Matrix types.
-double Determinant(const Matrix3x3& m);
-
-// Returns the adjugate of the matrix, which is defined as the transpose of the
-// cofactor matrix. This function is defined for all the typedef'ed Matrix
-// types.  The determinant of the matrix is computed as a side effect, so it is
-// returned in the determinant parameter if it is not null.
-Matrix3x3 AdjugateWithDeterminant(const Matrix3x3& m, double* determinant);
-
-// Returns the inverse of the matrix. This function is defined for all the
-// typedef'ed Matrix types.  The determinant of the matrix is computed as a
-// side effect, so it is returned in the determinant parameter if it is not
-// null. If the determinant is 0, the returned matrix has all zeroes.
-Matrix3x3 InverseWithDeterminant(const Matrix3x3& m, double* determinant);
-
-// Returns the inverse of the matrix. This function is defined for all the
-// typedef'ed Matrix types. If the determinant of the matrix is 0, the returned
-// matrix has all zeroes.
-Matrix3x3 Inverse(const Matrix3x3& m);
-
-// Returns a 3x3 Matrix representing a 3D rotation. This creates a Matrix that
-// does not work with homogeneous coordinates, so the function name ends in
-// "NH".
-Matrix3x3 RotationMatrixNH(const Rotation& r);
-
-} // namespace cardboard
-
-#endif // CARDBOARD_SDK_UTIL_MATRIXUTILS_H_

airmouse/tracking/util/rotation.cc

@@ -1,117 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#include "rotation.h"
-
-#include <cmath>
-#include <limits>
-
-#include "vectorutils.h"
-
-namespace cardboard {
-
-void Rotation::SetAxisAndAngle(const VectorType& axis, double angle)
-{
-    VectorType unit_axis = axis;
-    if (!Normalize(&unit_axis)) {
-        *this = Identity();
-    } else {
-        double a = angle / 2;
-        const double s = sin(a);
-        const VectorType v(unit_axis * s);
-        SetQuaternion(QuaternionType(v[0], v[1], v[2], cos(a)));
-    }
-}
-
-Rotation Rotation::FromRotationMatrix(const Matrix3x3& mat)
-{
-    static const double kOne = 1.0;
-    static const double kFour = 4.0;
-
-    const double d0 = mat(0, 0), d1 = mat(1, 1), d2 = mat(2, 2);
-    const double ww = kOne + d0 + d1 + d2;
-    const double xx = kOne + d0 - d1 - d2;
-    const double yy = kOne - d0 + d1 - d2;
-    const double zz = kOne - d0 - d1 + d2;
-
-    const double max = std::max(ww, std::max(xx, std::max(yy, zz)));
-    if (ww == max) {
-        const double w4 = sqrt(ww * kFour);
-        return Rotation::FromQuaternion(QuaternionType((mat(2, 1) - mat(1, 2)) / w4,
-            (mat(0, 2) - mat(2, 0)) / w4, (mat(1, 0) - mat(0, 1)) / w4, w4 / kFour));
-    }
-
-    if (xx == max) {
-        const double x4 = sqrt(xx * kFour);
-        return Rotation::FromQuaternion(QuaternionType(x4 / kFour, (mat(0, 1) + mat(1, 0)) / x4,
-            (mat(0, 2) + mat(2, 0)) / x4, (mat(2, 1) - mat(1, 2)) / x4));
-    }
-
-    if (yy == max) {
-        const double y4 = sqrt(yy * kFour);
-        return Rotation::FromQuaternion(QuaternionType((mat(0, 1) + mat(1, 0)) / y4, y4 / kFour,
-            (mat(1, 2) + mat(2, 1)) / y4, (mat(0, 2) - mat(2, 0)) / y4));
-    }
-
-    // zz is the largest component.
-    const double z4 = sqrt(zz * kFour);
-    return Rotation::FromQuaternion(QuaternionType((mat(0, 2) + mat(2, 0)) / z4,
-        (mat(1, 2) + mat(2, 1)) / z4, z4 / kFour, (mat(1, 0) - mat(0, 1)) / z4));
-}
-
-void Rotation::GetAxisAndAngle(VectorType* axis, double* angle) const
-{
-    VectorType vec(quat_[0], quat_[1], quat_[2]);
-    if (Normalize(&vec)) {
-        *angle = 2 * acos(quat_[3]);
-        *axis = vec;
-    } else {
-        *axis = VectorType(1, 0, 0);
-        *angle = 0.0;
-    }
-}
-
-Rotation Rotation::RotateInto(const VectorType& from, const VectorType& to)
-{
-    static const double kTolerance = std::numeric_limits<double>::epsilon() * 100;
-
-    // Directly build the quaternion using the following technique:
-    // http://lolengine.net/blog/2014/02/24/quaternion-from-two-vectors-final
-    const double norm_u_norm_v = sqrt(LengthSquared(from) * LengthSquared(to));
-    double real_part = norm_u_norm_v + Dot(from, to);
-    VectorType w;
-    if (real_part < kTolerance * norm_u_norm_v) {
-        // If |from| and |to| are exactly opposite, rotate 180 degrees around an
-        // arbitrary orthogonal axis. Axis normalization can happen later, when we
-        // normalize the quaternion.
-        real_part = 0.0;
-        w = (abs(from[0]) > abs(from[2])) ? VectorType(-from[1], from[0], 0)
-                                          : VectorType(0, -from[2], from[1]);
-    } else {
-        // Otherwise, build the quaternion the standard way.
-        w = Cross(from, to);
-    }
-
-    // Build and return a normalized quaternion.
-    // Note that Rotation::FromQuaternion automatically performs normalization.
-    return Rotation::FromQuaternion(QuaternionType(w[0], w[1], w[2], real_part));
-}
-
-Rotation::VectorType Rotation::operator*(const Rotation::VectorType& v) const
-{
-    return ApplyToVector(v);
-}
-
-} // namespace cardboard

airmouse/tracking/util/rotation.h

@@ -1,156 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef CARDBOARD_SDK_UTIL_ROTATION_H_
-#define CARDBOARD_SDK_UTIL_ROTATION_H_
-
-#include "matrix_3x3.h"
-#include "vector.h"
-#include "vectorutils.h"
-
-namespace cardboard {
-
-// The Rotation class represents a rotation around a 3-dimensional axis. It
-// uses normalized quaternions internally to make the math robust.
-class Rotation {
-public:
-    // Convenience typedefs for vector of the correct type.
-    typedef Vector<3> VectorType;
-    typedef Vector<4> QuaternionType;
-
-    // The default constructor creates an identity Rotation, which has no effect.
-    Rotation() {
-        quat_.Set(0, 0, 0, 1);
-    }
-
-    // Returns an identity Rotation, which has no effect.
-    static Rotation Identity() {
-        return Rotation();
-    }
-
-    // Sets the Rotation from a quaternion (4D vector), which is first normalized.
-    void SetQuaternion(const QuaternionType& quaternion) {
-        quat_ = Normalized(quaternion);
-    }
-
-    // Returns the Rotation as a normalized quaternion (4D vector).
-    const QuaternionType& GetQuaternion() const {
-        return quat_;
-    }
-
-    // Sets the Rotation to rotate by the given angle around the given axis,
-    // following the right-hand rule. The axis does not need to be unit
-    // length. If it is zero length, this results in an identity Rotation.
-    void SetAxisAndAngle(const VectorType& axis, double angle);
-
-    // Returns the right-hand rule axis and angle corresponding to the
-    // Rotation. If the Rotation is the identity rotation, this returns the +X
-    // axis and an angle of 0.
-    void GetAxisAndAngle(VectorType* axis, double* angle) const;
-
-    // Convenience function that constructs and returns a Rotation given an axis
-    // and angle.
-    static Rotation FromAxisAndAngle(const VectorType& axis, double angle) {
-        Rotation r;
-        r.SetAxisAndAngle(axis, angle);
-        return r;
-    }
-
-    // Convenience function that constructs and returns a Rotation given a
-    // quaternion.
-    static Rotation FromQuaternion(const QuaternionType& quat) {
-        Rotation r;
-        r.SetQuaternion(quat);
-        return r;
-    }
-
-    // Convenience function that constructs and returns a Rotation given a
-    // rotation matrix R with $R^\top R = I && det(R) = 1$.
-    static Rotation FromRotationMatrix(const Matrix3x3& mat);
-
-    // Convenience function that constructs and returns a Rotation given Euler
-    // angles that are applied in the order of rotate-Z by roll, rotate-X by
-    // pitch, rotate-Y by yaw (same as GetRollPitchYaw).
-    static Rotation FromRollPitchYaw(double roll, double pitch, double yaw) {
-        VectorType x(1, 0, 0), y(0, 1, 0), z(0, 0, 1);
-        return FromAxisAndAngle(z, roll) * (FromAxisAndAngle(x, pitch) * FromAxisAndAngle(y, yaw));
-    }
-
-    // Convenience function that constructs and returns a Rotation given Euler
-    // angles that are applied in the order of rotate-Y by yaw, rotate-X by
-    // pitch, rotate-Z by roll (same as GetYawPitchRoll).
-    static Rotation FromYawPitchRoll(double yaw, double pitch, double roll) {
-        VectorType x(1, 0, 0), y(0, 1, 0), z(0, 0, 1);
-        return FromAxisAndAngle(y, yaw) * (FromAxisAndAngle(x, pitch) * FromAxisAndAngle(z, roll));
-    }
-
-    // Constructs and returns a Rotation that rotates one vector to another along
-    // the shortest arc. This returns an identity rotation if either vector has
-    // zero length.
-    static Rotation RotateInto(const VectorType& from, const VectorType& to);
-
-    // The negation operator returns the inverse rotation.
-    friend Rotation operator-(const Rotation& r) {
-        // Because we store normalized quaternions, the inverse is found by
-        // negating the vector part.
-        return Rotation(-r.quat_[0], -r.quat_[1], -r.quat_[2], r.quat_[3]);
-    }
-
-    // Appends a rotation to this one.
-    Rotation& operator*=(const Rotation& r) {
-        const QuaternionType& qr = r.quat_;
-        QuaternionType& qt = quat_;
-        SetQuaternion(QuaternionType(
-            qr[3] * qt[0] + qr[0] * qt[3] + qr[2] * qt[1] - qr[1] * qt[2],
-            qr[3] * qt[1] + qr[1] * qt[3] + qr[0] * qt[2] - qr[2] * qt[0],
-            qr[3] * qt[2] + qr[2] * qt[3] + qr[1] * qt[0] - qr[0] * qt[1],
-            qr[3] * qt[3] - qr[0] * qt[0] - qr[1] * qt[1] - qr[2] * qt[2]));
-        return *this;
-    }
-
-    // Binary multiplication operator - returns a composite Rotation.
-    friend const Rotation operator*(const Rotation& r0, const Rotation& r1) {
-        Rotation r = r0;
-        r *= r1;
-        return r;
-    }
-
-    // Multiply a Rotation and a Vector to get a Vector.
-    VectorType operator*(const VectorType& v) const;
-
-private:
-    // Private constructor that builds a Rotation from quaternion components.
-    Rotation(double q0, double q1, double q2, double q3)
-        : quat_(q0, q1, q2, q3) {
-    }
-
-    // Applies a Rotation to a Vector to rotate the Vector. Method borrowed from:
-    // http://blog.molecular-matters.com/2013/05/24/a-faster-quaternion-vector-multiplication/
-    VectorType ApplyToVector(const VectorType& v) const {
-        VectorType im(quat_[0], quat_[1], quat_[2]);
-        VectorType temp = 2.0 * Cross(im, v);
-        return v + quat_[3] * temp + Cross(im, temp);
-    }
-
-    // The rotation represented as a normalized quaternion. (Unit quaternions are
-    // required for constructing rotation matrices, so it makes sense to always
-    // store them that way.) The vector part is in the first 3 elements, and the
-    // scalar part is in the last element.
-    QuaternionType quat_;
-};
-
-} // namespace cardboard
-
-#endif // CARDBOARD_SDK_UTIL_ROTATION_H_

