SparkFunLSM6DS3.h

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/******************************************************************************
SparkFunLSM6DS3.h
LSM6DS3 Arduino and Teensy Driver
 
Marshall Taylor @ SparkFun Electronics
May 20, 2015
https://github.com/sparkfun/LSM6DS3_Breakout
https://github.com/sparkfun/SparkFun_LSM6DS3_Arduino_Library
 
Resources:
Uses Wire.h for i2c operation
Uses SPI.h for SPI operation
Either can be omitted if not used
 
Development environment specifics:
Arduino IDE 1.6.4
Teensy loader 1.23
 
This code is released under the [MIT License](http://opensource.org/licenses/MIT).
 
Please review the LICENSE.md file included with this example. If you have any questions 
or concerns with licensing, please contact techsupport@sparkfun.com.
 
Distributed as-is; no warranty is given.
******************************************************************************/
 
#ifndef __LSM6DS3IMU_H__
#define __LSM6DS3IMU_H__
 
#include "Arduino.h"
#include "Wire.h"
#include "SPI.h"
 
#define I2C_MODE 0
#define SPI_MODE 1
 
// Return values 
typedef enum
{
    IMU_SUCCESS,
    IMU_HW_ERROR,
    IMU_NOT_SUPPORTED,
    IMU_GENERIC_ERROR,
    IMU_OUT_OF_BOUNDS,
    IMU_ALL_ONES_WARNING,
    //...
} status_t;
 
//This is the core operational class of the driver.
//  LSM6DS3Core contains only read and write operations towards the IMU.
//  To use the higher level functions, use the class LSM6DS3 which inherits
//  this class.
 
class LSM6DS3Core
{
public:
    LSM6DS3Core( uint8_t );
    LSM6DS3Core( uint8_t, uint8_t );
    ~LSM6DS3Core() = default;
    
    status_t beginCore( void );
    
    //The following utilities read and write to the IMU
 
    //ReadRegisterRegion takes a uint8 array address as input and reads
    //  a chunk of memory into that array.
    status_t readRegisterRegion(uint8_t*, uint8_t, uint8_t );
    
    //readRegister reads one 8-bit register
    status_t readRegister(uint8_t*, uint8_t);
    
    //Reads two 8-bit regs, LSByte then MSByte order, and concatenates them.
    //  Acts as a 16-bit read operation
    status_t readRegisterInt16(int16_t*, uint8_t offset );
    
    //Writes an 8-bit byte;
    status_t writeRegister(uint8_t, uint8_t);
    
    //Change to embedded page
    status_t embeddedPage( void );
    
    //Change to base page
    status_t basePage( void );
  SPISettings mySpiSettings;
    
private:
    
    //Communication stuff
    uint8_t commInterface;
    uint8_t I2CAddress;
    uint8_t chipSelectPin;
 
};
 
//This struct holds the settings the driver uses to do calculations
struct SensorSettings {
public:
    //Gyro settings
    uint8_t gyroEnabled;
    uint16_t gyroRange;
    uint16_t gyroSampleRate;
    uint16_t gyroBandWidth;
 
    uint8_t gyroFifoEnabled;
    uint8_t gyroFifoDecimation;
 
    //Accelerometer settings
    uint8_t accelEnabled;
    uint8_t accelODROff;
    uint16_t accelRange;
    uint16_t accelSampleRate;
    uint16_t accelBandWidth;
    
    uint8_t accelFifoEnabled;
    uint8_t accelFifoDecimation;
    
    //Temperature settings
    uint8_t tempEnabled;
    
    //Non-basic mode settings
    uint8_t commMode;
    
    //FIFO control data
    uint16_t fifoThreshold;
    int16_t fifoSampleRate;
    uint8_t fifoModeWord;
    
};
 
 
//This is the highest level class of the driver.
//
//  class LSM6DS3 inherits the core and makes use of the beginCore()
//method through it's own begin() method.  It also contains the
//settings struct to hold user settings.
 
class LSM6DS3 : public LSM6DS3Core
{
public:
    //IMU settings
    SensorSettings settings;
    
    //Error checking
    uint16_t allOnesCounter;
    uint16_t nonSuccessCounter;
 
    //Constructor generates default SensorSettings.
    //(over-ride after construction if desired)
    LSM6DS3( uint8_t busType = I2C_MODE, uint8_t inputArg = 0x6B );
    ~LSM6DS3() = default;
    
    //Call to apply SensorSettings
    status_t begin(SensorSettings* pSettingsYouWanted = NULL);
 
    //Returns the raw bits from the sensor cast as 16-bit signed integers
    int16_t readRawAccelX( void );
    int16_t readRawAccelY( void );
    int16_t readRawAccelZ( void );
    int16_t readRawGyroX( void );
    int16_t readRawGyroY( void );
    int16_t readRawGyroZ( void );
 
    //Returns the values as floats.  Inside, this calls readRaw___();
    float readFloatAccelX( void );
    float readFloatAccelY( void );
    float readFloatAccelZ( void );
    float readFloatGyroX( void );
    float readFloatGyroY( void );
    float readFloatGyroZ( void );
 
    //Temperature related methods
    int16_t readRawTemp( void );
    float readTempC( void );
    float readTempF( void );
 
    //FIFO stuff
    void fifoBegin( void );
    void fifoClear( void );
    int16_t fifoRead( void );
    uint16_t fifoGetStatus( void );
    void fifoEnd( void );
    
    float calcGyro( int16_t );
    float calcAccel( int16_t );
 
    
private:
 
};
 
 
 
 
 
 
/************** Device Register  *******************/
#define LSM6DS3_ACC_GYRO_TEST_PAGE              0X00
#define LSM6DS3_ACC_GYRO_RAM_ACCESS             0X01
#define LSM6DS3_ACC_GYRO_SENSOR_SYNC_TIME       0X04
#define LSM6DS3_ACC_GYRO_SENSOR_SYNC_EN         0X05
#define LSM6DS3_ACC_GYRO_FIFO_CTRL1             0X06
#define LSM6DS3_ACC_GYRO_FIFO_CTRL2             0X07
#define LSM6DS3_ACC_GYRO_FIFO_CTRL3             0X08
#define LSM6DS3_ACC_GYRO_FIFO_CTRL4             0X09
#define LSM6DS3_ACC_GYRO_FIFO_CTRL5             0X0A
#define LSM6DS3_ACC_GYRO_ORIENT_CFG_G           0X0B
#define LSM6DS3_ACC_GYRO_REFERENCE_G            0X0C
#define LSM6DS3_ACC_GYRO_INT1_CTRL              0X0D
#define LSM6DS3_ACC_GYRO_INT2_CTRL              0X0E
#define LSM6DS3_ACC_GYRO_WHO_AM_I_REG           0X0F
#define LSM6DS3_ACC_GYRO_CTRL1_XL           0X10
#define LSM6DS3_ACC_GYRO_CTRL2_G            0X11
#define LSM6DS3_ACC_GYRO_CTRL3_C            0X12
#define LSM6DS3_ACC_GYRO_CTRL4_C            0X13
#define LSM6DS3_ACC_GYRO_CTRL5_C            0X14
#define LSM6DS3_ACC_GYRO_CTRL6_G            0X15
#define LSM6DS3_ACC_GYRO_CTRL7_G            0X16
#define LSM6DS3_ACC_GYRO_CTRL8_XL           0X17
#define LSM6DS3_ACC_GYRO_CTRL9_XL           0X18
#define LSM6DS3_ACC_GYRO_CTRL10_C           0X19
#define LSM6DS3_ACC_GYRO_MASTER_CONFIG          0X1A
#define LSM6DS3_ACC_GYRO_WAKE_UP_SRC            0X1B
#define LSM6DS3_ACC_GYRO_TAP_SRC            0X1C
#define LSM6DS3_ACC_GYRO_D6D_SRC            0X1D
#define LSM6DS3_ACC_GYRO_STATUS_REG             0X1E
#define LSM6DS3_ACC_GYRO_OUT_TEMP_L             0X20
#define LSM6DS3_ACC_GYRO_OUT_TEMP_H             0X21
#define LSM6DS3_ACC_GYRO_OUTX_L_G           0X22
#define LSM6DS3_ACC_GYRO_OUTX_H_G           0X23
#define LSM6DS3_ACC_GYRO_OUTY_L_G           0X24
#define LSM6DS3_ACC_GYRO_OUTY_H_G           0X25
#define LSM6DS3_ACC_GYRO_OUTZ_L_G           0X26
#define LSM6DS3_ACC_GYRO_OUTZ_H_G           0X27
#define LSM6DS3_ACC_GYRO_OUTX_L_XL              0X28
#define LSM6DS3_ACC_GYRO_OUTX_H_XL              0X29
#define LSM6DS3_ACC_GYRO_OUTY_L_XL              0X2A
#define LSM6DS3_ACC_GYRO_OUTY_H_XL              0X2B
#define LSM6DS3_ACC_GYRO_OUTZ_L_XL              0X2C
#define LSM6DS3_ACC_GYRO_OUTZ_H_XL              0X2D
#define LSM6DS3_ACC_GYRO_SENSORHUB1_REG         0X2E
#define LSM6DS3_ACC_GYRO_SENSORHUB2_REG         0X2F
#define LSM6DS3_ACC_GYRO_SENSORHUB3_REG         0X30
#define LSM6DS3_ACC_GYRO_SENSORHUB4_REG         0X31
#define LSM6DS3_ACC_GYRO_SENSORHUB5_REG         0X32
#define LSM6DS3_ACC_GYRO_SENSORHUB6_REG         0X33
#define LSM6DS3_ACC_GYRO_SENSORHUB7_REG         0X34
#define LSM6DS3_ACC_GYRO_SENSORHUB8_REG         0X35
#define LSM6DS3_ACC_GYRO_SENSORHUB9_REG         0X36
#define LSM6DS3_ACC_GYRO_SENSORHUB10_REG        0X37
#define LSM6DS3_ACC_GYRO_SENSORHUB11_REG        0X38
#define LSM6DS3_ACC_GYRO_SENSORHUB12_REG        0X39
#define LSM6DS3_ACC_GYRO_FIFO_STATUS1           0X3A
#define LSM6DS3_ACC_GYRO_FIFO_STATUS2           0X3B
#define LSM6DS3_ACC_GYRO_FIFO_STATUS3           0X3C
#define LSM6DS3_ACC_GYRO_FIFO_STATUS4           0X3D
#define LSM6DS3_ACC_GYRO_FIFO_DATA_OUT_L        0X3E
#define LSM6DS3_ACC_GYRO_FIFO_DATA_OUT_H        0X3F
#define LSM6DS3_ACC_GYRO_TIMESTAMP0_REG         0X40
#define LSM6DS3_ACC_GYRO_TIMESTAMP1_REG         0X41
#define LSM6DS3_ACC_GYRO_TIMESTAMP2_REG         0X42
#define LSM6DS3_ACC_GYRO_STEP_COUNTER_L         0X4B
#define LSM6DS3_ACC_GYRO_STEP_COUNTER_H         0X4C
#define LSM6DS3_ACC_GYRO_FUNC_SRC           0X53
#define LSM6DS3_ACC_GYRO_TAP_CFG1           0X58
#define LSM6DS3_ACC_GYRO_TAP_THS_6D             0X59
#define LSM6DS3_ACC_GYRO_INT_DUR2           0X5A
#define LSM6DS3_ACC_GYRO_WAKE_UP_THS            0X5B
#define LSM6DS3_ACC_GYRO_WAKE_UP_DUR            0X5C
#define LSM6DS3_ACC_GYRO_FREE_FALL              0X5D
#define LSM6DS3_ACC_GYRO_MD1_CFG            0X5E
#define LSM6DS3_ACC_GYRO_MD2_CFG            0X5F
 
