ra8_lsm6dso.h

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#pragma once
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include <stdint.h>
 
#include "ra8_err.h"
 
/* =============================================================================
 * Public typed-enum constants
 * =============================================================================
 */

typedef enum : uint8_t {
  k_lsm6dso_who_am_i_value  = 0x6CU, 
  k_lsm6dso_fifo_words_max  = 0x80U, 
  k_lsm6dso_fifo_bytes_word = 0x07U, 
} ra8_lsm6dso_const_t;

typedef enum : uint8_t {
  k_lsm6dso_i2c_addr_sa0_low  = 0x6AU, 
  k_lsm6dso_i2c_addr_sa0_high = 0x6BU, 
} ra8_lsm6dso_i2c_addr_t;

typedef enum : uint8_t {
  k_lsm6dso_reg_fifo_ctrl1    = 0x07U, 
  k_lsm6dso_reg_fifo_ctrl2    = 0x08U, 
  k_lsm6dso_reg_fifo_ctrl3    = 0x09U, 
  k_lsm6dso_reg_fifo_ctrl4    = 0x0AU, 
  k_lsm6dso_reg_who_am_i      = 0x0FU, 
  k_lsm6dso_reg_ctrl1_xl      = 0x10U, 
  k_lsm6dso_reg_ctrl2_g       = 0x11U, 
  k_lsm6dso_reg_ctrl3_c       = 0x12U, 
  k_lsm6dso_reg_ctrl6_c       = 0x15U, 
  k_lsm6dso_reg_ctrl7_g       = 0x16U, 
  k_lsm6dso_reg_out_temp_l    = 0x20U, 
  k_lsm6dso_reg_outx_l_g      = 0x22U, 
  k_lsm6dso_reg_outx_l_a      = 0x28U, 
  k_lsm6dso_reg_fifo_status1  = 0x3AU, 
  k_lsm6dso_reg_fifo_data_out = 0x78U, 
} ra8_lsm6dso_reg_t;

typedef enum : uint8_t {
  k_lsm6dso_xl_fs_2g  = 0x00U, 
  k_lsm6dso_xl_fs_16g = 0x01U, 
  k_lsm6dso_xl_fs_4g  = 0x02U, 
  k_lsm6dso_xl_fs_8g  = 0x03U, 
} ra8_lsm6dso_xl_fs_t;

typedef enum : uint8_t {
  k_lsm6dso_g_fs_125dps  = 0x00U, 
  k_lsm6dso_g_fs_250dps  = 0x01U, 
  k_lsm6dso_g_fs_500dps  = 0x02U, 
  k_lsm6dso_g_fs_1000dps = 0x03U, 
  k_lsm6dso_g_fs_2000dps = 0x04U, 
} ra8_lsm6dso_g_fs_t;

typedef enum : uint8_t {
  k_lsm6dso_odr_off    = 0x00U, 
  k_lsm6dso_odr_12_5hz = 0x01U, 
  k_lsm6dso_odr_26hz   = 0x02U, 
  k_lsm6dso_odr_52hz   = 0x03U, 
  k_lsm6dso_odr_104hz  = 0x04U, 
  k_lsm6dso_odr_208hz  = 0x05U, 
  k_lsm6dso_odr_416hz  = 0x06U, 
  k_lsm6dso_odr_833hz  = 0x07U, 
  k_lsm6dso_odr_1660hz = 0x08U, 
  k_lsm6dso_odr_3330hz = 0x09U, 
  k_lsm6dso_odr_6660hz = 0x0AU, 
} ra8_lsm6dso_odr_t;

typedef struct {
  int16_t x; 
  int16_t y; 
  int16_t z; 
} ra8_lsm6dso_xyz_t;
 
/* =============================================================================
 * Transport abstraction (Dependency Inversion)
 * =============================================================================
 */

typedef ra8_err_t (*ra8_lsm6dso_read_fn_t)(void* ctx, uint8_t reg, uint8_t* buf, uint32_t len);

typedef ra8_err_t (*ra8_lsm6dso_write_fn_t)(void*          ctx,
                                            uint8_t        reg,
                                            const uint8_t* buf,
                                            uint32_t       len);

typedef struct {
  ra8_lsm6dso_read_fn_t  read_regs;  
  ra8_lsm6dso_write_fn_t write_regs; 
  void*                  ctx;        
} ra8_lsm6dso_bus_t;

typedef struct {
  ra8_lsm6dso_bus_t   bus;           
  ra8_lsm6dso_xl_fs_t accel_fs_code; 
  ra8_lsm6dso_g_fs_t  gyro_fs_code;  
  ra8_lsm6dso_odr_t   odr_code;      
  bool                initialized;   
} ra8_lsm6dso_t;
 
/* =============================================================================
 * Lifecycle
 * =============================================================================
 */

[[nodiscard]] ra8_err_t ra8_lsm6dso_init(ra8_lsm6dso_t* out_dev, const ra8_lsm6dso_bus_t* bus);
 
/* =============================================================================
 * Identification
 * =============================================================================
 */

[[nodiscard]] ra8_err_t ra8_lsm6dso_who_am_i(ra8_lsm6dso_t* dev, uint8_t* out_id);
 
/* =============================================================================
 * Configuration
 * =============================================================================
 */

[[nodiscard]] ra8_err_t ra8_lsm6dso_set_accel_range(ra8_lsm6dso_t* dev, ra8_lsm6dso_xl_fs_t fs);

[[nodiscard]] ra8_err_t ra8_lsm6dso_set_gyro_range(ra8_lsm6dso_t* dev, ra8_lsm6dso_g_fs_t fs);

[[nodiscard]] ra8_err_t ra8_lsm6dso_set_odr(ra8_lsm6dso_t* dev, ra8_lsm6dso_odr_t odr);
 
/* =============================================================================
 * Sample read paths
 * =============================================================================
 */

[[nodiscard]] ra8_err_t ra8_lsm6dso_read_accel(ra8_lsm6dso_t* dev, ra8_lsm6dso_xyz_t* out);

[[nodiscard]] ra8_err_t ra8_lsm6dso_read_gyro(ra8_lsm6dso_t* dev, ra8_lsm6dso_xyz_t* out);

[[nodiscard]] ra8_err_t ra8_lsm6dso_read_temp(ra8_lsm6dso_t* dev, int32_t* out_centi_c);

[[nodiscard]] ra8_err_t ra8_lsm6dso_read_xl_gyro_fifo(ra8_lsm6dso_t* dev,
                                                      uint8_t*       out_buf,
                                                      uint32_t       max_words,
                                                      uint32_t*      out_words);
 
#ifdef __cplusplus
}
#endif