airmouse/tracking/util/vector.h

@@ -1,251 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef CARDBOARD_SDK_UTIL_VECTOR_H_
-#define CARDBOARD_SDK_UTIL_VECTOR_H_
-
-#include <array>
-
-namespace cardboard {
-
-// Geometric N-dimensional Vector class.
-template <int Dimension>
-class Vector {
-public:
-    // The default constructor zero-initializes all elements.
-    Vector();
-
-    // Dimension-specific constructors that are passed individual element values.
-    constexpr Vector(double e0, double e1, double e2);
-    constexpr Vector(double e0, double e1, double e2, double e3);
-
-    // Constructor for a Vector of dimension N from a Vector of dimension N-1 and
-    // a scalar of the correct type, assuming N is at least 2.
-    // constexpr Vector(const Vector<Dimension - 1>& v, double s);
-
-    void Set(double e0, double e1, double e2); // Only when Dimension == 3.
-    void Set(double e0, double e1, double e2,
-             double e3); // Only when Dimension == 4.
-
-    // Mutable element accessor.
-    double& operator[](int index) {
-        return elem_[index];
-    }
-
-    // Element accessor.
-    double operator[](int index) const {
-        return elem_[index];
-    }
-
-    // Returns a Vector containing all zeroes.
-    static Vector Zero();
-
-    // Self-modifying operators.
-    void operator+=(const Vector& v) {
-        Add(v);
-    }
-    void operator-=(const Vector& v) {
-        Subtract(v);
-    }
-    void operator*=(double s) {
-        Multiply(s);
-    }
-    void operator/=(double s) {
-        Divide(s);
-    }
-
-    // Unary negation operator.
-    Vector operator-() const {
-        return Negation();
-    }
-
-    // Binary operators.
-    friend Vector operator+(const Vector& v0, const Vector& v1) {
-        return Sum(v0, v1);
-    }
-    friend Vector operator-(const Vector& v0, const Vector& v1) {
-        return Difference(v0, v1);
-    }
-    friend Vector operator*(const Vector& v, double s) {
-        return Scale(v, s);
-    }
-    friend Vector operator*(double s, const Vector& v) {
-        return Scale(v, s);
-    }
-    friend Vector operator*(const Vector& v, const Vector& s) {
-        return Product(v, s);
-    }
-    friend Vector operator/(const Vector& v, double s) {
-        return Divide(v, s);
-    }
-
-    // Self-modifying addition.
-    void Add(const Vector& v);
-    // Self-modifying subtraction.
-    void Subtract(const Vector& v);
-    // Self-modifying multiplication by a scalar.
-    void Multiply(double s);
-    // Self-modifying division by a scalar.
-    void Divide(double s);
-
-    // Unary negation.
-    Vector Negation() const;
-
-    // Binary component-wise multiplication.
-    static Vector Product(const Vector& v0, const Vector& v1);
-    // Binary component-wise addition.
-    static Vector Sum(const Vector& v0, const Vector& v1);
-    // Binary component-wise subtraction.
-    static Vector Difference(const Vector& v0, const Vector& v1);
-    // Binary multiplication by a scalar.
-    static Vector Scale(const Vector& v, double s);
-    // Binary division by a scalar.
-    static Vector Divide(const Vector& v, double s);
-
-private:
-    std::array<double, Dimension> elem_;
-};
-//------------------------------------------------------------------------------
-
-template <int Dimension>
-Vector<Dimension>::Vector() {
-    for(int i = 0; i < Dimension; i++) {
-        elem_[i] = 0;
-    }
-}
-
-template <int Dimension>
-constexpr Vector<Dimension>::Vector(double e0, double e1, double e2)
-    : elem_{e0, e1, e2} {
-}
-
-template <int Dimension>
-constexpr Vector<Dimension>::Vector(double e0, double e1, double e2, double e3)
-    : elem_{e0, e1, e2, e3} {
-}
-/*
-template <>
-constexpr Vector<4>::Vector(const Vector<3>& v, double s)
-    : elem_{v[0], v[1], v[2], s} {}
-*/
-template <int Dimension>
-void Vector<Dimension>::Set(double e0, double e1, double e2) {
-    elem_[0] = e0;
-    elem_[1] = e1;
-    elem_[2] = e2;
-}
-
-template <int Dimension>
-void Vector<Dimension>::Set(double e0, double e1, double e2, double e3) {
-    elem_[0] = e0;
-    elem_[1] = e1;
-    elem_[2] = e2;
-    elem_[3] = e3;
-}
-
-template <int Dimension>
-Vector<Dimension> Vector<Dimension>::Zero() {
-    Vector<Dimension> v;
-    return v;
-}
-
-template <int Dimension>
-void Vector<Dimension>::Add(const Vector& v) {
-    for(int i = 0; i < Dimension; i++) {
-        elem_[i] += v[i];
-    }
-}
-
-template <int Dimension>
-void Vector<Dimension>::Subtract(const Vector& v) {
-    for(int i = 0; i < Dimension; i++) {
-        elem_[i] -= v[i];
-    }
-}
-
-template <int Dimension>
-void Vector<Dimension>::Multiply(double s) {
-    for(int i = 0; i < Dimension; i++) {
-        elem_[i] *= s;
-    }
-}
-
-template <int Dimension>
-void Vector<Dimension>::Divide(double s) {
-    for(int i = 0; i < Dimension; i++) {
-        elem_[i] /= s;
-    }
-}
-
-template <int Dimension>
-Vector<Dimension> Vector<Dimension>::Negation() const {
-    Vector<Dimension> ret;
-    for(int i = 0; i < Dimension; i++) {
-        ret.elem_[i] = -elem_[i];
-    }
-    return ret;
-}
-
-template <int Dimension>
-Vector<Dimension> Vector<Dimension>::Product(const Vector& v0, const Vector& v1) {
-    Vector<Dimension> ret;
-    for(int i = 0; i < Dimension; i++) {
-        ret.elem_[i] = v0[i] * v1[i];
-    }
-    return ret;
-}
-
-template <int Dimension>
-Vector<Dimension> Vector<Dimension>::Sum(const Vector& v0, const Vector& v1) {
-    Vector<Dimension> ret;
-    for(int i = 0; i < Dimension; i++) {
-        ret.elem_[i] = v0[i] + v1[i];
-    }
-    return ret;
-}
-
-template <int Dimension>
-Vector<Dimension> Vector<Dimension>::Difference(const Vector& v0, const Vector& v1) {
-    Vector<Dimension> ret;
-    for(int i = 0; i < Dimension; i++) {
-        ret.elem_[i] = v0[i] - v1[i];
-    }
-    return ret;
-}
-
-template <int Dimension>
-Vector<Dimension> Vector<Dimension>::Scale(const Vector& v, double s) {
-    Vector<Dimension> ret;
-    for(int i = 0; i < Dimension; i++) {
-        ret.elem_[i] = v[i] * s;
-    }
-    return ret;
-}
-
-template <int Dimension>
-Vector<Dimension> Vector<Dimension>::Divide(const Vector& v, double s) {
-    Vector<Dimension> ret;
-    for(int i = 0; i < Dimension; i++) {
-        ret.elem_[i] = v[i] / s;
-    }
-    return ret;
-}
-
-typedef Vector<3> Vector3;
-typedef Vector<4> Vector4;
-
-} // namespace cardboard
-
-#endif // CARDBOARD_SDK_UTIL_VECTOR_H_

airmouse/tracking/util/vectorutils.cc

@@ -1,40 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#include "vectorutils.h"
-
-namespace cardboard {
-
-// Returns the dot (inner) product of two Vectors.
-double Dot(const Vector<3>& v0, const Vector<3>& v1)
-{
-    return v0[0] * v1[0] + v0[1] * v1[1] + v0[2] * v1[2];
-}
-
-// Returns the dot (inner) product of two Vectors.
-double Dot(const Vector<4>& v0, const Vector<4>& v1)
-{
-    return v0[0] * v1[0] + v0[1] * v1[1] + v0[2] * v1[2] + v0[3] * v1[3];
-}
-
-// Returns the 3-dimensional cross product of 2 Vectors. Note that this is
-// defined only for 3-dimensional Vectors.
-Vector<3> Cross(const Vector<3>& v0, const Vector<3>& v1)
-{
-    return Vector<3>(v0[1] * v1[2] - v0[2] * v1[1], v0[2] * v1[0] - v0[0] * v1[2],
-        v0[0] * v1[1] - v0[1] * v1[0]);
-}
-
-} // namespace cardboard

airmouse/tracking/util/vectorutils.h

@@ -1,76 +0,0 @@
-/*
- * Copyright 2019 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef CARDBOARD_SDK_UTIL_VECTORUTILS_H_
-#define CARDBOARD_SDK_UTIL_VECTORUTILS_H_
-
-//
-// This file contains free functions that operate on Vector instances.
-//
-
-#include <cmath>
-
-#include "vector.h"
-
-namespace cardboard {
-
-// Returns the dot (inner) product of two Vectors.
-double Dot(const Vector<3>& v0, const Vector<3>& v1);
-
-// Returns the dot (inner) product of two Vectors.
-double Dot(const Vector<4>& v0, const Vector<4>& v1);
-
-// Returns the 3-dimensional cross product of 2 Vectors. Note that this is
-// defined only for 3-dimensional Vectors.
-Vector<3> Cross(const Vector<3>& v0, const Vector<3>& v1);
-
-// Returns the square of the length of a Vector.
-template <int Dimension>
-double LengthSquared(const Vector<Dimension>& v) {
-    return Dot(v, v);
-}
-
-// Returns the geometric length of a Vector.
-template <int Dimension>
-double Length(const Vector<Dimension>& v) {
-    return sqrt(LengthSquared(v));
-}
-
-// the Vector untouched and returns false.
-template <int Dimension>
-bool Normalize(Vector<Dimension>* v) {
-    const double len = Length(*v);
-    if(len == 0) {
-        return false;
-    } else {
-        (*v) /= len;
-        return true;
-    }
-}
-
-// Returns a unit-length version of a Vector. If the given Vector has no
-// length, this returns a Zero() Vector.
-template <int Dimension>
-Vector<Dimension> Normalized(const Vector<Dimension>& v) {
-    Vector<Dimension> result = v;
-    if(Normalize(&result))
-        return result;
-    else
-        return Vector<Dimension>::Zero();
-}
-
-} // namespace cardboard
-
-#endif // CARDBOARD_SDK_UTIL_VECTORUTILS_H_