/************** Access Device RAM  *******************/
#define LSM6DS3_ACC_GYRO_ADDR0_TO_RW_RAM         0x62
#define LSM6DS3_ACC_GYRO_ADDR1_TO_RW_RAM         0x63
#define LSM6DS3_ACC_GYRO_DATA_TO_WR_RAM          0x64
#define LSM6DS3_ACC_GYRO_DATA_RD_FROM_RAM        0x65
 
#define LSM6DS3_ACC_GYRO_RAM_SIZE                4096
 
/************** Embedded functions register mapping  *******************/
#define LSM6DS3_ACC_GYRO_SLV0_ADD                     0x02
#define LSM6DS3_ACC_GYRO_SLV0_SUBADD                  0x03
#define LSM6DS3_ACC_GYRO_SLAVE0_CONFIG                0x04
#define LSM6DS3_ACC_GYRO_SLV1_ADD                     0x05
#define LSM6DS3_ACC_GYRO_SLV1_SUBADD                  0x06
#define LSM6DS3_ACC_GYRO_SLAVE1_CONFIG                0x07
#define LSM6DS3_ACC_GYRO_SLV2_ADD                     0x08
#define LSM6DS3_ACC_GYRO_SLV2_SUBADD                  0x09
#define LSM6DS3_ACC_GYRO_SLAVE2_CONFIG                0x0A
#define LSM6DS3_ACC_GYRO_SLV3_ADD                     0x0B
#define LSM6DS3_ACC_GYRO_SLV3_SUBADD                  0x0C
#define LSM6DS3_ACC_GYRO_SLAVE3_CONFIG                0x0D
#define LSM6DS3_ACC_GYRO_DATAWRITE_SRC_MODE_SUB_SLV0  0x0E
#define LSM6DS3_ACC_GYRO_CONFIG_PEDO_THS_MIN          0x0F
#define LSM6DS3_ACC_GYRO_CONFIG_TILT_IIR              0x10
#define LSM6DS3_ACC_GYRO_CONFIG_TILT_ACOS             0x11
#define LSM6DS3_ACC_GYRO_CONFIG_TILT_WTIME            0x12
#define LSM6DS3_ACC_GYRO_SM_STEP_THS                  0x13
#define LSM6DS3_ACC_GYRO_MAG_SI_XX                    0x24
#define LSM6DS3_ACC_GYRO_MAG_SI_XY                    0x25
#define LSM6DS3_ACC_GYRO_MAG_SI_XZ                    0x26
#define LSM6DS3_ACC_GYRO_MAG_SI_YX                    0x27
#define LSM6DS3_ACC_GYRO_MAG_SI_YY                    0x28
#define LSM6DS3_ACC_GYRO_MAG_SI_YZ                    0x29
#define LSM6DS3_ACC_GYRO_MAG_SI_ZX                    0x2A
#define LSM6DS3_ACC_GYRO_MAG_SI_ZY                    0x2B
#define LSM6DS3_ACC_GYRO_MAG_SI_ZZ                    0x2C
#define LSM6DS3_ACC_GYRO_MAG_OFFX_L                   0x2D
#define LSM6DS3_ACC_GYRO_MAG_OFFX_H                   0x2E
#define LSM6DS3_ACC_GYRO_MAG_OFFY_L                   0x2F
#define LSM6DS3_ACC_GYRO_MAG_OFFY_H                   0x30
#define LSM6DS3_ACC_GYRO_MAG_OFFZ_L                   0x31
#define LSM6DS3_ACC_GYRO_MAG_OFFZ_H                   0x32
 
/*******************************************************************************
* Register      : TEST_PAGE
* Address       : 0X00
* Bit Group Name: FLASH_PAGE
* Permission    : RW
*******************************************************************************/
#define FLASH_PAGE    0x40
 
/*******************************************************************************
* Register      : RAM_ACCESS
* Address       : 0X01
* Bit Group Name: PROG_RAM1
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_PROG_RAM1_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_PROG_RAM1_ENABLED         = 0x01,
} LSM6DS3_ACC_GYRO_PROG_RAM1_t;
 
/*******************************************************************************
* Register      : RAM_ACCESS
* Address       : 0X01
* Bit Group Name: CUSTOMROM1
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_CUSTOMROM1_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_CUSTOMROM1_ENABLED       = 0x04,
} LSM6DS3_ACC_GYRO_CUSTOMROM1_t;
 
/*******************************************************************************
* Register      : RAM_ACCESS
* Address       : 0X01
* Bit Group Name: RAM_PAGE
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_RAM_PAGE_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_RAM_PAGE_ENABLED       = 0x80,
} LSM6DS3_ACC_GYRO_RAM_PAGE_t;
 
/*******************************************************************************
* Register      : SENSOR_SYNC_TIME
* Address       : 0X04
* Bit Group Name: TPH
* Permission    : RW
*******************************************************************************/
#define     LSM6DS3_ACC_GYRO_TPH_MASK   0xFF
#define     LSM6DS3_ACC_GYRO_TPH_POSITION   0
 
/*******************************************************************************
* Register      : SENSOR_SYNC_EN
* Address       : 0X05
* Bit Group Name: SYNC_EN
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_SYNC_EN_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_SYNC_EN_ENABLED         = 0x01,
} LSM6DS3_ACC_GYRO_SYNC_EN_t;
 
/*******************************************************************************
* Register      : SENSOR_SYNC_EN
* Address       : 0X05
* Bit Group Name: HP_RST
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_HP_RST_RST_OFF       = 0x00,
    LSM6DS3_ACC_GYRO_HP_RST_RST_ON         = 0x02,
} LSM6DS3_ACC_GYRO_HP_RST_t;
 
/*******************************************************************************
* Register      : FIFO_CTRL1
* Address       : 0X06
* Bit Group Name: WTM_FIFO
* Permission    : RW
*******************************************************************************/
#define     LSM6DS3_ACC_GYRO_WTM_FIFO_CTRL1_MASK    0xFF
#define     LSM6DS3_ACC_GYRO_WTM_FIFO_CTRL1_POSITION    0
#define     LSM6DS3_ACC_GYRO_WTM_FIFO_CTRL2_MASK    0x0F
#define     LSM6DS3_ACC_GYRO_WTM_FIFO_CTRL2_POSITION    0
 
/*******************************************************************************
* Register      : FIFO_CTRL2
* Address       : 0X07
* Bit Group Name: TIM_PEDO_FIFO_DRDY
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_TIM_PEDO_FIFO_DRDY_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_TIM_PEDO_FIFO_DRDY_ENABLED       = 0x40,
} LSM6DS3_ACC_GYRO_TIM_PEDO_FIFO_DRDY_t;
 
/*******************************************************************************
* Register      : FIFO_CTRL2
* Address       : 0X07
* Bit Group Name: TIM_PEDO_FIFO_EN
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_TIM_PEDO_FIFO_EN_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_TIM_PEDO_FIFO_EN_ENABLED       = 0x80,
} LSM6DS3_ACC_GYRO_TIM_PEDO_FIFO_EN_t;
 
/*******************************************************************************
* Register      : FIFO_CTRL3
* Address       : 0X08
* Bit Group Name: DEC_FIFO_XL
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_DEC_FIFO_XL_DATA_NOT_IN_FIFO       = 0x00,
    LSM6DS3_ACC_GYRO_DEC_FIFO_XL_NO_DECIMATION         = 0x01,
    LSM6DS3_ACC_GYRO_DEC_FIFO_XL_DECIMATION_BY_2         = 0x02,
    LSM6DS3_ACC_GYRO_DEC_FIFO_XL_DECIMATION_BY_3         = 0x03,
    LSM6DS3_ACC_GYRO_DEC_FIFO_XL_DECIMATION_BY_4         = 0x04,
    LSM6DS3_ACC_GYRO_DEC_FIFO_XL_DECIMATION_BY_8         = 0x05,
    LSM6DS3_ACC_GYRO_DEC_FIFO_XL_DECIMATION_BY_16       = 0x06,
    LSM6DS3_ACC_GYRO_DEC_FIFO_XL_DECIMATION_BY_32       = 0x07,
} LSM6DS3_ACC_GYRO_DEC_FIFO_XL_t;
 
/*******************************************************************************
* Register      : FIFO_CTRL3
* Address       : 0X08
* Bit Group Name: DEC_FIFO_G
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_DEC_FIFO_G_DATA_NOT_IN_FIFO         = 0x00,
    LSM6DS3_ACC_GYRO_DEC_FIFO_G_NO_DECIMATION       = 0x08,
    LSM6DS3_ACC_GYRO_DEC_FIFO_G_DECIMATION_BY_2       = 0x10,
    LSM6DS3_ACC_GYRO_DEC_FIFO_G_DECIMATION_BY_3       = 0x18,
    LSM6DS3_ACC_GYRO_DEC_FIFO_G_DECIMATION_BY_4       = 0x20,
    LSM6DS3_ACC_GYRO_DEC_FIFO_G_DECIMATION_BY_8       = 0x28,
    LSM6DS3_ACC_GYRO_DEC_FIFO_G_DECIMATION_BY_16         = 0x30,
    LSM6DS3_ACC_GYRO_DEC_FIFO_G_DECIMATION_BY_32         = 0x38,
} LSM6DS3_ACC_GYRO_DEC_FIFO_G_t;
 
/*******************************************************************************
* Register      : FIFO_CTRL4
* Address       : 0X09
* Bit Group Name: DEC_FIFO_SLV0
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_DEC_FIFO_SLV0_DATA_NOT_IN_FIFO       = 0x00,
    LSM6DS3_ACC_GYRO_DEC_FIFO_SLV0_NO_DECIMATION         = 0x01,
    LSM6DS3_ACC_GYRO_DEC_FIFO_SLV0_DECIMATION_BY_2         = 0x02,
    LSM6DS3_ACC_GYRO_DEC_FIFO_SLV0_DECIMATION_BY_3         = 0x03,
    LSM6DS3_ACC_GYRO_DEC_FIFO_SLV0_DECIMATION_BY_4         = 0x04,
    LSM6DS3_ACC_GYRO_DEC_FIFO_SLV0_DECIMATION_BY_8         = 0x05,
    LSM6DS3_ACC_GYRO_DEC_FIFO_SLV0_DECIMATION_BY_16       = 0x06,
    LSM6DS3_ACC_GYRO_DEC_FIFO_SLV0_DECIMATION_BY_32       = 0x07,
} LSM6DS3_ACC_GYRO_DEC_FIFO_SLV0_t;
 
/*******************************************************************************
* Register      : FIFO_CTRL4
* Address       : 0X09
* Bit Group Name: DEC_FIFO_SLV1
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_DEC_FIFO_SLV1_DATA_NOT_IN_FIFO       = 0x00,
    LSM6DS3_ACC_GYRO_DEC_FIFO_SLV1_NO_DECIMATION         = 0x08,
    LSM6DS3_ACC_GYRO_DEC_FIFO_SLV1_DECIMATION_BY_2         = 0x10,
    LSM6DS3_ACC_GYRO_DEC_FIFO_SLV1_DECIMATION_BY_3         = 0x18,
    LSM6DS3_ACC_GYRO_DEC_FIFO_SLV1_DECIMATION_BY_4         = 0x20,
    LSM6DS3_ACC_GYRO_DEC_FIFO_SLV1_DECIMATION_BY_8         = 0x28,
    LSM6DS3_ACC_GYRO_DEC_FIFO_SLV1_DECIMATION_BY_16       = 0x30,
    LSM6DS3_ACC_GYRO_DEC_FIFO_SLV1_DECIMATION_BY_32       = 0x38,
} LSM6DS3_ACC_GYRO_DEC_FIFO_SLV1_t;
 
/*******************************************************************************
* Register      : FIFO_CTRL4
* Address       : 0X09
* Bit Group Name: HI_DATA_ONLY
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_HI_DATA_ONLY_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_HI_DATA_ONLY_ENABLED       = 0x40,
} LSM6DS3_ACC_GYRO_HI_DATA_ONLY_t;
 
/*******************************************************************************
* Register      : FIFO_CTRL5
* Address       : 0X0A
* Bit Group Name: FIFO_MODE
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_FIFO_MODE_BYPASS       = 0x00,
    LSM6DS3_ACC_GYRO_FIFO_MODE_FIFO       = 0x01,
    LSM6DS3_ACC_GYRO_FIFO_MODE_STREAM       = 0x02,
    LSM6DS3_ACC_GYRO_FIFO_MODE_STF         = 0x03,
    LSM6DS3_ACC_GYRO_FIFO_MODE_BTS         = 0x04,
    LSM6DS3_ACC_GYRO_FIFO_MODE_DYN_STREAM       = 0x05,
    LSM6DS3_ACC_GYRO_FIFO_MODE_DYN_STREAM_2       = 0x06,
    LSM6DS3_ACC_GYRO_FIFO_MODE_BTF         = 0x07,
} LSM6DS3_ACC_GYRO_FIFO_MODE_t;
 
/*******************************************************************************
* Register      : FIFO_CTRL5
* Address       : 0X0A
* Bit Group Name: ODR_FIFO
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_ODR_FIFO_10Hz         = 0x08,
    LSM6DS3_ACC_GYRO_ODR_FIFO_25Hz         = 0x10,
    LSM6DS3_ACC_GYRO_ODR_FIFO_50Hz         = 0x18,
    LSM6DS3_ACC_GYRO_ODR_FIFO_100Hz       = 0x20,
    LSM6DS3_ACC_GYRO_ODR_FIFO_200Hz       = 0x28,
    LSM6DS3_ACC_GYRO_ODR_FIFO_400Hz       = 0x30,
    LSM6DS3_ACC_GYRO_ODR_FIFO_800Hz       = 0x38,
    LSM6DS3_ACC_GYRO_ODR_FIFO_1600Hz         = 0x40,
    LSM6DS3_ACC_GYRO_ODR_FIFO_3300Hz         = 0x48,
    LSM6DS3_ACC_GYRO_ODR_FIFO_6600Hz         = 0x50,
    LSM6DS3_ACC_GYRO_ODR_FIFO_13300Hz       = 0x58,
} LSM6DS3_ACC_GYRO_ODR_FIFO_t;
 
/*******************************************************************************
* Register      : ORIENT_CFG_G
* Address       : 0X0B
* Bit Group Name: ORIENT
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_ORIENT_XYZ       = 0x00,
    LSM6DS3_ACC_GYRO_ORIENT_XZY       = 0x01,
    LSM6DS3_ACC_GYRO_ORIENT_YXZ       = 0x02,
    LSM6DS3_ACC_GYRO_ORIENT_YZX       = 0x03,
    LSM6DS3_ACC_GYRO_ORIENT_ZXY       = 0x04,
    LSM6DS3_ACC_GYRO_ORIENT_ZYX       = 0x05,
} LSM6DS3_ACC_GYRO_ORIENT_t;
 
/*******************************************************************************
* Register      : ORIENT_CFG_G
* Address       : 0X0B
* Bit Group Name: SIGN_Z_G
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_SIGN_Z_G_POSITIVE         = 0x00,
    LSM6DS3_ACC_GYRO_SIGN_Z_G_NEGATIVE         = 0x08,
} LSM6DS3_ACC_GYRO_SIGN_Z_G_t;
 