airmouse/views/bt_mouse.c

@@ -1,314 +0,0 @@
-#include "bt_mouse.h"
-#include "../tracking/main_loop.h"
-
-#include <furi.h>
-#include <furi_hal_bt.h>
-#include <furi_hal_bt_hid.h>
-#include <furi_hal_usb_hid.h>
-#include <bt/bt_service/bt.h>
-#include <gui/elements.h>
-#include <notification/notification.h>
-#include <notification/notification_messages.h>
-
-typedef struct ButtonEvent {
-    int8_t button;
-    bool state;
-} ButtonEvent;
-
-#define BTN_EVT_QUEUE_SIZE 32
-
-struct BtMouse {
-    View* view;
-    ViewDispatcher* view_dispatcher;
-    Bt* bt;
-    NotificationApp* notifications;
-    FuriMutex* mutex;
-    FuriThread* thread;
-    bool connected;
-
-    // Current mouse state
-    uint8_t btn;
-    int dx;
-    int dy;
-    int wheel;
-
-    // Circular buffer;
-    // (qhead == qtail) means either empty or overflow.
-    // We'll ignore overflow and treat it as empty.
-    int qhead;
-    int qtail;
-    ButtonEvent queue[BTN_EVT_QUEUE_SIZE];
-};
-
-#define BT_MOUSE_FLAG_INPUT_EVENT (1UL << 0)
-#define BT_MOUSE_FLAG_KILL_THREAD (1UL << 1)
-#define BT_MOUSE_FLAG_ALL (BT_MOUSE_FLAG_INPUT_EVENT | BT_MOUSE_FLAG_KILL_THREAD)
-
-#define MOUSE_SCROLL 2
-
-static void bt_mouse_notify_event(BtMouse* bt_mouse) {
-    FuriThreadId thread_id = furi_thread_get_id(bt_mouse->thread);
-    furi_assert(thread_id);
-    furi_thread_flags_set(thread_id, BT_MOUSE_FLAG_INPUT_EVENT);
-}
-
-static void bt_mouse_draw_callback(Canvas* canvas, void* context) {
-    UNUSED(context);
-    canvas_clear(canvas);
-    canvas_set_font(canvas, FontPrimary);
-    canvas_draw_str(canvas, 0, 10, "Bluetooth Mouse mode");
-    canvas_set_font(canvas, FontSecondary);
-    canvas_draw_str(canvas, 0, 63, "Hold [back] to exit");
-}
-
-static void bt_mouse_button_state(BtMouse* bt_mouse, int8_t button, bool state) {
-    ButtonEvent event;
-    event.button = button;
-    event.state = state;
-
-    if(bt_mouse->connected) {
-        furi_mutex_acquire(bt_mouse->mutex, FuriWaitForever);
-        bt_mouse->queue[bt_mouse->qtail++] = event;
-        bt_mouse->qtail %= BTN_EVT_QUEUE_SIZE;
-        furi_mutex_release(bt_mouse->mutex);
-        bt_mouse_notify_event(bt_mouse);
-    }
-}
-
-static void bt_mouse_process(BtMouse* bt_mouse, InputEvent* event) {
-    with_view_model(
-        bt_mouse->view,
-        void* model,
-        {
-            UNUSED(model);
-            if(event->key == InputKeyUp) {
-                if(event->type == InputTypePress) {
-                    bt_mouse_button_state(bt_mouse, HID_MOUSE_BTN_LEFT, true);
-                } else if(event->type == InputTypeRelease) {
-                    bt_mouse_button_state(bt_mouse, HID_MOUSE_BTN_LEFT, false);
-                }
-            } else if(event->key == InputKeyDown) {
-                if(event->type == InputTypePress) {
-                    bt_mouse_button_state(bt_mouse, HID_MOUSE_BTN_RIGHT, true);
-                } else if(event->type == InputTypeRelease) {
-                    bt_mouse_button_state(bt_mouse, HID_MOUSE_BTN_RIGHT, false);
-                }
-            } else if(event->key == InputKeyOk) {
-                if(event->type == InputTypePress) {
-                    bt_mouse_button_state(bt_mouse, HID_MOUSE_BTN_WHEEL, true);
-                } else if(event->type == InputTypeRelease) {
-                    bt_mouse_button_state(bt_mouse, HID_MOUSE_BTN_WHEEL, false);
-                }
-            } else if(event->key == InputKeyRight) {
-                if(event->type == InputTypePress || event->type == InputTypeRepeat) {
-                    bt_mouse->wheel = MOUSE_SCROLL;
-                }
-            } else if(event->key == InputKeyLeft) {
-                if(event->type == InputTypePress || event->type == InputTypeRepeat) {
-                    bt_mouse->wheel = -MOUSE_SCROLL;
-                }
-            }
-        },
-        true);
-}
-
-static bool bt_mouse_input_callback(InputEvent* event, void* context) {
-    furi_assert(context);
-    BtMouse* bt_mouse = context;
-    bool consumed = false;
-
-    if(event->type == InputTypeLong && event->key == InputKeyBack) {
-        furi_hal_bt_hid_mouse_release_all();
-    } else {
-        bt_mouse_process(bt_mouse, event);
-        consumed = true;
-    }
-
-    return consumed;
-}
-
-void bt_mouse_connection_status_changed_callback(BtStatus status, void* context) {
-    furi_assert(context);
-    BtMouse* bt_mouse = context;
-
-    bt_mouse->connected = (status == BtStatusConnected);
-    if(!bt_mouse->notifications) {
-        tracking_end();
-        return;
-    }
-
-    if(bt_mouse->connected) {
-        notification_internal_message(bt_mouse->notifications, &sequence_set_blue_255);
-        tracking_begin();
-        view_dispatcher_send_custom_event(bt_mouse->view_dispatcher, 0);
-    } else {
-        tracking_end();
-        notification_internal_message(bt_mouse->notifications, &sequence_reset_blue);
-    }
-}
-
-bool bt_mouse_move(int8_t dx, int8_t dy, void* context) {
-    furi_assert(context);
-    BtMouse* bt_mouse = context;
-
-    if(bt_mouse->connected) {
-        furi_mutex_acquire(bt_mouse->mutex, FuriWaitForever);
-        bt_mouse->dx += dx;
-        bt_mouse->dy += dy;
-        furi_mutex_release(bt_mouse->mutex);
-        bt_mouse_notify_event(bt_mouse);
-    }
-
-    return true;
-}
-
-static int8_t clamp(int t) {
-    if(t < -128) {
-        return -128;
-    } else if(t > 127) {
-        return 127;
-    }
-    return t;
-}
-
-static int32_t bt_mouse_thread_callback(void* context) {
-    furi_assert(context);
-    BtMouse* bt_mouse = (BtMouse*)context;
-
-    while(1) {
-        uint32_t flags =
-            furi_thread_flags_wait(BT_MOUSE_FLAG_ALL, FuriFlagWaitAny, FuriWaitForever);
-        if(flags & BT_MOUSE_FLAG_KILL_THREAD) {
-            break;
-        }
-        if(flags & BT_MOUSE_FLAG_INPUT_EVENT) {
-            furi_mutex_acquire(bt_mouse->mutex, FuriWaitForever);
-
-            ButtonEvent event;
-            bool send_buttons = false;
-            if(bt_mouse->qhead != bt_mouse->qtail) {
-                event = bt_mouse->queue[bt_mouse->qhead++];
-                bt_mouse->qhead %= BTN_EVT_QUEUE_SIZE;
-                send_buttons = true;
-            }
-
-            int8_t dx = clamp(bt_mouse->dx);
-            bt_mouse->dx -= dx;
-            int8_t dy = clamp(bt_mouse->dy);
-            bt_mouse->dy -= dy;
-            int8_t wheel = clamp(bt_mouse->wheel);
-            bt_mouse->wheel -= wheel;
-
-            furi_mutex_release(bt_mouse->mutex);
-
-            if(bt_mouse->connected && send_buttons) {
-                if(event.state) {
-                    furi_hal_bt_hid_mouse_press(event.button);
-                } else {
-                    furi_hal_bt_hid_mouse_release(event.button);
-                }
-            }
-
-            if(bt_mouse->connected && (dx != 0 || dy != 0)) {
-                furi_hal_bt_hid_mouse_move(dx, dy);
-            }
-
-            if(bt_mouse->connected && wheel != 0) {
-                furi_hal_bt_hid_mouse_scroll(wheel);
-            }
-        }
-    }
-
-    return 0;
-}
-
-void bt_mouse_thread_start(BtMouse* bt_mouse) {
-    furi_assert(bt_mouse);
-    bt_mouse->mutex = furi_mutex_alloc(FuriMutexTypeNormal);
-    bt_mouse->thread = furi_thread_alloc();
-    furi_thread_set_name(bt_mouse->thread, "BtSender");
-    furi_thread_set_stack_size(bt_mouse->thread, 1024);
-    furi_thread_set_context(bt_mouse->thread, bt_mouse);
-    furi_thread_set_callback(bt_mouse->thread, bt_mouse_thread_callback);
-    furi_thread_start(bt_mouse->thread);
-}
-
-void bt_mouse_thread_stop(BtMouse* bt_mouse) {
-    furi_assert(bt_mouse);
-    FuriThreadId thread_id = furi_thread_get_id(bt_mouse->thread);
-    furi_assert(thread_id);
-    furi_thread_flags_set(thread_id, BT_MOUSE_FLAG_KILL_THREAD);
-    furi_thread_join(bt_mouse->thread);
-    furi_thread_free(bt_mouse->thread);
-    furi_mutex_free(bt_mouse->mutex);
-    bt_mouse->mutex = NULL;
-    bt_mouse->thread = NULL;
-}
-
-void bt_mouse_enter_callback(void* context) {
-    furi_assert(context);
-    BtMouse* bt_mouse = context;
-
-    bt_mouse->bt = furi_record_open(RECORD_BT);
-    bt_mouse->notifications = furi_record_open(RECORD_NOTIFICATION);
-    bt_set_status_changed_callback(
-        bt_mouse->bt, bt_mouse_connection_status_changed_callback, bt_mouse);
-    furi_assert(bt_set_profile(bt_mouse->bt, BtProfileHidKeyboard));
-    furi_hal_bt_start_advertising();
-    bt_mouse_thread_start(bt_mouse);
-}
-
-bool bt_mouse_custom_callback(uint32_t event, void* context) {
-    UNUSED(event);
-    furi_assert(context);
-    BtMouse* bt_mouse = context;
-
-    tracking_step(bt_mouse_move, context);
-    furi_delay_ms(3); // Magic! Removing this will break the buttons
-
-    view_dispatcher_send_custom_event(bt_mouse->view_dispatcher, 0);
-    return true;
-}
-
-void bt_mouse_exit_callback(void* context) {
-    furi_assert(context);
-    BtMouse* bt_mouse = context;
-
-    bt_mouse_thread_stop(bt_mouse);
-    tracking_end();
-    notification_internal_message(bt_mouse->notifications, &sequence_reset_blue);
-
-    furi_hal_bt_stop_advertising();
-    bt_set_profile(bt_mouse->bt, BtProfileSerial);
-
-    furi_record_close(RECORD_NOTIFICATION);
-    bt_mouse->notifications = NULL;
-    furi_record_close(RECORD_BT);
-    bt_mouse->bt = NULL;
-}
-
-BtMouse* bt_mouse_alloc(ViewDispatcher* view_dispatcher) {
-    BtMouse* bt_mouse = malloc(sizeof(BtMouse));
-    memset(bt_mouse, 0, sizeof(BtMouse));
-
-    bt_mouse->view = view_alloc();
-    bt_mouse->view_dispatcher = view_dispatcher;
-    view_set_context(bt_mouse->view, bt_mouse);
-    view_set_draw_callback(bt_mouse->view, bt_mouse_draw_callback);
-    view_set_input_callback(bt_mouse->view, bt_mouse_input_callback);
-    view_set_enter_callback(bt_mouse->view, bt_mouse_enter_callback);
-    view_set_custom_callback(bt_mouse->view, bt_mouse_custom_callback);
-    view_set_exit_callback(bt_mouse->view, bt_mouse_exit_callback);
-    return bt_mouse;
-}
-
-void bt_mouse_free(BtMouse* bt_mouse) {
-    furi_assert(bt_mouse);
-    view_free(bt_mouse->view);
-    free(bt_mouse);
-}
-
-View* bt_mouse_get_view(BtMouse* bt_mouse) {
-    furi_assert(bt_mouse);
-    return bt_mouse->view;
-}

airmouse/views/bt_mouse.h

@@ -1,14 +0,0 @@
-#pragma once
-
-#include <gui/view.h>
-#include <gui/view_dispatcher.h>
-
-typedef struct BtMouse BtMouse;
-
-BtMouse* bt_mouse_alloc(ViewDispatcher* view_dispatcher);
-
-void bt_mouse_free(BtMouse* bt_mouse);
-
-View* bt_mouse_get_view(BtMouse* bt_mouse);
-
-void bt_mouse_set_connected_status(BtMouse* bt_mouse, bool connected);

airmouse/views/calibration.c

@@ -1,69 +0,0 @@
-#include "calibration.h"
-#include "../tracking/main_loop.h"
-#include "../air_mouse.h"
-
-#include <furi.h>
-#include <gui/elements.h>
-
-struct Calibration {
-    View* view;
-    ViewDispatcher* view_dispatcher;
-};
-
-static void calibration_draw_callback(Canvas* canvas, void* context) {
-    UNUSED(context);
-    canvas_clear(canvas);
-    canvas_set_font(canvas, FontPrimary);
-    canvas_draw_str(canvas, 0, 10, "Calibrating...");
-    canvas_set_font(canvas, FontSecondary);
-    canvas_draw_str(canvas, 0, 63, "Please wait");
-}
-
-void calibration_enter_callback(void* context) {
-    furi_assert(context);
-    Calibration* calibration = context;
-    calibration_begin();
-    view_dispatcher_send_custom_event(calibration->view_dispatcher, 0);
-}
-
-bool calibration_custom_callback(uint32_t event, void* context) {
-    UNUSED(event);
-    furi_assert(context);
-    Calibration* calibration = context;
-
-    if(calibration_step()) {
-        view_dispatcher_switch_to_view(calibration->view_dispatcher, AirMouseViewSubmenu);
-    } else {
-        view_dispatcher_send_custom_event(calibration->view_dispatcher, 0);
-    }
-
-    return true;
-}
-
-void calibration_exit_callback(void* context) {
-    furi_assert(context);
-    calibration_end();
-}
-
-Calibration* calibration_alloc(ViewDispatcher* view_dispatcher) {
-    Calibration* calibration = malloc(sizeof(Calibration));
-    calibration->view = view_alloc();
-    calibration->view_dispatcher = view_dispatcher;
-    view_set_context(calibration->view, calibration);
-    view_set_draw_callback(calibration->view, calibration_draw_callback);
-    view_set_enter_callback(calibration->view, calibration_enter_callback);
-    view_set_custom_callback(calibration->view, calibration_custom_callback);
-    view_set_exit_callback(calibration->view, calibration_exit_callback);
-    return calibration;
-}
-
-void calibration_free(Calibration* calibration) {
-    furi_assert(calibration);
-    view_free(calibration->view);
-    free(calibration);
-}
-
-View* calibration_get_view(Calibration* calibration) {
-    furi_assert(calibration);
-    return calibration->view;
-}