/*******************************************************************************
* Register      : ORIENT_CFG_G
* Address       : 0X0B
* Bit Group Name: SIGN_Y_G
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_SIGN_Y_G_POSITIVE         = 0x00,
    LSM6DS3_ACC_GYRO_SIGN_Y_G_NEGATIVE         = 0x10,
} LSM6DS3_ACC_GYRO_SIGN_Y_G_t;
 
/*******************************************************************************
* Register      : ORIENT_CFG_G
* Address       : 0X0B
* Bit Group Name: SIGN_X_G
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_SIGN_X_G_POSITIVE         = 0x00,
    LSM6DS3_ACC_GYRO_SIGN_X_G_NEGATIVE         = 0x20,
} LSM6DS3_ACC_GYRO_SIGN_X_G_t;
 
/*******************************************************************************
* Register      : REFERENCE_G
* Address       : 0X0C
* Bit Group Name: REF_G
* Permission    : RW
*******************************************************************************/
#define     LSM6DS3_ACC_GYRO_REF_G_MASK     0xFF
#define     LSM6DS3_ACC_GYRO_REF_G_POSITION     0
 
/*******************************************************************************
* Register      : INT1_CTRL
* Address       : 0X0D
* Bit Group Name: INT1_DRDY_XL
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT1_DRDY_XL_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_INT1_DRDY_XL_ENABLED       = 0x01,
} LSM6DS3_ACC_GYRO_INT1_DRDY_XL_t;
 
/*******************************************************************************
* Register      : INT1_CTRL
* Address       : 0X0D
* Bit Group Name: INT1_DRDY_G
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT1_DRDY_G_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_INT1_DRDY_G_ENABLED         = 0x02,
} LSM6DS3_ACC_GYRO_INT1_DRDY_G_t;
 
/*******************************************************************************
* Register      : INT1_CTRL
* Address       : 0X0D
* Bit Group Name: INT1_BOOT
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT1_BOOT_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_INT1_BOOT_ENABLED         = 0x04,
} LSM6DS3_ACC_GYRO_INT1_BOOT_t;
 
/*******************************************************************************
* Register      : INT1_CTRL
* Address       : 0X0D
* Bit Group Name: INT1_FTH
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT1_FTH_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_INT1_FTH_ENABLED       = 0x08,
} LSM6DS3_ACC_GYRO_INT1_FTH_t;
 
/*******************************************************************************
* Register      : INT1_CTRL
* Address       : 0X0D
* Bit Group Name: INT1_OVR
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT1_OVR_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_INT1_OVR_ENABLED       = 0x10,
} LSM6DS3_ACC_GYRO_INT1_OVR_t;
 
/*******************************************************************************
* Register      : INT1_CTRL
* Address       : 0X0D
* Bit Group Name: INT1_FSS5
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT1_FSS5_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_INT1_FSS5_ENABLED         = 0x20,
} LSM6DS3_ACC_GYRO_INT1_FSS5_t;
 
/*******************************************************************************
* Register      : INT1_CTRL
* Address       : 0X0D
* Bit Group Name: INT1_SIGN_MOT
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT1_SIGN_MOT_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_INT1_SIGN_MOT_ENABLED         = 0x40,
} LSM6DS3_ACC_GYRO_INT1_SIGN_MOT_t;
 
/*******************************************************************************
* Register      : INT1_CTRL
* Address       : 0X0D
* Bit Group Name: INT1_PEDO
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT1_PEDO_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_INT1_PEDO_ENABLED         = 0x80,
} LSM6DS3_ACC_GYRO_INT1_PEDO_t;
 
/*******************************************************************************
* Register      : INT2_CTRL
* Address       : 0X0E
* Bit Group Name: INT2_DRDY_XL
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT2_DRDY_XL_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_INT2_DRDY_XL_ENABLED       = 0x01,
} LSM6DS3_ACC_GYRO_INT2_DRDY_XL_t;
 
/*******************************************************************************
* Register      : INT2_CTRL
* Address       : 0X0E
* Bit Group Name: INT2_DRDY_G
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT2_DRDY_G_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_INT2_DRDY_G_ENABLED         = 0x02,
} LSM6DS3_ACC_GYRO_INT2_DRDY_G_t;
 
/*******************************************************************************
* Register      : INT2_CTRL
* Address       : 0X0E
* Bit Group Name: INT2_FTH
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT2_FTH_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_INT2_FTH_ENABLED       = 0x08,
} LSM6DS3_ACC_GYRO_INT2_FTH_t;
 
/*******************************************************************************
* Register      : INT2_CTRL
* Address       : 0X0E
* Bit Group Name: INT2_OVR
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT2_OVR_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_INT2_OVR_ENABLED       = 0x10,
} LSM6DS3_ACC_GYRO_INT2_OVR_t;
 
/*******************************************************************************
* Register      : INT2_CTRL
* Address       : 0X0E
* Bit Group Name: INT2_FSS5
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT2_FSS5_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_INT2_FSS5_ENABLED         = 0x20,
} LSM6DS3_ACC_GYRO_INT2_FSS5_t;
 
/*******************************************************************************
* Register      : INT2_CTRL
* Address       : 0X0E
* Bit Group Name: INT2_SIGN_MOT
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT2_SIGN_MOT_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_INT2_SIGN_MOT_ENABLED         = 0x40,
} LSM6DS3_ACC_GYRO_INT2_SIGN_MOT_t;
 
/*******************************************************************************
* Register      : INT2_CTRL
* Address       : 0X0E
* Bit Group Name: INT2_PEDO
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT2_PEDO_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_INT2_PEDO_ENABLED         = 0x80,
} LSM6DS3_ACC_GYRO_INT2_PEDO_t;
 
/*******************************************************************************
* Register      : WHO_AM_I
* Address       : 0X0F
* Bit Group Name: WHO_AM_I_BIT
* Permission    : RO
*******************************************************************************/
#define     LSM6DS3_ACC_GYRO_WHO_AM_I_BIT_MASK      0xFF
#define     LSM6DS3_ACC_GYRO_WHO_AM_I_BIT_POSITION      0
 
/*******************************************************************************
* Register      : CTRL1_XL
* Address       : 0X10
* Bit Group Name: BW_XL
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_BW_XL_400Hz         = 0x00,
    LSM6DS3_ACC_GYRO_BW_XL_200Hz         = 0x01,
    LSM6DS3_ACC_GYRO_BW_XL_100Hz         = 0x02,
    LSM6DS3_ACC_GYRO_BW_XL_50Hz       = 0x03,
} LSM6DS3_ACC_GYRO_BW_XL_t;
 
/*******************************************************************************
* Register      : CTRL1_XL
* Address       : 0X10
* Bit Group Name: FS_XL
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_FS_XL_2g       = 0x00,
    LSM6DS3_ACC_GYRO_FS_XL_16g         = 0x04,
    LSM6DS3_ACC_GYRO_FS_XL_4g       = 0x08,
    LSM6DS3_ACC_GYRO_FS_XL_8g       = 0x0C,
} LSM6DS3_ACC_GYRO_FS_XL_t;
 
/*******************************************************************************
* Register      : CTRL1_XL
* Address       : 0X10
* Bit Group Name: ODR_XL
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_ODR_XL_POWER_DOWN         = 0x00,
    LSM6DS3_ACC_GYRO_ODR_XL_13Hz                 = 0x10,
    LSM6DS3_ACC_GYRO_ODR_XL_26Hz                 = 0x20,
    LSM6DS3_ACC_GYRO_ODR_XL_52Hz                 = 0x30,
    LSM6DS3_ACC_GYRO_ODR_XL_104Hz       = 0x40,
    LSM6DS3_ACC_GYRO_ODR_XL_208Hz       = 0x50,
    LSM6DS3_ACC_GYRO_ODR_XL_416Hz       = 0x60,
    LSM6DS3_ACC_GYRO_ODR_XL_833Hz       = 0x70,
    LSM6DS3_ACC_GYRO_ODR_XL_1660Hz         = 0x80,
    LSM6DS3_ACC_GYRO_ODR_XL_3330Hz         = 0x90,
    LSM6DS3_ACC_GYRO_ODR_XL_6660Hz         = 0xA0,
    LSM6DS3_ACC_GYRO_ODR_XL_13330Hz       = 0xB0,
} LSM6DS3_ACC_GYRO_ODR_XL_t;
 
/*******************************************************************************
* Register      : CTRL2_G
* Address       : 0X11
* Bit Group Name: FS_125
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_FS_125_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_FS_125_ENABLED       = 0x02,
} LSM6DS3_ACC_GYRO_FS_125_t;
 
/*******************************************************************************
* Register      : CTRL2_G
* Address       : 0X11
* Bit Group Name: FS_G
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_FS_G_245dps         = 0x00,
    LSM6DS3_ACC_GYRO_FS_G_500dps         = 0x04,
    LSM6DS3_ACC_GYRO_FS_G_1000dps       = 0x08,
    LSM6DS3_ACC_GYRO_FS_G_2000dps       = 0x0C,
} LSM6DS3_ACC_GYRO_FS_G_t;
 