airmouse/views/calibration.h

@@ -1,12 +0,0 @@
-#pragma once
-
-#include <gui/view.h>
-#include <gui/view_dispatcher.h>
-
-typedef struct Calibration Calibration;
-
-Calibration* calibration_alloc(ViewDispatcher* view_dispatcher);
-
-void calibration_free(Calibration* calibration);
-
-View* calibration_get_view(Calibration* calibration);

airmouse/views/usb_mouse.c

@@ -1,139 +0,0 @@
-#include "usb_mouse.h"
-#include "../tracking/main_loop.h"
-
-#include <furi.h>
-#include <furi_hal_usb.h>
-#include <furi_hal_usb_hid.h>
-#include <gui/elements.h>
-
-struct UsbMouse {
-    View* view;
-    ViewDispatcher* view_dispatcher;
-    FuriHalUsbInterface* usb_mode_prev;
-};
-
-static void usb_mouse_draw_callback(Canvas* canvas, void* context) {
-    UNUSED(context);
-    canvas_clear(canvas);
-    canvas_set_font(canvas, FontPrimary);
-    canvas_draw_str(canvas, 0, 10, "USB Mouse mode");
-    canvas_set_font(canvas, FontSecondary);
-    canvas_draw_str(canvas, 0, 63, "Hold [back] to exit");
-}
-
-#define MOUSE_SCROLL 2
-
-static void usb_mouse_process(UsbMouse* usb_mouse, InputEvent* event) {
-    with_view_model(
-        usb_mouse->view,
-        void* model,
-        {
-            UNUSED(model);
-            if(event->key == InputKeyUp) {
-                if(event->type == InputTypePress) {
-                    furi_hal_hid_mouse_press(HID_MOUSE_BTN_LEFT);
-                } else if(event->type == InputTypeRelease) {
-                    furi_hal_hid_mouse_release(HID_MOUSE_BTN_LEFT);
-                }
-            } else if(event->key == InputKeyDown) {
-                if(event->type == InputTypePress) {
-                    furi_hal_hid_mouse_press(HID_MOUSE_BTN_RIGHT);
-                } else if(event->type == InputTypeRelease) {
-                    furi_hal_hid_mouse_release(HID_MOUSE_BTN_RIGHT);
-                }
-            } else if(event->key == InputKeyOk) {
-                if(event->type == InputTypePress) {
-                    furi_hal_hid_mouse_press(HID_MOUSE_BTN_WHEEL);
-                } else if(event->type == InputTypeRelease) {
-                    furi_hal_hid_mouse_release(HID_MOUSE_BTN_WHEEL);
-                }
-            } else if(event->key == InputKeyRight) {
-                if(event->type == InputTypePress || event->type == InputTypeRepeat) {
-                    furi_hal_hid_mouse_scroll(MOUSE_SCROLL);
-                }
-            } else if(event->key == InputKeyLeft) {
-                if(event->type == InputTypePress || event->type == InputTypeRepeat) {
-                    furi_hal_hid_mouse_scroll(-MOUSE_SCROLL);
-                }
-            }
-        },
-        true);
-}
-
-static bool usb_mouse_input_callback(InputEvent* event, void* context) {
-    furi_assert(context);
-    UsbMouse* usb_mouse = context;
-    bool consumed = false;
-
-    if(event->type == InputTypeLong && event->key == InputKeyBack) {
-        // furi_hal_hid_mouse_release_all();
-    } else {
-        usb_mouse_process(usb_mouse, event);
-        consumed = true;
-    }
-
-    return consumed;
-}
-
-void usb_mouse_enter_callback(void* context) {
-    furi_assert(context);
-    UsbMouse* usb_mouse = context;
-
-    usb_mouse->usb_mode_prev = furi_hal_usb_get_config();
-    furi_hal_usb_unlock();
-    furi_check(furi_hal_usb_set_config(&usb_hid, NULL) == true);
-
-    tracking_begin();
-
-    view_dispatcher_send_custom_event(usb_mouse->view_dispatcher, 0);
-}
-
-bool usb_mouse_move(int8_t dx, int8_t dy, void* context) {
-    UNUSED(context);
-    return furi_hal_hid_mouse_move(dx, dy);
-}
-
-bool usb_mouse_custom_callback(uint32_t event, void* context) {
-    UNUSED(event);
-    furi_assert(context);
-    UsbMouse* usb_mouse = context;
-
-    tracking_step(usb_mouse_move, context);
-    furi_delay_ms(3); // Magic! Removing this will break the buttons
-
-    view_dispatcher_send_custom_event(usb_mouse->view_dispatcher, 0);
-    return true;
-}
-
-void usb_mouse_exit_callback(void* context) {
-    furi_assert(context);
-    UsbMouse* usb_mouse = context;
-
-    tracking_end();
-
-    furi_hal_usb_set_config(usb_mouse->usb_mode_prev, NULL);
-}
-
-UsbMouse* usb_mouse_alloc(ViewDispatcher* view_dispatcher) {
-    UsbMouse* usb_mouse = malloc(sizeof(UsbMouse));
-    usb_mouse->view = view_alloc();
-    usb_mouse->view_dispatcher = view_dispatcher;
-    view_set_context(usb_mouse->view, usb_mouse);
-    view_set_draw_callback(usb_mouse->view, usb_mouse_draw_callback);
-    view_set_input_callback(usb_mouse->view, usb_mouse_input_callback);
-    view_set_enter_callback(usb_mouse->view, usb_mouse_enter_callback);
-    view_set_custom_callback(usb_mouse->view, usb_mouse_custom_callback);
-    view_set_exit_callback(usb_mouse->view, usb_mouse_exit_callback);
-    return usb_mouse;
-}
-
-void usb_mouse_free(UsbMouse* usb_mouse) {
-    furi_assert(usb_mouse);
-    view_free(usb_mouse->view);
-    free(usb_mouse);
-}
-
-View* usb_mouse_get_view(UsbMouse* usb_mouse) {
-    furi_assert(usb_mouse);
-    return usb_mouse->view;
-}

airmouse/views/usb_mouse.h

@@ -1,12 +0,0 @@
-#pragma once
-
-#include <gui/view.h>
-#include <gui/view_dispatcher.h>
-
-typedef struct UsbMouse UsbMouse;
-
-UsbMouse* usb_mouse_alloc(ViewDispatcher* view_dispatcher);
-
-void usb_mouse_free(UsbMouse* usb_mouse);
-
-View* usb_mouse_get_view(UsbMouse* usb_mouse);

asteroids/.gitsubtree

@@ -1,2 +0,0 @@
-https://github.com/SimplyMinimal/FlipperZero-Asteroids main /
-https://github.com/xMasterX/all-the-plugins dev apps_source_code/flipper-asteroids

asteroids/LICENSE

@@ -1,24 +0,0 @@
-Copyright (c) 2022-2023 Salvatore Sanfilippo <antirez at gmail dot com>
-
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-* Redistributions of source code must retain the above copyright notice,
-  this list of conditions and the following disclaimer.
-
-* 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.
-
-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 OWNER 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.

asteroids/README.md

@@ -1,74 +0,0 @@
-This is an implementation of the classic Asteroids game for the [Flipper Zero](https://flipperzero.one/). Inside you will find a simple 2D engine that can be reused to implement other games. Note: This one is SimplyMinimal's fork of Antirez's version with several modifications.
-
-# What's New
-* Auto rapid fire (less wear on the buttons this way too)
-* Up button applies thrusters
-* Haptic feedback and LED effects
-* Power up system
-* High Score system
-* Automatic save and load of high score
-* Ability to Pause
-* Some modifications to certain game play elements
-
-## What's coming next
-* Settings screen
-* Enabling sound effects (configurable on/off option)
-* ~~Power Ups~~ Improved power up management
-
----
-
-This is a screenshot, but the game looks a lot better in the device itself:
-
-![Asteroids for Flipper Zero screenshot](/images/Asteroids-PowerUps.png "In game screenshot")
-
-![Pause Screen](images/Pause%20Screen.png "Pause screen")
-
-# Controls:
-* Left/Right: rotate ship in the two directions.
-* Ok, short press: Short burst bullets
-* Ok, long press: Auto-fire bullets
-* Up: Accelerate
-* Down: Decelerate
-* Back (Short Press): Pause game
-* Back (Long Press): Exit game. It will automatically save the high scoore too.
-
-Your high scores will automatically be saved. Go forth and compete!
-
----
-# Power Ups
-* ![](assets/firepower_shifted_9x10.png "Ammunition") - Machine gun fire. Press and hold OK button to fire more than the default 5 bullets
-* ![](assets/heart_10x10.png "Lives") - Et tu, Brute? Gives a bonus life up to a maximum of 5 lives
-* ![](assets/nuke_10x10.png "Nuke") - Nuke (work in progress). Destroys everything in sight (but keeps the power ups)
-* ![](assets/split_shield_10x10.png "Shield") - Use the force! Spins up a shield that can be used as a battering ram. Take zero damage while in use.
-
-## More power ups coming soon...
-
----
-## Installing the binary file (no build needed)
-
-Go to the releases and drop the `asteroids.fap` file into the
-following Flipper Zero location:
-
-    /ext/apps/Games
-
-The `ext` part means that we are in the SD card. So if you don't want
-to use the Android (or other) application to upload the file,
-you can just take out the SD card, insert it in your computer,
-copy the fine into `apps/Games`, and that's it.
-
-## Installing the app from source
-
-* Download the Flipper Zero dev kit and build it:
-```
-mkdir -p ~/flipperZero/official/
-cd ~/flipperZero/official/
-git clone --recursive  https://github.com/flipperdevices/flipperzero-firmware.git  ./
-./fbt
-```
-* Copy this application folder in `official/application_user`.
-* Connect your Flipper via USB.
-* Build and install with: `./fbt launch_app APPSRC=asteroids`.
-
-## License
-
-BSD licensed. Enjoy.