/*******************************************************************************
* Register      : CTRL2_G
* Address       : 0X11
* Bit Group Name: ODR_G
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_ODR_G_POWER_DOWN       = 0x00,
    LSM6DS3_ACC_GYRO_ODR_G_13Hz       = 0x10,
    LSM6DS3_ACC_GYRO_ODR_G_26Hz       = 0x20,
    LSM6DS3_ACC_GYRO_ODR_G_52Hz       = 0x30,
    LSM6DS3_ACC_GYRO_ODR_G_104Hz         = 0x40,
    LSM6DS3_ACC_GYRO_ODR_G_208Hz         = 0x50,
    LSM6DS3_ACC_GYRO_ODR_G_416Hz         = 0x60,
    LSM6DS3_ACC_GYRO_ODR_G_833Hz         = 0x70,
    LSM6DS3_ACC_GYRO_ODR_G_1660Hz       = 0x80,
} LSM6DS3_ACC_GYRO_ODR_G_t;
 
/*******************************************************************************
* Register      : CTRL3_C
* Address       : 0X12
* Bit Group Name: SW_RESET
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_SW_RESET_NORMAL_MODE       = 0x00,
    LSM6DS3_ACC_GYRO_SW_RESET_RESET_DEVICE         = 0x01,
} LSM6DS3_ACC_GYRO_SW_RESET_t;
 
/*******************************************************************************
* Register      : CTRL3_C
* Address       : 0X12
* Bit Group Name: BLE
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_BLE_LSB         = 0x00,
    LSM6DS3_ACC_GYRO_BLE_MSB         = 0x02,
} LSM6DS3_ACC_GYRO_BLE_t;
 
/*******************************************************************************
* Register      : CTRL3_C
* Address       : 0X12
* Bit Group Name: IF_INC
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_IF_INC_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_IF_INC_ENABLED       = 0x04,
} LSM6DS3_ACC_GYRO_IF_INC_t;
 
/*******************************************************************************
* Register      : CTRL3_C
* Address       : 0X12
* Bit Group Name: SIM
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_SIM_4_WIRE       = 0x00,
    LSM6DS3_ACC_GYRO_SIM_3_WIRE       = 0x08,
} LSM6DS3_ACC_GYRO_SIM_t;
 
/*******************************************************************************
* Register      : CTRL3_C
* Address       : 0X12
* Bit Group Name: PP_OD
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_PP_OD_PUSH_PULL         = 0x00,
    LSM6DS3_ACC_GYRO_PP_OD_OPEN_DRAIN       = 0x10,
} LSM6DS3_ACC_GYRO_PP_OD_t;
 
/*******************************************************************************
* Register      : CTRL3_C
* Address       : 0X12
* Bit Group Name: INT_ACT_LEVEL
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT_ACT_LEVEL_ACTIVE_HI         = 0x00,
    LSM6DS3_ACC_GYRO_INT_ACT_LEVEL_ACTIVE_LO         = 0x20,
} LSM6DS3_ACC_GYRO_INT_ACT_LEVEL_t;
 
/*******************************************************************************
* Register      : CTRL3_C
* Address       : 0X12
* Bit Group Name: BDU
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_BDU_CONTINUOS         = 0x00,
    LSM6DS3_ACC_GYRO_BDU_BLOCK_UPDATE       = 0x40,
} LSM6DS3_ACC_GYRO_BDU_t;
 
/*******************************************************************************
* Register      : CTRL3_C
* Address       : 0X12
* Bit Group Name: BOOT
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_BOOT_NORMAL_MODE       = 0x00,
    LSM6DS3_ACC_GYRO_BOOT_REBOOT_MODE       = 0x80,
} LSM6DS3_ACC_GYRO_BOOT_t;
 
/*******************************************************************************
* Register      : CTRL4_C
* Address       : 0X13
* Bit Group Name: STOP_ON_FTH
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_STOP_ON_FTH_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_STOP_ON_FTH_ENABLED         = 0x01,
} LSM6DS3_ACC_GYRO_STOP_ON_FTH_t;
 
/*******************************************************************************
* Register      : CTRL4_C
* Address       : 0X13
* Bit Group Name: MODE3_EN
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_MODE3_EN_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_MODE3_EN_ENABLED       = 0x02,
} LSM6DS3_ACC_GYRO_MODE3_EN_t;
 
/*******************************************************************************
* Register      : CTRL4_C
* Address       : 0X13
* Bit Group Name: I2C_DISABLE
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_I2C_DISABLE_I2C_AND_SPI         = 0x00,
    LSM6DS3_ACC_GYRO_I2C_DISABLE_SPI_ONLY       = 0x04,
} LSM6DS3_ACC_GYRO_I2C_DISABLE_t;
 
/*******************************************************************************
* Register      : CTRL4_C
* Address       : 0X13
* Bit Group Name: DRDY_MSK
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_DRDY_MSK_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_DRDY_MSK_ENABLED       = 0x08,
} LSM6DS3_ACC_GYRO_DRDY_MSK_t;
 
/*******************************************************************************
* Register      : CTRL4_C
* Address       : 0X13
* Bit Group Name: FIFO_TEMP_EN
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_FIFO_TEMP_EN_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_FIFO_TEMP_EN_ENABLED       = 0x10,
} LSM6DS3_ACC_GYRO_FIFO_TEMP_EN_t;
 
/*******************************************************************************
* Register      : CTRL4_C
* Address       : 0X13
* Bit Group Name: INT2_ON_INT1
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT2_ON_INT1_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_INT2_ON_INT1_ENABLED       = 0x20,
} LSM6DS3_ACC_GYRO_INT2_ON_INT1_t;
 
/*******************************************************************************
* Register      : CTRL4_C
* Address       : 0X13
* Bit Group Name: SLEEP_G
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_SLEEP_G_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_SLEEP_G_ENABLED         = 0x40,
} LSM6DS3_ACC_GYRO_SLEEP_G_t;
 
/*******************************************************************************
* Register      : CTRL4_C
* Address       : 0X13
* Bit Group Name: BW_SCAL_ODR
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_BW_SCAL_ODR_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_BW_SCAL_ODR_ENABLED         = 0x80,
} LSM6DS3_ACC_GYRO_BW_SCAL_ODR_t;
 
/*******************************************************************************
* Register      : CTRL5_C
* Address       : 0X14
* Bit Group Name: ST_XL
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_ST_XL_NORMAL_MODE         = 0x00,
    LSM6DS3_ACC_GYRO_ST_XL_POS_SIGN_TEST         = 0x01,
    LSM6DS3_ACC_GYRO_ST_XL_NEG_SIGN_TEST         = 0x02,
    LSM6DS3_ACC_GYRO_ST_XL_NA       = 0x03,
} LSM6DS3_ACC_GYRO_ST_XL_t;
 
/*******************************************************************************
* Register      : CTRL5_C
* Address       : 0X14
* Bit Group Name: ST_G
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_ST_G_NORMAL_MODE       = 0x00,
    LSM6DS3_ACC_GYRO_ST_G_POS_SIGN_TEST       = 0x04,
    LSM6DS3_ACC_GYRO_ST_G_NA         = 0x08,
    LSM6DS3_ACC_GYRO_ST_G_NEG_SIGN_TEST       = 0x0C,
} LSM6DS3_ACC_GYRO_ST_G_t;
 
/*******************************************************************************
* Register      : CTRL6_G
* Address       : 0X15
* Bit Group Name: LP_XL
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_LP_XL_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_LP_XL_ENABLED         = 0x10,
} LSM6DS3_ACC_GYRO_LP_XL_t;
 
/*******************************************************************************
* Register      : CTRL6_G
* Address       : 0X15
* Bit Group Name: DEN_LVL2_EN
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_DEN_LVL2_EN_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_DEN_LVL2_EN_ENABLED         = 0x20,
} LSM6DS3_ACC_GYRO_DEN_LVL2_EN_t;
 
/*******************************************************************************
* Register      : CTRL6_G
* Address       : 0X15
* Bit Group Name: DEN_LVL_EN
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_DEN_LVL_EN_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_DEN_LVL_EN_ENABLED       = 0x40,
} LSM6DS3_ACC_GYRO_DEN_LVL_EN_t;
 
/*******************************************************************************
* Register      : CTRL6_G
* Address       : 0X15
* Bit Group Name: DEN_EDGE_EN
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_DEN_EDGE_EN_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_DEN_EDGE_EN_ENABLED         = 0x80,
} LSM6DS3_ACC_GYRO_DEN_EDGE_EN_t;
 
/*******************************************************************************
* Register      : CTRL7_G
* Address       : 0X16
* Bit Group Name: HPM_G
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_HPM_G_NORMAL_MODE         = 0x00,
    LSM6DS3_ACC_GYRO_HPM_G_REF_SIGNAL       = 0x10,
    LSM6DS3_ACC_GYRO_HPM_G_NORMAL_MODE_2         = 0x20,
    LSM6DS3_ACC_GYRO_HPM_G_AUTO_RESET_ON_INT         = 0x30,
} LSM6DS3_ACC_GYRO_HPM_G_t;
 
/*******************************************************************************
* Register      : CTRL7_G
* Address       : 0X16
* Bit Group Name: HP_EN
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_HP_EN_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_HP_EN_ENABLED         = 0x40,
} LSM6DS3_ACC_GYRO_HP_EN_t;
 
/*******************************************************************************
* Register      : CTRL7_G
* Address       : 0X16
* Bit Group Name: LP_EN
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_LP_EN_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_LP_EN_ENABLED         = 0x80,
} LSM6DS3_ACC_GYRO_LP_EN_t;
 
/*******************************************************************************
* Register      : CTRL8_XL
* Address       : 0X17
* Bit Group Name: FDS
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_FDS_FILTER_OFF       = 0x00,
    LSM6DS3_ACC_GYRO_FDS_FILTER_ON         = 0x04,
} LSM6DS3_ACC_GYRO_FDS_t;
 
/*******************************************************************************
* Register      : CTRL9_XL
* Address       : 0X18
* Bit Group Name: XEN_XL
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_XEN_XL_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_XEN_XL_ENABLED       = 0x08,
} LSM6DS3_ACC_GYRO_XEN_XL_t;
 
/*******************************************************************************
* Register      : CTRL9_XL
* Address       : 0X18
* Bit Group Name: YEN_XL
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_YEN_XL_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_YEN_XL_ENABLED       = 0x10,
} LSM6DS3_ACC_GYRO_YEN_XL_t;
 
/*******************************************************************************
* Register      : CTRL9_XL
* Address       : 0X18
* Bit Group Name: ZEN_XL
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_ZEN_XL_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_ZEN_XL_ENABLED       = 0x20,
} LSM6DS3_ACC_GYRO_ZEN_XL_t;
 
/*******************************************************************************
* Register      : CTRL10_C
* Address       : 0X19
* Bit Group Name: SIGN_MOTION_EN
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_SIGN_MOTION_EN_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_SIGN_MOTION_EN_ENABLED       = 0x01,
} LSM6DS3_ACC_GYRO_SIGN_MOTION_EN_t;
 
/*******************************************************************************
* Register      : CTRL10_C
* Address       : 0X19
* Bit Group Name: PEDO_RST_STEP
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_PEDO_RST_STEP_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_PEDO_RST_STEP_ENABLED         = 0x02,
} LSM6DS3_ACC_GYRO_PEDO_RST_STEP_t;
 
/*******************************************************************************
* Register      : CTRL10_C
* Address       : 0X19
* Bit Group Name: XEN_G
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_XEN_G_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_XEN_G_ENABLED         = 0x08,
} LSM6DS3_ACC_GYRO_XEN_G_t;
 
/*******************************************************************************
* Register      : CTRL10_C
* Address       : 0X19
* Bit Group Name: YEN_G
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_YEN_G_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_YEN_G_ENABLED         = 0x10,
} LSM6DS3_ACC_GYRO_YEN_G_t;
 
/*******************************************************************************
* Register      : CTRL10_C
* Address       : 0X19
* Bit Group Name: ZEN_G
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_ZEN_G_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_ZEN_G_ENABLED         = 0x20,
} LSM6DS3_ACC_GYRO_ZEN_G_t;
 
/*******************************************************************************
* Register      : CTRL10_C
* Address       : 0X19
* Bit Group Name: FUNC_EN
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_FUNC_EN_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_FUNC_EN_ENABLED         = 0x04,
} LSM6DS3_ACC_GYRO_FUNC_EN_t;
 
/*******************************************************************************
* Register      : MASTER_CONFIG
* Address       : 0X1A
* Bit Group Name: MASTER_ON
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_MASTER_ON_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_MASTER_ON_ENABLED         = 0x01,
} LSM6DS3_ACC_GYRO_MASTER_ON_t;
 
/*******************************************************************************
* Register      : MASTER_CONFIG
* Address       : 0X1A
* Bit Group Name: IRON_EN
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_IRON_EN_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_IRON_EN_ENABLED         = 0x02,
} LSM6DS3_ACC_GYRO_IRON_EN_t;
 
/*******************************************************************************
* Register      : MASTER_CONFIG
* Address       : 0X1A
* Bit Group Name: PASS_THRU_MODE
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_PASS_THRU_MODE_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_PASS_THRU_MODE_ENABLED       = 0x04,
} LSM6DS3_ACC_GYRO_PASS_THRU_MODE_t;
 
/*******************************************************************************
* Register      : MASTER_CONFIG
* Address       : 0X1A
* Bit Group Name: PULL_UP_EN
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_PULL_UP_EN_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_PULL_UP_EN_ENABLED       = 0x08,
} LSM6DS3_ACC_GYRO_PULL_UP_EN_t;
 
/*******************************************************************************
* Register      : MASTER_CONFIG
* Address       : 0X1A
* Bit Group Name: START_CONFIG
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_START_CONFIG_XL_G_DRDY       = 0x00,
    LSM6DS3_ACC_GYRO_START_CONFIG_EXT_INT2         = 0x10,
} LSM6DS3_ACC_GYRO_START_CONFIG_t;
 
/*******************************************************************************
* Register      : MASTER_CONFIG
* Address       : 0X1A
* Bit Group Name: DATA_VAL_SEL_FIFO
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_DATA_VAL_SEL_FIFO_XL_G_DRDY         = 0x00,
    LSM6DS3_ACC_GYRO_DATA_VAL_SEL_FIFO_SHUB_DRDY         = 0x40,
} LSM6DS3_ACC_GYRO_DATA_VAL_SEL_FIFO_t;
 
/*******************************************************************************
* Register      : MASTER_CONFIG
* Address       : 0X1A
* Bit Group Name: DRDY_ON_INT1
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_DRDY_ON_INT1_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_DRDY_ON_INT1_ENABLED       = 0x80,
} LSM6DS3_ACC_GYRO_DRDY_ON_INT1_t;
 
/*******************************************************************************
* Register      : WAKE_UP_SRC
* Address       : 0X1B
* Bit Group Name: Z_WU
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_Z_WU_NOT_DETECTED         = 0x00,
    LSM6DS3_ACC_GYRO_Z_WU_DETECTED         = 0x01,
} LSM6DS3_ACC_GYRO_Z_WU_t;
 
/*******************************************************************************
* Register      : WAKE_UP_SRC
* Address       : 0X1B
* Bit Group Name: Y_WU
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_Y_WU_NOT_DETECTED         = 0x00,
    LSM6DS3_ACC_GYRO_Y_WU_DETECTED         = 0x02,
} LSM6DS3_ACC_GYRO_Y_WU_t;
 
/*******************************************************************************
* Register      : WAKE_UP_SRC
* Address       : 0X1B
* Bit Group Name: X_WU
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_X_WU_NOT_DETECTED         = 0x00,
    LSM6DS3_ACC_GYRO_X_WU_DETECTED         = 0x04,
} LSM6DS3_ACC_GYRO_X_WU_t;
 
/*******************************************************************************
* Register      : WAKE_UP_SRC
* Address       : 0X1B
* Bit Group Name: WU_EV_STATUS
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_WU_EV_STATUS_NOT_DETECTED         = 0x00,
    LSM6DS3_ACC_GYRO_WU_EV_STATUS_DETECTED         = 0x08,
} LSM6DS3_ACC_GYRO_WU_EV_STATUS_t;
 
/*******************************************************************************
* Register      : WAKE_UP_SRC
* Address       : 0X1B
* Bit Group Name: SLEEP_EV_STATUS
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_SLEEP_EV_STATUS_NOT_DETECTED       = 0x00,
    LSM6DS3_ACC_GYRO_SLEEP_EV_STATUS_DETECTED       = 0x10,
} LSM6DS3_ACC_GYRO_SLEEP_EV_STATUS_t;
 
/*******************************************************************************
* Register      : WAKE_UP_SRC
* Address       : 0X1B
* Bit Group Name: FF_EV_STATUS
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_FF_EV_STATUS_NOT_DETECTED         = 0x00,
    LSM6DS3_ACC_GYRO_FF_EV_STATUS_DETECTED         = 0x20,
} LSM6DS3_ACC_GYRO_FF_EV_STATUS_t;
 
/*******************************************************************************
* Register      : TAP_SRC
* Address       : 0X1C
* Bit Group Name: Z_TAP
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_Z_TAP_NOT_DETECTED       = 0x00,
    LSM6DS3_ACC_GYRO_Z_TAP_DETECTED       = 0x01,
} LSM6DS3_ACC_GYRO_Z_TAP_t;
 
/*******************************************************************************
* Register      : TAP_SRC
* Address       : 0X1C
* Bit Group Name: Y_TAP
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_Y_TAP_NOT_DETECTED       = 0x00,
    LSM6DS3_ACC_GYRO_Y_TAP_DETECTED       = 0x02,
} LSM6DS3_ACC_GYRO_Y_TAP_t;
 
/*******************************************************************************
* Register      : TAP_SRC
* Address       : 0X1C
* Bit Group Name: X_TAP
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_X_TAP_NOT_DETECTED       = 0x00,
    LSM6DS3_ACC_GYRO_X_TAP_DETECTED       = 0x04,
} LSM6DS3_ACC_GYRO_X_TAP_t;
 