asteroids/app.c

@@ -1,1292 +0,0 @@
-/* Copyright (C) 2023 Salvatore Sanfilippo -- All Rights Reserved
- * See the LICENSE file for information about the license. */
-
-#include <furi.h>
-#include <furi_hal.h>
-#include <storage/storage.h>
-#include <input/input.h>
-#include <gui/gui.h>
-#include <stdlib.h>
-#include <gui/gui.h>
-#include <gui/view_dispatcher.h>
-#include <gui/scene_manager.h>
-#include <math.h>
-#include <notification/notification.h>
-#include <notification/notification_messages.h>
-#include <asteroids_icons.h>
-
-#define TAG "Asteroids" // Used for logging
-#define DEBUG_MSG 0
-#define SCREEN_XRES 128
-#define SCREEN_YRES 64
-#define GAME_START_LIVES 3
-#define MAXLIVES 5 /* Max bonus lives allowed. */
-#define TTLBUL 30 /* Bullet time to live, in ticks. */
-#define MAXBUL 50 /* Max bullets on the screen. */
-//@todo MAX Asteroids
-#define MAXAST 32 /* Max asteroids on the screen. */
-#define MAXPOWERUPS 3 /* Max powerups allowed on screen */
-#define POWERUPSTTL 400 /* Max powerup time to live, in ticks. */
-#define SHIP_HIT_ANIMATION_LEN 15
-#define SAVING_DIRECTORY STORAGE_APP_DATA_PATH_PREFIX
-#define SAVING_FILENAME SAVING_DIRECTORY "/game_asteroids.save"
-#ifndef PI
-#define PI 3.14159265358979f
-#endif
-
-/* ============================ Data structures ============================= */
-typedef enum PowerUpType {
-    PowerUpTypeShield, // Shield
-    PowerUpTypeLife, // Extra life
-    PowerUpTypeFirePower, // Burst Fire power
-    // PowerUpTypeRadialFire, // Radial Fire power
-    PowerUpTypeNuke, // Nuke power
-    // PowerUpTypeClone, // Clone ship
-    // PowerUpTypeAssist, // Secondary ship
-    Number_of_PowerUps // Used to count the number of powerups
-} PowerUpType;
-
-//    struct PowerUp
-typedef struct PowerUp {
-    float x, y, vx, vy; /* Fields like in ship. */
-    // rot, /* Fields like ship. */
-    // rot_speed, /* Angular velocity (rot speed and sense). */
-    float size; /* Power Up size */
-
-    uint32_t ttl; /* Time to live, in ticks. */
-    uint32_t display_ttl; /* How long to display the powerup before it disappears */
-    enum PowerUpType powerUpType; /* PowerUp type */
-    bool isPowerUpActive; /* Is the powerup active? */
-} PowerUp;
-
-typedef struct Ship {
-    float x, /* Ship x position. */
-        y, /* Ship y position. */
-        vx, /* x velocity. */
-        vy, /* y velocity. */
-        rot; /* Current rotation. 2*PI full ortation. */
-} Ship;
-
-typedef struct Bullet {
-    float x, y, vx, vy; /* Fields like in ship. */
-    uint32_t ttl; /* Time to live, in ticks. */
-} Bullet;
-
-typedef struct Asteroid {
-    float x, y, vx, vy, rot, /* Fields like ship. */
-        rot_speed, /* Angular velocity (rot speed and sense). */
-        size; /* Asteroid size. */
-    uint8_t shape_seed; /* Seed to give random shape. */
-} Asteroid;
-
-// @todo AsteroidsApp
-typedef struct AsteroidsApp {
-    /* GUI */
-    Gui* gui;
-    ViewPort* view_port; /* We just use a raw viewport and we render
-                                everything into the low level canvas. */
-    FuriMessageQueue* event_queue; /* Keypress events go here. */
-
-    /* Game state. */
-    int running; /* Once false exists the app. */
-    bool gameover; /* Gameover status. */
-    bool paused; /* Game paused status. */
-    uint32_t ticks; /* Game ticks. Increments at each refresh. */
-    uint32_t score; /* Game score. */
-    uint32_t highscore; /* Highscore. Shown on Game Over Screen */
-    bool is_new_highscore; /* Is the last score a new highscore? */
-    uint32_t lives; /* Number of lives in the current game. */
-    uint32_t ship_hit; /* When non zero, the ship was hit by an asteroid
-                               and we need to show an animation as long as
-                               its value is non-zero (and decrease it's value
-                               at each tick of animation). */
-
-    /* Ship state. */
-    struct Ship ship;
-    struct PowerUp powerUps[MAXPOWERUPS]; /* Each powerup state. */
-    int powerUps_num; /* Active powerups. */
-
-    /* Bullets state. */
-    struct Bullet bullets[MAXBUL]; /* Each bullet state. */
-    int bullets_num; /* Active bullets. */
-    uint32_t last_bullet_tick; /* Tick the last bullet was fired. */
-    uint32_t bullet_min_period; /* Minimum time between bullets in ms. */
-
-    /* Asteroids state. */
-    Asteroid asteroids[MAXAST]; /* Each asteroid state. */
-    int asteroids_num; /* Active asteroids. */
-
-    uint32_t pressed[InputKeyMAX]; /* pressed[id] is true if pressed.
-                                      Each array item contains the time
-                                      in milliseconds the key was pressed. */
-    bool fire; /* Short press detected: fire a bullet. */
-} AsteroidsApp;
-
-const NotificationSequence sequence_thrusters = {
-    &message_vibro_on,
-    &message_delay_10,
-    &message_vibro_off,
-    NULL,
-};
-
-const NotificationSequence sequence_brake = {
-    &message_vibro_on,
-    &message_delay_10,
-    &message_delay_1,
-    &message_delay_1,
-    &message_vibro_off,
-    NULL,
-};
-
-const NotificationSequence sequence_crash = {
-    &message_red_255,
-
-    &message_vibro_on,
-    // &message_note_g5, // Play sound but currently disabled
-    &message_delay_25,
-    // &message_note_e5,
-    &message_vibro_off,
-    &message_sound_off,
-    NULL,
-};
-
-const NotificationSequence sequence_bullet_fired = {
-    &message_vibro_on,
-    // &message_note_g5, // Play sound but currently disabled. Need On/Off menu setting
-    &message_delay_10,
-    &message_delay_1,
-    &message_delay_1,
-    &message_delay_1,
-    &message_delay_1,
-    &message_delay_1,
-
-    // &message_note_e5,
-    &message_vibro_off,
-    &message_sound_off,
-    NULL,
-};
-
-const NotificationSequence sequence_powerup_collected = {
-    &message_vibro_on,
-    &message_delay_1,
-    &message_delay_1,
-    &message_delay_1,
-    &message_delay_1,
-    &message_delay_1,
-    &message_vibro_off,
-    NULL,
-};
-
-const NotificationSequence sequence_nuke = {
-    &message_blink_set_color_red,
-    &message_blink_start_100,
-
-    &message_vibro_on,
-    &message_delay_10,
-    &message_vibro_off,
-
-    &message_vibro_on,
-    &message_delay_10,
-    &message_vibro_off,
-
-    &message_vibro_on,
-    &message_delay_10,
-    &message_vibro_off,
-    &message_red_0,
-
-    &message_vibro_on,
-    &message_delay_10,
-    &message_delay_1,
-    &message_delay_1,
-    &message_vibro_off,
-
-    &message_vibro_on,
-    &message_delay_10,
-    &message_delay_1,
-    &message_delay_1,
-    &message_vibro_off,
-
-    &message_vibro_on,
-    &message_delay_10,
-    &message_delay_1,
-    &message_delay_1,
-    &message_vibro_off,
-
-    &message_blink_stop,
-    &message_vibro_off,
-    &message_sound_off,
-    NULL,
-};
-
-/* ============================== Prototyeps ================================ */
-
-// Only functions called before their definition are here.
-bool isPowerUpActive(AsteroidsApp* app, enum PowerUpType powerUpType);
-bool isPowerUpAlreadyExists(AsteroidsApp* app, enum PowerUpType powerUpType);
-bool load_game(AsteroidsApp* app);
-void save_game(AsteroidsApp* app);
-void restart_game_after_gameover(AsteroidsApp* app);
-uint32_t key_pressed_time(AsteroidsApp* app, InputKey key);
-
-/* ============================ 2D drawing ================================== */
-
-/* This structure represents a polygon of at most POLY_MAX points.
- * The function draw_poly() is able to render it on the screen, rotated
- * by the amount specified. */
-#define POLY_MAX 8
-typedef struct Poly {
-    float x[POLY_MAX];
-    float y[POLY_MAX];
-    uint32_t points; /* Number of points actually populated. */
-} Poly;
-
-/* Define the polygons we use. */
-Poly ShipPoly = {{-3, 0, 3}, {-3, 6, -3}, 3};
-
-Poly ShipFirePoly = {{-1.5, 0, 1.5}, {-3, -6, -3}, 3};
-
-/* Rotate the point of the poligon 'poly' and store the new rotated
- * polygon in 'rot'. The polygon is rotated by an angle 'a', with
- * center at 0,0. */
-void rotate_poly(Poly* rot, Poly* poly, float a) {
-    /* We want to compute sin(a) and cos(a) only one time
-     * for every point to rotate. It's a slow operation. */
-    float sin_a = (float)sin(a);
-    float cos_a = (float)cos(a);
-    for(uint32_t j = 0; j < poly->points; j++) {
-        rot->x[j] = poly->x[j] * cos_a - poly->y[j] * sin_a;
-        rot->y[j] = poly->y[j] * cos_a + poly->x[j] * sin_a;
-    }
-    rot->points = poly->points;
-}
-
-/* This is an 8 bit LFSR we use to generate a predictable and fast
- * pseudorandom sequence of numbers, to give a different shape to
- * each asteroid. */
-void lfsr_next(unsigned char* prev) {
-    unsigned char lsb = *prev & 1;
-    *prev = *prev >> 1;
-    if(lsb == 1) *prev ^= 0b11000111;
-    *prev ^= *prev << 7; /* Mix things a bit more. */
-}
-
-/* ================================ Render ================================ */
-
-/* Render the polygon 'poly' at x,y, rotated by the specified angle. */
-void draw_poly(Canvas* const canvas, Poly* poly, uint8_t x, uint8_t y, float a) {
-    Poly rot;
-    rotate_poly(&rot, poly, a);
-    canvas_set_color(canvas, ColorBlack);
-    for(uint32_t j = 0; j < rot.points; j++) {
-        uint32_t a = j;
-        uint32_t b = j + 1;
-        if(b == rot.points) b = 0;
-        canvas_draw_line(canvas, x + rot.x[a], y + rot.y[a], x + rot.x[b], y + rot.y[b]);
-    }
-}
-
-/* A bullet is just a + pixels pattern. A single pixel is not
- * visible enough. */
-void draw_bullet(Canvas* const canvas, Bullet* b) {
-    canvas_draw_dot(canvas, b->x - 1, b->y);
-    canvas_draw_dot(canvas, b->x + 1, b->y);
-    canvas_draw_dot(canvas, b->x, b->y);
-    canvas_draw_dot(canvas, b->x, b->y - 1);
-    canvas_draw_dot(canvas, b->x, b->y + 1);
-}
-
-/* Draw an asteroid. The asteroid shapes is computed on the fly and
- * is not stored in a permanent shape structure. In order to generate
- * the shape, we use an initial fixed shape that we resize according
- * to the asteroid size, perturbate according to the asteroid shape
- * seed, and finally draw it rotated of the right amount. */
-void draw_asteroid(Canvas* const canvas, Asteroid* ast) {
-    Poly ap;
-
-    /* Start with what is kinda of a circle. Note that this could be
-     * stored into a template and copied here, to avoid computing
-     * sin() / cos(). But the Flipper can handle it without problems. */
-    uint8_t r = ast->shape_seed;
-    for(int j = 0; j < 8; j++) {
-        float a = (PI * 2) / 8 * j;
-
-        /* Before generating the point, to make the shape unique generate
-         * a random factor between .7 and 1.3 to scale the distance from
-         * the center. However this asteroid should have its unique shape
-         * that remains always the same, so we use a predictable PRNG
-         * implemented by an 8 bit shift register. */
-        lfsr_next(&r);
-        float scaling = .7 + ((float)r / 255 * .6);
-
-        ap.x[j] = (float)sin(a) * ast->size * scaling;
-        ap.y[j] = (float)cos(a) * ast->size * scaling;
-    }
-    ap.points = 8;
-    draw_poly(canvas, &ap, ast->x, ast->y, ast->rot);
-}
-
-/* Draw small ships in the top-right part of the screen, one for
- * each left live. */
-void draw_left_lives(Canvas* const canvas, AsteroidsApp* app) {
-    int lives = app->lives;
-    int x = SCREEN_XRES - 5;
-
-    Poly mini_ship = {{-2, 0, 2}, {-2, 4, -2}, 3};
-    while(lives--) {
-        draw_poly(canvas, &mini_ship, x, 6, PI);
-        x -= 6;
-    }
-}
-
-bool should_draw_powerUp(PowerUp* const p) {
-    // Just return if power up has already been picked up
-    if(p->display_ttl == 0) return false;
-
-    // Begin flashing power up when it is about to expire
-    if(p->display_ttl < 100) {
-        return p->display_ttl % 8 > 0;
-    }
-
-    return true;
-}
-
-void draw_powerUp_RemainingLife(Canvas* canvas, PowerUp* const p, int y_offset) {
-    if(!p->isPowerUpActive) return;
-
-    /*
-    Here we generate a reverse progress bar. The bar is 24 pixels wide and 1 pixel tall.
-    Calculate the percentage of hitpoints left: hitpoints / total hitpoints
-    Multiply the percentage by the width of the bar (in pixels): percentage * bar width
-    Subtract the result from the width of the bar to get the filled portion of the bar: bar width - (percentage * bar width)
-    Round the result to the nearest integer to get the final result.
-
-    400 / 400 = 1.0
-    1.0 * 24 = 24
-    24 - 24 = 0
-    Round(0) = 0
-    */
-    int progress_bar_width = SCREEN_XRES / 4;
-
-    if(p->ttl > 0) {
-        canvas_set_color(canvas, ColorBlack);
-        int remaining = ceil(((float)p->ttl / (float)POWERUPSTTL) * (float)progress_bar_width);
-
-        if(remaining > 0) {
-            canvas_draw_line(
-                canvas,
-                (SCREEN_XRES / 2) - remaining, // x1
-                3 + y_offset, //y1
-                (SCREEN_XRES / 2) + remaining, //x2
-                3 + y_offset); // y2
-        }
-    }
-}
-
-void draw_powerUps(Canvas* const canvas, PowerUp* const p) {
-    /*
-    
-    * * * * * * * * * *
-    *                 *
-    *	              *
-    *                 *
-    *       F         *
-    *                 *
-    *                 *
-    *                 *
-    *                 *
-    * * * * * * * * * *
-
-    BOX_SIZE = 10
-    Box_Width = BOX_SIZE
-    BOX_HEIGHT = BOX_SIZE
-    BOX_X_POS = x - BOX_WIDTH/2
-    BOX_Y_POS = y - BOX_HEIGHT/2
-    POS_F_X = WIDTH/2
-    POS_F_Y = HEIGHT/2
-
-    */
-
-    //@todo render_callback
-
-    // Just return if power up has already been picked up
-    // FURI_LOG_I(TAG, "[draw_powerUps] Display TTL: %lu", p->display_ttl);
-    if(p->display_ttl == 0) return;
-    if(!should_draw_powerUp(p)) return;
-
-    canvas_set_color(canvas, ColorXOR);
-
-    // Display power up to be picked up
-    switch(p->powerUpType) {
-    case PowerUpTypeFirePower:
-        canvas_draw_icon(canvas, p->x, p->y, &I_firepower_shifted_9x10);
-        break;
-    case PowerUpTypeShield:
-        canvas_draw_icon(canvas, p->x, p->y, &I_shield_frame);
-        break;
-    case PowerUpTypeLife:
-        // Draw a heart
-        canvas_draw_icon(canvas, p->x, p->y, &I_heart_10x10);
-        break;
-    case PowerUpTypeNuke:
-        // canvas_draw_disc(canvas, p->x, p->y, p->size);
-        // canvas_draw_str(canvas, p->x, p->y, "N");
-        canvas_draw_icon(canvas, p->x, p->y, &I_nuke_10x10);
-        break;
-    // case PowerUpTypeRadialFire:
-    //     // Draw box with letter R inside
-    //     canvas_draw_str(canvas, p->x, p->y, "R");
-    //     break;
-    // case PowerUpTypeAssist:
-    //     // Draw box with letter A inside
-    //     canvas_draw_str(canvas, p->x, p->y, "A");
-    //     break;
-    // case PowerUpTypeClone:
-    //     // Draw box with letter C inside
-    //     canvas_draw_str(canvas, p->x, p->y, "C");
-    //     break;
-    default:
-        //@todo Uknown Power Up Type Detected
-        // Draw box with letter U inside
-        canvas_draw_str(canvas, p->x, p->y, "?");
-        FURI_LOG_E(TAG, "Unexpected Power Up Type Detected: %i", p->powerUpType);
-        break;
-    }
-}
-
-void draw_shield(Canvas* const canvas, AsteroidsApp* app) {
-    if(isPowerUpActive(app, PowerUpTypeShield) == false) return;
-
-    canvas_set_color(canvas, ColorXOR);
-    // canvas_draw_disc(canvas, app->ship.x, app->ship.y, 4);
-    canvas_draw_circle(canvas, app->ship.x, app->ship.y, 8);
-}
-
-/* Render the current game screen. */
-void render_callback(Canvas* const canvas, void* ctx) {
-    AsteroidsApp* app = ctx;
-
-    /* Clear screen. */
-    canvas_set_color(canvas, ColorWhite);
-    canvas_draw_box(canvas, 0, 0, SCREEN_XRES - 1, SCREEN_YRES - 1);
-
-    /* Draw score. */
-    canvas_set_color(canvas, ColorBlack);
-    canvas_set_font(canvas, FontSecondary);
-    char score[32];
-    snprintf(score, sizeof(score), "%lu", app->score);
-    canvas_draw_str(canvas, 0, 8, score);
-
-    /* Draw left ships. */
-    draw_left_lives(canvas, app);
-
-    /* Draw ship, asteroids, bullets. */
-    draw_poly(canvas, &ShipPoly, app->ship.x, app->ship.y, app->ship.rot);
-
-    /* Draw shield if active. */
-    draw_shield(canvas, app);
-
-    if(key_pressed_time(app, InputKeyUp) > 0) {
-        notification_message(furi_record_open(RECORD_NOTIFICATION), &sequence_thrusters);
-        draw_poly(canvas, &ShipFirePoly, app->ship.x, app->ship.y, app->ship.rot);
-    }
-
-    for(int j = 0; j < app->bullets_num; j++) draw_bullet(canvas, &app->bullets[j]);
-
-    for(int j = 0; j < app->asteroids_num; j++) draw_asteroid(canvas, &app->asteroids[j]);
-
-    for(int j = 0; j < app->powerUps_num; j++) {
-        draw_powerUps(canvas, &app->powerUps[j]);
-        draw_powerUp_RemainingLife(canvas, &app->powerUps[j], j);
-    }
-
-    if(app->paused) {
-        canvas_set_color(canvas, ColorXOR);
-        canvas_set_font(canvas, FontPrimary);
-        canvas_draw_rbox(canvas, 0, 0, SCREEN_XRES, SCREEN_YRES, 4);
-        canvas_draw_str_aligned(
-            canvas, SCREEN_XRES / 2, SCREEN_YRES / 2, AlignCenter, AlignCenter, "Paused");
-        return;
-    }
-
-    /* Game over text. */
-    if(app->gameover) {
-        canvas_set_color(canvas, ColorBlack);
-        canvas_set_font(canvas, FontPrimary);
-
-        // TODO: if new highscore, display blinking "New High Score"
-        // Display High Score
-        if(app->is_new_highscore) {
-            canvas_draw_str(canvas, 22, 9, "New High Score!");
-        } else {
-            canvas_draw_str(canvas, 36, 9, "High Score");
-        }
-
-        // Convert highscore to string
-        int length = snprintf(NULL, 0, "%lu", app->highscore);
-        char* str_high_score = malloc(length + 1);
-        snprintf(str_high_score, length + 1, "%lu", app->highscore);
-
-        // Get length to center on screen
-        int nDigits = 0;
-        if(app->highscore > 0) {
-            nDigits = floor(log10(app->highscore)) + 1;
-        }
-
-        // Draw highscore centered
-        canvas_draw_str(canvas, (SCREEN_XRES / 2) - (nDigits * 2), 20, str_high_score);
-        free(str_high_score);
-
-        canvas_draw_str(canvas, 28, 35, "GAME   OVER");
-        canvas_set_font(canvas, FontSecondary);
-        canvas_draw_str(canvas, 25, 50, "Press OK to restart");
-    }
-}
-
-/* ============================ Game logic ================================== */
-
-/* Given the current position, update it according to the velocity and
- * wrap it back to the other side if the object went over the screen. */
-void update_pos_by_velocity(float* x, float* y, float vx, float vy) {
-    /* Return back from one side to the other of the screen. */
-    *x += vx;
-    *y += vy;
-    if(*x >= SCREEN_XRES)
-        *x = 0;
-    else if(*x < 0)
-        *x = SCREEN_XRES - 1;
-    if(*y >= SCREEN_YRES)
-        *y = 0;
-    else if(*y < 0)
-        *y = SCREEN_YRES - 1;
-}
-
-float distance(float x1, float y1, float x2, float y2) {
-    float dx = x1 - x2;
-    float dy = y1 - y2;
-    return sqrt(dx * dx + dy * dy);
-}
-
-/* Detect a collision between the object at x1,y1 of radius r1 and
- * the object at x2, y2 of radius r2. A factor < 1 will make the
- * function detect the collision even if the objects are yet not
- * relly touching, while a factor > 1 will make it detect the collision
- * only after they are a bit overlapping. It basically is used to
- * rescale the distance.
- *
- * Note that in this simplified 2D world, objects are all considered
- * spheres (this is why this function only takes the radius). This
- * is, after all, kinda accurate for asteroids, for bullets, and
- * even for the ship "core" itself. */
-bool objects_are_colliding(float x1, float y1, float r1, float x2, float y2, float r2, float factor) {
-    /* The objects are colliding if the distance between object 1 and 2
-     * is smaller than the sum of the two radiuses r1 and r2.
-     * So it would be like: sqrt((x1-x2)^2+(y1-y2)^2) < r1+r2.
-     * However we can avoid computing the sqrt (which is slow) by
-     * squaring the second term and removing the square root, making
-     * the comparison like this:
-     *
-     * (x1-x2)^2+(y1-y2)^2 < (r1+r2)^2. */
-    float dx = (x1 - x2) * factor;
-    float dy = (y1 - y2) * factor;
-    float rsum = r1 + r2;
-    return dx * dx + dy * dy < rsum * rsum;
-}
-
-/* ================================ Bullets ================================ */
-//@todo ship_fire_bullet
-/* Create a new bullet headed in the same direction of the ship. */
-void ship_fire_bullet(AsteroidsApp* app) {
-    // No power ups, only 5 bullets allowed
-    if(isPowerUpActive(app, PowerUpTypeFirePower) == false && app->bullets_num >= 5) return;
-
-    // Double the Fire Power
-    if(isPowerUpActive(app, PowerUpTypeFirePower) && (app->bullets_num >= (MAXBUL))) return;
-
-    notification_message(furi_record_open(RECORD_NOTIFICATION), &sequence_bullet_fired);
-    Bullet* b = &app->bullets[app->bullets_num];
-    b->x = app->ship.x;
-    b->y = app->ship.y;
-    b->vx = -sin(app->ship.rot);
-    b->vy = cos(app->ship.rot);
-
-    /* Ship should fire from its head, not in the middle. */
-    b->x += b->vx * 5;
-    b->y += b->vy * 5;
-
-    /* Give the bullet some velocity (for now the vector is just
-     * normalized to 1). */
-    b->vx *= 3;
-    b->vy *= 3;
-
-    /* It's more realistic if we add the velocity vector of the
-     * ship, too. Otherwise if the ship is going fast the bullets
-     * will be slower, which is not how the world works. */
-    b->vx += app->ship.vx;
-    b->vy += app->ship.vy;
-
-    b->ttl = TTLBUL; /* The bullet will disappear after N ticks. */
-    app->bullets_num++;
-}
-
-/* Remove the specified bullet by id (index in the array). */
-void remove_bullet(AsteroidsApp* app, int bid) {
-    /* Replace the top bullet with the empty space left
-     * by the removal of this bullet. This way we always take the
-     * array dense, which is an advantage when looping. */
-    int n = --app->bullets_num;
-    if(n && bid != n) app->bullets[bid] = app->bullets[n];
-}
-
-/* ================================ Asteroids ================================ */
-/* Create a new asteroid, away from the ship. Return the
- * pointer to the asteroid object, so that the caller can change
- * certain things of the asteroid if needed. */
-Asteroid* add_asteroid(AsteroidsApp* app) {
-    if(app->asteroids_num == MAXAST) return NULL;
-    float size = 4 + rand() % 15;
-    float min_distance = 20;
-    float x, y;
-    do {
-        x = rand() % SCREEN_XRES;
-        y = rand() % SCREEN_YRES;
-    } while(distance(app->ship.x, app->ship.y, x, y) < min_distance + size);
-    Asteroid* a = &app->asteroids[app->asteroids_num++];
-    a->x = x;
-    a->y = y;
-    a->vx = 2 * (-.5 + ((float)rand() / RAND_MAX));
-    a->vy = 2 * (-.5 + ((float)rand() / RAND_MAX));
-    a->size = size;
-    a->rot = 0;
-    a->rot_speed = ((float)rand() / RAND_MAX) / 10;
-    if(app->ticks & 1) a->rot_speed = -(a->rot_speed);
-    a->shape_seed = rand() & 255;
-    return a;
-}
-
-/* Remove the specified asteroid by id (index in the array). */
-void remove_asteroid(AsteroidsApp* app, int id) {
-    /* Replace the top asteroid with the empty space left
-     * by the removal of this one. This way we always take the
-     * array dense, which is an advantage when looping. */
-    int n = --app->asteroids_num;
-    if(n && id != n) app->asteroids[id] = app->asteroids[n];
-}
-
-/* Called when an asteroid was reached by a bullet. The asteroid
- * hit is the one with the specified 'id'. */