/*******************************************************************************
* Register      : TAP_SRC
* Address       : 0X1C
* Bit Group Name: TAP_SIGN
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_TAP_SIGN_POS_SIGN         = 0x00,
    LSM6DS3_ACC_GYRO_TAP_SIGN_NEG_SIGN         = 0x08,
} LSM6DS3_ACC_GYRO_TAP_SIGN_t;
 
/*******************************************************************************
* Register      : TAP_SRC
* Address       : 0X1C
* Bit Group Name: DOUBLE_TAP_EV_STATUS
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_DOUBLE_TAP_EV_STATUS_NOT_DETECTED         = 0x00,
    LSM6DS3_ACC_GYRO_DOUBLE_TAP_EV_STATUS_DETECTED         = 0x10,
} LSM6DS3_ACC_GYRO_DOUBLE_TAP_EV_STATUS_t;
 
/*******************************************************************************
* Register      : TAP_SRC
* Address       : 0X1C
* Bit Group Name: SINGLE_TAP_EV_STATUS
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_SINGLE_TAP_EV_STATUS_NOT_DETECTED         = 0x00,
    LSM6DS3_ACC_GYRO_SINGLE_TAP_EV_STATUS_DETECTED         = 0x20,
} LSM6DS3_ACC_GYRO_SINGLE_TAP_EV_STATUS_t;
 
/*******************************************************************************
* Register      : TAP_SRC
* Address       : 0X1C
* Bit Group Name: TAP_EV_STATUS
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_TAP_EV_STATUS_NOT_DETECTED       = 0x00,
    LSM6DS3_ACC_GYRO_TAP_EV_STATUS_DETECTED       = 0x40,
} LSM6DS3_ACC_GYRO_TAP_EV_STATUS_t;
 
/*******************************************************************************
* Register      : D6D_SRC
* Address       : 0X1D
* Bit Group Name: DSD_XL
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_DSD_XL_NOT_DETECTED         = 0x00,
    LSM6DS3_ACC_GYRO_DSD_XL_DETECTED         = 0x01,
} LSM6DS3_ACC_GYRO_DSD_XL_t;
 
/*******************************************************************************
* Register      : D6D_SRC
* Address       : 0X1D
* Bit Group Name: DSD_XH
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_DSD_XH_NOT_DETECTED         = 0x00,
    LSM6DS3_ACC_GYRO_DSD_XH_DETECTED         = 0x02,
} LSM6DS3_ACC_GYRO_DSD_XH_t;
 
/*******************************************************************************
* Register      : D6D_SRC
* Address       : 0X1D
* Bit Group Name: DSD_YL
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_DSD_YL_NOT_DETECTED         = 0x00,
    LSM6DS3_ACC_GYRO_DSD_YL_DETECTED         = 0x04,
} LSM6DS3_ACC_GYRO_DSD_YL_t;
 
/*******************************************************************************
* Register      : D6D_SRC
* Address       : 0X1D
* Bit Group Name: DSD_YH
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_DSD_YH_NOT_DETECTED         = 0x00,
    LSM6DS3_ACC_GYRO_DSD_YH_DETECTED         = 0x08,
} LSM6DS3_ACC_GYRO_DSD_YH_t;
 
/*******************************************************************************
* Register      : D6D_SRC
* Address       : 0X1D
* Bit Group Name: DSD_ZL
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_DSD_ZL_NOT_DETECTED         = 0x00,
    LSM6DS3_ACC_GYRO_DSD_ZL_DETECTED         = 0x10,
} LSM6DS3_ACC_GYRO_DSD_ZL_t;
 
/*******************************************************************************
* Register      : D6D_SRC
* Address       : 0X1D
* Bit Group Name: DSD_ZH
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_DSD_ZH_NOT_DETECTED         = 0x00,
    LSM6DS3_ACC_GYRO_DSD_ZH_DETECTED         = 0x20,
} LSM6DS3_ACC_GYRO_DSD_ZH_t;
 
/*******************************************************************************
* Register      : D6D_SRC
* Address       : 0X1D
* Bit Group Name: D6D_EV_STATUS
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_D6D_EV_STATUS_NOT_DETECTED       = 0x00,
    LSM6DS3_ACC_GYRO_D6D_EV_STATUS_DETECTED       = 0x40,
} LSM6DS3_ACC_GYRO_D6D_EV_STATUS_t;
 
/*******************************************************************************
* Register      : STATUS_REG
* Address       : 0X1E
* Bit Group Name: XLDA
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_XLDA_NO_DATA_AVAIL       = 0x00,
    LSM6DS3_ACC_GYRO_XLDA_DATA_AVAIL         = 0x01,
} LSM6DS3_ACC_GYRO_XLDA_t;
 
/*******************************************************************************
* Register      : STATUS_REG
* Address       : 0X1E
* Bit Group Name: GDA
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_GDA_NO_DATA_AVAIL         = 0x00,
    LSM6DS3_ACC_GYRO_GDA_DATA_AVAIL       = 0x02,
} LSM6DS3_ACC_GYRO_GDA_t;
 
/*******************************************************************************
* Register      : STATUS_REG
* Address       : 0X1E
* Bit Group Name: EV_BOOT
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_EV_BOOT_NO_BOOT_RUNNING         = 0x00,
    LSM6DS3_ACC_GYRO_EV_BOOT_BOOT_IS_RUNNING         = 0x08,
} LSM6DS3_ACC_GYRO_EV_BOOT_t;
 
/*******************************************************************************
* Register      : FIFO_STATUS1
* Address       : 0X3A
* Bit Group Name: DIFF_FIFO
* Permission    : RO
*******************************************************************************/
#define     LSM6DS3_ACC_GYRO_DIFF_FIFO_STATUS1_MASK     0xFF
#define     LSM6DS3_ACC_GYRO_DIFF_FIFO_STATUS1_POSITION     0
#define     LSM6DS3_ACC_GYRO_DIFF_FIFO_STATUS2_MASK  0xF
#define     LSM6DS3_ACC_GYRO_DIFF_FIFO_STATUS2_POSITION     0
 
/*******************************************************************************
* Register      : FIFO_STATUS2
* Address       : 0X3B
* Bit Group Name: FIFO_EMPTY
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_FIFO_EMPTY_FIFO_NOT_EMPTY         = 0x00,
    LSM6DS3_ACC_GYRO_FIFO_EMPTY_FIFO_EMPTY         = 0x10,
} LSM6DS3_ACC_GYRO_FIFO_EMPTY_t;
 
/*******************************************************************************
* Register      : FIFO_STATUS2
* Address       : 0X3B
* Bit Group Name: FIFO_FULL
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_FIFO_FULL_FIFO_NOT_FULL         = 0x00,
    LSM6DS3_ACC_GYRO_FIFO_FULL_FIFO_FULL         = 0x20,
} LSM6DS3_ACC_GYRO_FIFO_FULL_t;
 
/*******************************************************************************
* Register      : FIFO_STATUS2
* Address       : 0X3B
* Bit Group Name: OVERRUN
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_OVERRUN_NO_OVERRUN       = 0x00,
    LSM6DS3_ACC_GYRO_OVERRUN_OVERRUN         = 0x40,
} LSM6DS3_ACC_GYRO_OVERRUN_t;
 
/*******************************************************************************
* Register      : FIFO_STATUS2
* Address       : 0X3B
* Bit Group Name: WTM
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_WTM_BELOW_WTM         = 0x00,
    LSM6DS3_ACC_GYRO_WTM_ABOVE_OR_EQUAL_WTM       = 0x80,
} LSM6DS3_ACC_GYRO_WTM_t;
 
/*******************************************************************************
* Register      : FIFO_STATUS3
* Address       : 0X3C
* Bit Group Name: FIFO_PATTERN
* Permission    : RO
*******************************************************************************/
#define     LSM6DS3_ACC_GYRO_FIFO_STATUS3_PATTERN_MASK      0xFF
#define     LSM6DS3_ACC_GYRO_FIFO_STATUS3_PATTERN_POSITION      0
#define     LSM6DS3_ACC_GYRO_FIFO_STATUS4_PATTERN_MASK      0x03
#define     LSM6DS3_ACC_GYRO_FIFO_STATUS4_PATTERN_POSITION      0
 
/*******************************************************************************
* Register      : FUNC_SRC
* Address       : 0X53
* Bit Group Name: SENS_HUB_END
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_SENS_HUB_END_STILL_ONGOING       = 0x00,
    LSM6DS3_ACC_GYRO_SENS_HUB_END_OP_COMPLETED         = 0x01,
} LSM6DS3_ACC_GYRO_SENS_HUB_END_t;
 
/*******************************************************************************
* Register      : FUNC_SRC
* Address       : 0X53
* Bit Group Name: SOFT_IRON_END
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_SOFT_IRON_END_NOT_COMPLETED         = 0x00,
    LSM6DS3_ACC_GYRO_SOFT_IRON_END_COMPLETED         = 0x02,
} LSM6DS3_ACC_GYRO_SOFT_IRON_END_t;
 