-void asteroid_was_hit(AsteroidsApp* app, int id) {
-    float sizelimit = 6; // Smaller than that polverize in one shot.
-    Asteroid* a = &app->asteroids[id];
-
-    /* Asteroid is large enough to break into fragments. */
-    float size = a->size;
-    float x = a->x, y = a->y;
-    remove_asteroid(app, id);
-    if(size > sizelimit) {
-        int max_fragments = size / sizelimit;
-        int fragments = 2 + rand() % max_fragments;
-        float newsize = size / fragments;
-        if(newsize < 2) newsize = 2;
-        for(int j = 0; j < fragments; j++) {
-            a = add_asteroid(app);
-            if(a == NULL) break; // Too many asteroids on screen.
-            a->x = x + -(size / 2) + rand() % (int)newsize;
-            a->y = y + -(size / 2) + rand() % (int)newsize;
-            a->size = newsize;
-        }
-    } else {
-        app->score++;
-        if(app->score > app->highscore) {
-            app->is_new_highscore = true;
-            app->highscore = app->score; // Show on Game Over Screen and future main menu
-        }
-    }
-}
-
-/* ================================ Power Up ================================ */
-bool isPowerUpCollidingWithEachOther(AsteroidsApp* app, float x, float y, float size) {
-    for(int i = 0; i < app->powerUps_num; i++) {
-        PowerUp* p2 = &app->powerUps[i];
-        if(objects_are_colliding(x, y, size, p2->x, p2->y, p2->size, 1)) return true;
-    }
-    return false;
-}
-
-bool should_trigger_rare_powerUp(PowerUpType selected_powerUpType) {
-    switch(selected_powerUpType) {
-    case PowerUpTypeLife: // Make extra life power up more rare
-        return rand() % 10 != 0;
-    case PowerUpTypeShield: // Make shield power up more rare
-        return rand() % 4 != 0;
-    default:
-        return true;
-    }
-}
-
-//@todo Add PowerUp
-PowerUp* add_powerUp(AsteroidsApp* app) {
-    FURI_LOG_I(TAG, "add_powerUp: %i", app->powerUps_num);
-    if(app->powerUps_num == MAXPOWERUPS) return NULL; // Max Power Ups reached
-    if(app->lives == MAXLIVES) return NULL; // Max Lives reached
-
-    // Randomly select power up for display
-    PowerUpType selected_powerUpType = rand() % Number_of_PowerUps;
-    FURI_LOG_I(TAG, "[add_powerUp] Power Up Selected: %i", selected_powerUpType);
-
-    // Don't add already existing power ups
-    if(isPowerUpAlreadyExists(app, selected_powerUpType)) {
-        FURI_LOG_D(TAG, "[add_powerUp] Power Up %i already active", selected_powerUpType);
-        return NULL;
-    }
-
-    // Make some power ups more rare
-    if(!should_trigger_rare_powerUp(selected_powerUpType)) {
-        FURI_LOG_D(TAG, "[add_powerUp] Power Up %i not triggered", selected_powerUpType);
-        return NULL;
-    }
-
-    float size = 10;
-    float min_distance = 20;
-    float x, y;
-    do {
-        //Make sure power up is not spawned on the edge of the screen
-        x = rand() % (SCREEN_XRES - (int)size);
-        y = rand() % (SCREEN_YRES - (int)size);
-
-        //Also keep it away from the lives and score at the top of screen
-        if(y < size) y = size;
-    } while(
-        ((distance(app->ship.x, app->ship.y, x, y) < min_distance + size) ||
-         isPowerUpCollidingWithEachOther(app, x, y, size)));
-
-    PowerUp* p = &app->powerUps[app->powerUps_num++];
-    p->x = x;
-    p->y = y;
-    //@todo Disable Velocity
-    p->vx = 0; //2 * (-.5 + ((float)rand() / RAND_MAX));
-    p->vy = 0; //2 * (-.5 + ((float)rand() / RAND_MAX));
-    p->display_ttl = 200;
-    p->ttl = POWERUPSTTL;
-    p->size = size;
-    // p->size = size;
-    // p->rot = 0;
-    // p->rot_speed = ((float)rand() / RAND_MAX) / 10;
-    // if(app->ticks & 1) p->rot_speed = -(p->rot_speed);
-
-    //@todo add powerup type, for now hardcoding to firepower
-    p->powerUpType = selected_powerUpType;
-    p->isPowerUpActive = false;
-    FURI_LOG_I(TAG, "[add_powerUp] Power Up Added: %i", p->powerUpType);
-    return p;
-}
-
-bool isPowerUpActive(AsteroidsApp* const app, PowerUpType const powerUpType) {
-    for(int i = 0; i < app->powerUps_num; i++) {
-        // PowerUp* p = &app->powerUps[i];
-        // if(p->powerUpType == powerUpType && p->ttl > 0 && p->display_ttl == 0) return true;
-        if(app->powerUps[i].isPowerUpActive && app->powerUps[i].powerUpType == powerUpType) {
-            return true;
-        }
-    }
-    return false;
-}
-
-bool isPowerUpAlreadyExists(AsteroidsApp* const app, PowerUpType const powerUpType) {
-    for(int i = 0; i < app->powerUps_num; i++) {
-        if(app->powerUps[i].powerUpType == powerUpType) return true;
-    }
-    return false;
-}
-
-//@todo remove_powerUp
-void remove_powerUp(AsteroidsApp* app, int id) {
-    FURI_LOG_I(TAG, "remove_powerUp: %i", id);
-    // Invalid ID, ignore
-    if(id < 0) {
-        FURI_LOG_E(TAG, "remove_powerUp: Invalid ID: %i", id);
-        return;
-    }
-    // TODO: Break this out into object types that set the game state
-    // Return the bullet period to normal
-    if(app->powerUps[id].powerUpType == PowerUpTypeFirePower) {
-        app->bullet_min_period = 200;
-    }
-
-    /* Replace the top powerUp with the empty space left
-     * by the removal of this one. This way we always take the
-     * array dense, which is an advantage when looping. */
-    int n = --app->powerUps_num;
-    if(n && id != n) app->powerUps[id] = app->powerUps[n];
-}
-
-void remove_all_astroids_and_bullets(AsteroidsApp* app) {
-    app->score += app->asteroids_num;
-    app->asteroids_num = 0;
-    app->bullets_num = 0;
-}
-
-//@todo powerUp_was_hit
-void powerUp_was_hit(AsteroidsApp* app, int id) {
-    PowerUp* p = &app->powerUps[id];
-    if(p->display_ttl == 0) return; // Don't collect if already collected or expired
-
-    // Vibrate to indicate power up was collected
-    notification_message(furi_record_open(RECORD_NOTIFICATION), &sequence_powerup_collected);
-
-    switch(p->powerUpType) {
-    case PowerUpTypeLife:
-        if(app->lives < MAXLIVES) app->lives++;
-        remove_powerUp(app, id);
-        break;
-    case PowerUpTypeFirePower:
-        p->ttl = POWERUPSTTL / 2;
-        app->bullet_min_period = 100;
-        break;
-    case PowerUpTypeNuke:
-        //TODO: Animate explosion
-        notification_message(furi_record_open(RECORD_NOTIFICATION), &sequence_nuke);
-        // Simulate nuke explosion
-        remove_all_astroids_and_bullets(app);
-        break;
-    default:
-        break;
-    }
-    p->display_ttl = 0;
-    p->isPowerUpActive = true;
-}
-
-/* ================================ Game States ================================ */
-/* Set gameover state. When in game-over mode, the game displays a gameover
- * text with a background of many asteroids floating around. */
-void game_over(AsteroidsApp* app) {
-    if(app->is_new_highscore) save_game(app); // Save highscore but only on change
-    app->gameover = true;
-    app->lives = GAME_START_LIVES; // Show 3 lives in game over screen to match new game start
-}
-
-/* Function called when a collision between the asteroid and the
- * ship is detected. */
-void ship_was_hit(AsteroidsApp* app) {
-    app->ship_hit = SHIP_HIT_ANIMATION_LEN;
-    if(app->lives) {
-        app->lives--;
-    } else {
-        game_over(app);
-    }
-}
-
-/* Restart game after the ship is hit. Will reset the ship position, bullets
- * and asteroids to restart the game. */
-void restart_game(AsteroidsApp* app) {
-    app->ship.x = SCREEN_XRES / 2;
-    app->ship.y = SCREEN_YRES / 2;
-    app->ship.rot = PI; /* Start headed towards top. */
-    app->ship.vx = 0;
-    app->ship.vy = 0;
-    app->bullets_num = 0;
-    app->powerUps_num = 0;
-    app->last_bullet_tick = 0;
-    app->bullet_min_period = 200;
-    app->asteroids_num = 0;
-    app->ship_hit = 0;
-}
-
-/* Called after gameover to restart the game. This function
- * also calls restart_game(). */
-void restart_game_after_gameover(AsteroidsApp* app) {
-    app->gameover = false;
-    app->ticks = 0;
-    app->score = 0;
-    app->is_new_highscore = false;
-    app->lives = GAME_START_LIVES - 1;
-    restart_game(app);
-}
-
-/* ================================ Position & Status ================================ */
-/* Move bullets. */
-void update_bullets_position(AsteroidsApp* app) {
-    for(int j = 0; j < app->bullets_num; j++) {
-        update_pos_by_velocity(
-            &app->bullets[j].x, &app->bullets[j].y, app->bullets[j].vx, app->bullets[j].vy);
-        if(--app->bullets[j].ttl == 0) {
-            remove_bullet(app, j);
-            j--; /* Process this bullet index again: the removal will
-                    fill it with the top bullet to take the array dense. */
-        }
-    }
-}
-
-/* Move asteroids. */
-void update_asteroids_position(AsteroidsApp* app) {
-    for(int j = 0; j < app->asteroids_num; j++) {
-        update_pos_by_velocity(
-            &app->asteroids[j].x, &app->asteroids[j].y, app->asteroids[j].vx, app->asteroids[j].vy);
-        app->asteroids[j].rot += app->asteroids[j].rot_speed;
-        if(app->asteroids[j].rot < 0)
-            app->asteroids[j].rot = 2 * PI;
-        else if(app->asteroids[j].rot > 2 * PI)
-            app->asteroids[j].rot = 0;
-    }
-}
-
-bool should_add_powerUp(AsteroidsApp* app) {
-    srand(furi_get_tick());
-    int random_number = rand() % 100 + 1;
-
-    // The chance of spawning a power-up decreases as the game goes on
-    int threshold = 100 - (app->score * 5);
-
-    // Make sure the threshold doesn't go below 10
-    threshold = (threshold < 10) ? 10 : threshold;
-    // FURI_LOG_I(
-    //     TAG,
-    //     "Random number: %d, threshold: %d Bool: %d",
-    //     random_number,
-    //     threshold,
-    //     random_number <= threshold);
-    return random_number <= threshold;
-}
-
-void update_powerUps_position(AsteroidsApp* app) {
-    for(int j = 0; j < app->powerUps_num; j++) {
-        // @todo update_powerUps_position
-        if(app->powerUps[j].display_ttl > 0) {
-            update_pos_by_velocity(
-                &app->powerUps[j].x, &app->powerUps[j].y, app->powerUps[j].vx, app->powerUps[j].vy);
-        }
-    }
-}
-
-// @todo update_powerUp_status
-/* This updates the state of each power up collected and removes them if they have expired. */
-void update_powerUp_status(AsteroidsApp* app) {
-    for(int j = 0; j < app->powerUps_num; j++) {
-        if(app->powerUps[j].ttl > 0 && app->powerUps[j].isPowerUpActive) {
-            // Only decrement ttl if we actually picked up power up
-            app->powerUps[j].ttl--;
-        } else if(app->powerUps[j].display_ttl > 0) {
-            app->powerUps[j].display_ttl--;
-        } else if(app->powerUps[j].ttl == 0 || app->powerUps[j].display_ttl == 0) {
-            FURI_LOG_I(
-                TAG,
-                "[update_powerUp_status] Power up expired!, ttl: %lu, display_ttl: %lu id: %d",
-                app->powerUps[j].ttl,
-                app->powerUps[j].display_ttl,
-                j);
-            // we've reached the end of life of the power up
-            // Time to remove it
-            app->powerUps[j].isPowerUpActive = false;
-            remove_powerUp(app, j);
-            j--; /* Process this power up index again: the removal will
-                    fill it with the top power up to take the array dense. */
-        } else {
-            FURI_LOG_E(
-                TAG,
-                "[update_powerUp_status] Power up error! Invalid Index: %d ttl: %lu display_ttl: %lu PowerUp_Num: %d",
-                j,
-                app->powerUps[j].ttl,
-                app->powerUps[j].display_ttl,
-                app->powerUps_num);
-        }
-    }
-}
-
-/* Collision detection and game state update based on collisions. */
-void detect_collisions(AsteroidsApp* app) {
-    /* Detect collision between bullet and asteroid. */
-    for(int j = 0; j < app->bullets_num; j++) {
-        Bullet* b = &app->bullets[j];
-        for(int i = 0; i < app->asteroids_num; i++) {
-            Asteroid* a = &app->asteroids[i];
-            if(objects_are_colliding(a->x, a->y, a->size, b->x, b->y, 1.5, 1)) {
-                asteroid_was_hit(app, i);
-                remove_bullet(app, j);
-                /* The bullet no longer exist. Break the loop.
-                 * However we want to start processing from the
-                 * same bullet index, since now it is used by
-                 * another bullet (see remove_bullet()). */
-                j--; /* Scan this j value again. */
-                break;
-            }
-        }
-    }
-
-    /* Detect collision between ship and asteroid. */
-    for(int j = 0; j < app->asteroids_num; j++) {
-        Asteroid* a = &app->asteroids[j];
-        if(objects_are_colliding(a->x, a->y, a->size, app->ship.x, app->ship.y, 4, 1)) {
-            if(isPowerUpActive(app, PowerUpTypeShield)) {
-                // Asteroid was hit with shield
-                notification_message(
-                    furi_record_open(RECORD_NOTIFICATION), &sequence_bullet_fired);
-                asteroid_was_hit(app, j);
-                j--; /* Scan this j value again. */
-            } else {
-                // No sheild active, take damage
-                ship_was_hit(app);
-                break;
-            }
-        }
-    }
-
-    /* Detect collision between ship and powerUp. */
-    for(int j = 0; j < app->powerUps_num; j++) {
-        PowerUp* p = &app->powerUps[j];
-        if(objects_are_colliding(p->x, p->y, p->size, app->ship.x, app->ship.y, 4, 1)) {
-            powerUp_was_hit(app, j);
-            // break;
-        }
-    }
-}
-
-/* This is the main game execution function, called 10 times for
- * second (with the Flipper screen latency, an higher FPS does not
- * make sense). In this function we update the position of objects based
- * on velocity. Detect collisions. Update the score and so forth.
- *
- * Each time this function is called, app->tick is incremented. */
-void game_tick(void* ctx) {
-    AsteroidsApp* app = ctx;
-
-    /* There are two special screens:
-     *
-     * 1. Ship was hit, we frozen the game as long as ship_hit isn't zero
-     * again, and show an animation of a rotating ship. */
-    if(app->ship_hit) {
-        notification_message(furi_record_open(RECORD_NOTIFICATION), &sequence_crash);
-        app->ship.rot += 0.5;
-        app->ship_hit--;
-        view_port_update(app->view_port);
-        if(app->ship_hit == 0) {
-            restart_game(app);
-        }
-        return;
-    } else if(app->gameover) {
-        /* 2. Game over. We need to update only background asteroids. In this
-     * state the game just displays a GAME OVER text with the floating
-     * asteroids in backgroud. */
-
-        if(key_pressed_time(app, InputKeyOk) > 100) {
-            restart_game_after_gameover(app);
-        }
-        update_asteroids_position(app);
-        view_port_update(app->view_port);
-        return;
-    } else if(app->paused) {
-        if(key_pressed_time(app, InputKeyBack) > 100 || key_pressed_time(app, InputKeyOk) > 100) {
-            app->paused = false;
-        }
-        view_port_update(app->view_port);
-        return;
-    }
-
-    /* Handle keypresses. */
-    if(app->pressed[InputKeyLeft]) app->ship.rot -= .35;
-    if(app->pressed[InputKeyRight]) app->ship.rot += .35;
-    if(app->pressed[InputKeyUp]) {
-        app->ship.vx -= 0.5 * (float)sin(app->ship.rot);
-        app->ship.vy += 0.5 * (float)cos(app->ship.rot);
-    } else if(app->pressed[InputKeyDown]) {
-        notification_message(furi_record_open(RECORD_NOTIFICATION), &sequence_brake);
-        app->ship.vx *= 0.75;
-        app->ship.vy *= 0.75;
-    }
-
-    /* Fire a bullet if needed. app->fire is set in
-     * asteroids_update_keypress_state() since depends on exact
-     * pressure timing. */
-    if(app->fire) {
-        uint32_t now = furi_get_tick();
-        if(now - app->last_bullet_tick >= app->bullet_min_period) {
-            ship_fire_bullet(app);
-            app->last_bullet_tick = now;
-        }
-        app->fire = false;
-    }
-
-    // DEBUG: Show Power Up Status
-    // for(int j = 0; j < app->powerUps_num; j++) {
-    // PowerUp* p = &app->powerUps[j];
-    // FURI_LOG_I(
-    //     TAG,
-    //     "Power Up Type: %d TTL: %lu Display_TTL: %lu PowerUpNum: %i",
-    //     p->powerUpType,
-    //     p->ttl,
-    //     p->display_ttl,
-    //     app->powerUps_num);
-    // }
-
-    /* Update positions and detect collisions. */
-    update_pos_by_velocity(&app->ship.x, &app->ship.y, app->ship.vx, app->ship.vy);
-    update_bullets_position(app);
-    update_asteroids_position(app);
-    update_powerUp_status(app); //@todo update_powerUp_status
-    update_powerUps_position(app);
-    detect_collisions(app);
-
-    /* From time to time, create a new asteroid. The more asteroids
-     * already on the screen, the smaller probability of creating
-     * a new one. */
-    if(app->asteroids_num == 0 || (random() % 5000) < (30 / (1 + app->asteroids_num))) {
-        add_asteroid(app);
-    }
-
-    /* From time to time add a random power up */
-    //@todo game tick
-    // if(app->powerUps_num == 0 || random() % (500 + (100 * (int)app->score)) <= app->powerUps_num) {
-    if(should_add_powerUp(app)) {
-        add_powerUp(app);
-    }
-
-    app->ticks++;
-    view_port_update(app->view_port);
-}
-
-/* ======================== Flipper specific code =========================== */
-
-bool load_game(AsteroidsApp* app) {
-    Storage* storage = furi_record_open(RECORD_STORAGE);
-    storage_common_migrate(storage, EXT_PATH("apps/Games/game_asteroids.save"), SAVING_FILENAME);
-
-    File* file = storage_file_alloc(storage);
-    uint16_t bytes_readed = 0;
-    if(storage_file_open(file, SAVING_FILENAME, FSAM_READ, FSOM_OPEN_EXISTING)) {
-        bytes_readed = storage_file_read(file, app, sizeof(AsteroidsApp));
-    }
-    storage_file_close(file);
-    storage_file_free(file);
-
-    furi_record_close(RECORD_STORAGE);
-
-    return bytes_readed == sizeof(AsteroidsApp);
-}
-
-void save_game(AsteroidsApp* app) {
-    Storage* storage = furi_record_open(RECORD_STORAGE);
-
-    File* file = storage_file_alloc(storage);
-    if(storage_file_open(file, SAVING_FILENAME, FSAM_WRITE, FSOM_CREATE_ALWAYS)) {
-        storage_file_write(file, app, sizeof(AsteroidsApp));
-    }
-    storage_file_close(file);
-    storage_file_free(file);
-
-    furi_record_close(RECORD_STORAGE);
-}
-
-/* Here all we do is putting the events into the queue that will be handled
- * in the while() loop of the app entry point function. */
-void input_callback(InputEvent* input_event, void* ctx) {
-    AsteroidsApp* app = ctx;
-    furi_message_queue_put(app->event_queue, input_event, FuriWaitForever);
-}
-
-/* Allocate the application state and initialize a number of stuff.
- * This is called in the entry point to create the application state. */
-AsteroidsApp* asteroids_app_alloc() {
-    AsteroidsApp* app = malloc(sizeof(AsteroidsApp));
-
-    load_game(app);
-
-    app->gui = furi_record_open(RECORD_GUI);
-    app->view_port = view_port_alloc();
-    view_port_draw_callback_set(app->view_port, render_callback, app);
-    view_port_input_callback_set(app->view_port, input_callback, app);
-    gui_add_view_port(app->gui, app->view_port, GuiLayerFullscreen);
-    app->event_queue = furi_message_queue_alloc(8, sizeof(InputEvent));
-
-    app->running = 1; /* Turns 0 when back is pressed. */
-
-    restart_game_after_gameover(app);
-    memset(app->pressed, 0, sizeof(app->pressed));
-    return app;
-}
-
-/* Free what the application allocated. It is not clear to me if the
- * Flipper OS, once the application exits, will be able to reclaim space
- * even if we forget to free something here. */
-void asteroids_app_free(AsteroidsApp* app) {
-    furi_assert(app);
-
-    // View related.
-    view_port_enabled_set(app->view_port, false);
-    gui_remove_view_port(app->gui, app->view_port);
-    view_port_free(app->view_port);
-    furi_record_close(RECORD_GUI);
-    furi_message_queue_free(app->event_queue);
-    app->gui = NULL;
-
-    free(app);
-}
-
-/* Return the time in milliseconds the specified key is continuously
- * pressed. Or 0 if it is not pressed. */
-uint32_t key_pressed_time(AsteroidsApp* app, InputKey key) {
-    return app->pressed[key] == 0 ? 0 : furi_get_tick() - app->pressed[key];
-}
-
-/* Handle keys interaction. */
-void asteroids_update_keypress_state(AsteroidsApp* app, InputEvent input) {
-    // Allow Rapid fire
-    if(input.key == InputKeyOk) {
-        app->fire = true;
-    }
-
-    if(input.type == InputTypePress) {
-        app->pressed[input.key] = furi_get_tick();
-    } else if(input.type == InputTypeRelease) {
-        app->pressed[input.key] = 0;
-    }
-}
-
-int32_t asteroids_app_entry(void* p) {
-    UNUSED(p);
-    AsteroidsApp* app = asteroids_app_alloc();
-
-    /* Create a timer. We do data analysis in the callback. */
-    FuriTimer* timer = furi_timer_alloc(game_tick, FuriTimerTypePeriodic, app);
-    furi_timer_start(timer, furi_kernel_get_tick_frequency() / 10);
-
-    /* This is the main event loop: here we get the events that are pushed
-     * in the queue by input_callback(), and process them one after the
-     * other. */
-    InputEvent input;
-    while(app->running) {
-        FuriStatus qstat = furi_message_queue_get(app->event_queue, &input, 100);
-        if(qstat == FuriStatusOk) {
-            // if(DEBUG_MSG)
-            // FURI_LOG_E(TAG, "Main Loop - Input: type %d key %u", input.type, input.key);
-            /* Handle Pause */
-            if(input.type == InputTypeShort && input.key == InputKeyBack) {
-                app->paused = !app->paused;
-                if(app->paused) {
-                    furi_timer_stop(timer);
-                } else {
-                    furi_timer_start(timer, furi_kernel_get_tick_frequency() / 10);
-                }
-            }
-
-            /* Handle navigation here. Then handle view-specific inputs
-             * in the view specific handling function. */
-            if(input.type == InputTypeLong && input.key == InputKeyBack) {
-                // Save High Score even if player didn't finish game
-                if(app->is_new_highscore) save_game(app); // Save highscore but only on change
-                app->running = 0;
-            } else {
-                asteroids_update_keypress_state(app, input);
-            }
-        } else {
-            /* Useful to understand if the app is still alive when it
-             * does not respond because of bugs. */
-            // if(DEBUG_MSG) {
-            //     static int c = 0;
-            //     c++;
-            //     if(!(c % 20)) FURI_LOG_E(TAG, "Loop timeout");
-            // }
-        }
-    }
-
-    furi_timer_free(timer);
-    asteroids_app_free(app);
-    return 0;
-}

asteroids/application.fam

@@ -1,17 +0,0 @@
-App(
-    appid="asteroids",
-    name="Asteroids",
-    apptype=FlipperAppType.EXTERNAL,
-    entry_point="asteroids_app_entry",
-    cdefines=["APP_ASTEROIDS"],
-    requires=["gui"],
-    stack_size=8 * 1024,
-    order=50,
-    fap_icon="appicon.png",
-    fap_icon_assets="assets",
-    fap_category="Games",
-    fap_author="@antirez & @SimplyMinimal",
-    fap_weburl="https://github.com/antirez/flipper-asteroids",
-    fap_version="1.1",
-    fap_description="Asteroids game",
-)

atomicdiceroller/.gitsubtree

@@ -1,2 +0,0 @@
-https://github.com/nmrr/flipperzero-atomicdiceroller main flipper_atomicdiceroller
-https://github.com/xMasterX/all-the-plugins dev non_catalog_apps/flipper_atomicdiceroller