/*******************************************************************************
* Register      : FUNC_SRC
* Address       : 0X53
* Bit Group Name: PEDO_EV_STATUS
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_PEDO_EV_STATUS_NOT_DETECTED         = 0x00,
    LSM6DS3_ACC_GYRO_PEDO_EV_STATUS_DETECTED         = 0x10,
} LSM6DS3_ACC_GYRO_PEDO_EV_STATUS_t;
 
/*******************************************************************************
* Register      : FUNC_SRC
* Address       : 0X53
* Bit Group Name: TILT_EV_STATUS
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_TILT_EV_STATUS_NOT_DETECTED         = 0x00,
    LSM6DS3_ACC_GYRO_TILT_EV_STATUS_DETECTED         = 0x20,
} LSM6DS3_ACC_GYRO_TILT_EV_STATUS_t;
 
/*******************************************************************************
* Register      : FUNC_SRC
* Address       : 0X53
* Bit Group Name: SIGN_MOT_EV_STATUS
* Permission    : RO
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_SIGN_MOT_EV_STATUS_NOT_DETECTED         = 0x00,
    LSM6DS3_ACC_GYRO_SIGN_MOT_EV_STATUS_DETECTED         = 0x40,
} LSM6DS3_ACC_GYRO_SIGN_MOT_EV_STATUS_t;
 
/*******************************************************************************
* Register      : TAP_CFG1
* Address       : 0X58
* Bit Group Name: LIR
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_LIR_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_LIR_ENABLED         = 0x01,
} LSM6DS3_ACC_GYRO_LIR_t;
 
/*******************************************************************************
* Register      : TAP_CFG1
* Address       : 0X58
* Bit Group Name: TAP_Z_EN
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_TAP_Z_EN_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_TAP_Z_EN_ENABLED       = 0x02,
} LSM6DS3_ACC_GYRO_TAP_Z_EN_t;
 
/*******************************************************************************
* Register      : TAP_CFG1
* Address       : 0X58
* Bit Group Name: TAP_Y_EN
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_TAP_Y_EN_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_TAP_Y_EN_ENABLED       = 0x04,
} LSM6DS3_ACC_GYRO_TAP_Y_EN_t;
 
/*******************************************************************************
* Register      : TAP_CFG1
* Address       : 0X58
* Bit Group Name: TAP_X_EN
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_TAP_X_EN_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_TAP_X_EN_ENABLED       = 0x08,
} LSM6DS3_ACC_GYRO_TAP_X_EN_t;
 
/*******************************************************************************
* Register      : TAP_CFG1
* Address       : 0X58
* Bit Group Name: TILT_EN
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_TILT_EN_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_TILT_EN_ENABLED         = 0x20,
} LSM6DS3_ACC_GYRO_TILT_EN_t;
 
/*******************************************************************************
* Register      : TAP_CFG1
* Address       : 0X58
* Bit Group Name: PEDO_EN
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_PEDO_EN_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_PEDO_EN_ENABLED         = 0x40,
} LSM6DS3_ACC_GYRO_PEDO_EN_t;
 
/*******************************************************************************
* Register      : TAP_CFG1
* Address       : 0X58
* Bit Group Name: TIMER_EN
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_TIMER_EN_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_TIMER_EN_ENABLED       = 0x80,
} LSM6DS3_ACC_GYRO_TIMER_EN_t;
 
/*******************************************************************************
* Register      : TAP_THS_6D
* Address       : 0X59
* Bit Group Name: TAP_THS
* Permission    : RW
*******************************************************************************/
#define     LSM6DS3_ACC_GYRO_TAP_THS_MASK   0x1F
#define     LSM6DS3_ACC_GYRO_TAP_THS_POSITION   0
 
/*******************************************************************************
* Register      : TAP_THS_6D
* Address       : 0X59
* Bit Group Name: SIXD_THS
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_SIXD_THS_80_degree       = 0x00,
    LSM6DS3_ACC_GYRO_SIXD_THS_70_degree       = 0x20,
    LSM6DS3_ACC_GYRO_SIXD_THS_60_degree       = 0x40,
    LSM6DS3_ACC_GYRO_SIXD_THS_50_degree       = 0x60,
} LSM6DS3_ACC_GYRO_SIXD_THS_t;
 
/*******************************************************************************
* Register      : INT_DUR2
* Address       : 0X5A
* Bit Group Name: SHOCK
* Permission    : RW
*******************************************************************************/
#define     LSM6DS3_ACC_GYRO_SHOCK_MASK     0x03
#define     LSM6DS3_ACC_GYRO_SHOCK_POSITION     0
 
/*******************************************************************************
* Register      : INT_DUR2
* Address       : 0X5A
* Bit Group Name: QUIET
* Permission    : RW
*******************************************************************************/
#define     LSM6DS3_ACC_GYRO_QUIET_MASK     0x0C
#define     LSM6DS3_ACC_GYRO_QUIET_POSITION     2
 
/*******************************************************************************
* Register      : INT_DUR2
* Address       : 0X5A
* Bit Group Name: DUR
* Permission    : RW
*******************************************************************************/
#define     LSM6DS3_ACC_GYRO_DUR_MASK   0xF0
#define     LSM6DS3_ACC_GYRO_DUR_POSITION   4
 
/*******************************************************************************
* Register      : WAKE_UP_THS
* Address       : 0X5B
* Bit Group Name: WK_THS
* Permission    : RW
*******************************************************************************/
#define     LSM6DS3_ACC_GYRO_WK_THS_MASK    0x3F
#define     LSM6DS3_ACC_GYRO_WK_THS_POSITION    0
 
/*******************************************************************************
* Register      : WAKE_UP_THS
* Address       : 0X5B
* Bit Group Name: INACTIVITY_ON
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INACTIVITY_ON_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_INACTIVITY_ON_ENABLED         = 0x40,
} LSM6DS3_ACC_GYRO_INACTIVITY_ON_t;
 
/*******************************************************************************
* Register      : WAKE_UP_THS
* Address       : 0X5B
* Bit Group Name: SINGLE_DOUBLE_TAP
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP       = 0x00,
    LSM6DS3_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP       = 0x80,
} LSM6DS3_ACC_GYRO_SINGLE_DOUBLE_TAP_t;
 
/*******************************************************************************
* Register      : WAKE_UP_DUR
* Address       : 0X5C
* Bit Group Name: SLEEP_DUR
* Permission    : RW
*******************************************************************************/
#define     LSM6DS3_ACC_GYRO_SLEEP_DUR_MASK     0x0F
#define     LSM6DS3_ACC_GYRO_SLEEP_DUR_POSITION     0
 
/*******************************************************************************
* Register      : WAKE_UP_DUR
* Address       : 0X5C
* Bit Group Name: TIMER_HR
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_TIMER_HR_6_4ms       = 0x00,
    LSM6DS3_ACC_GYRO_TIMER_HR_25us         = 0x10,
} LSM6DS3_ACC_GYRO_TIMER_HR_t;
 
/*******************************************************************************
* Register      : WAKE_UP_DUR
* Address       : 0X5C
* Bit Group Name: WAKE_DUR
* Permission    : RW
*******************************************************************************/
#define     LSM6DS3_ACC_GYRO_WAKE_DUR_MASK      0x60
#define     LSM6DS3_ACC_GYRO_WAKE_DUR_POSITION      5
 
/*******************************************************************************
* Register      : FREE_FALL
* Address       : 0X5D
* Bit Group Name: FF_DUR
* Permission    : RW
*******************************************************************************/
#define     LSM6DS3_ACC_GYRO_FF_FREE_FALL_DUR_MASK      0xF8
#define     LSM6DS3_ACC_GYRO_FF_FREE_FALL_DUR_POSITION      3
#define     LSM6DS3_ACC_GYRO_FF_WAKE_UP_DUR_MASK    0x80
#define     LSM6DS3_ACC_GYRO_FF_WAKE_UP_DUR_POSITION    7
 
 
/*******************************************************************************
* Register      : FREE_FALL
* Address       : 0X5D
* Bit Group Name: FF_THS
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_FF_THS_5       = 0x00,
    LSM6DS3_ACC_GYRO_FF_THS_7       = 0x01,
    LSM6DS3_ACC_GYRO_FF_THS_8       = 0x02,
    LSM6DS3_ACC_GYRO_FF_THS_10         = 0x03,
    LSM6DS3_ACC_GYRO_FF_THS_11         = 0x04,
    LSM6DS3_ACC_GYRO_FF_THS_13         = 0x05,
    LSM6DS3_ACC_GYRO_FF_THS_15         = 0x06,
    LSM6DS3_ACC_GYRO_FF_THS_16         = 0x07,
} LSM6DS3_ACC_GYRO_FF_THS_t;
 
/*******************************************************************************
* Register      : MD1_CFG
* Address       : 0X5E
* Bit Group Name: INT1_TIMER
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT1_TIMER_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_INT1_TIMER_ENABLED       = 0x01,
} LSM6DS3_ACC_GYRO_INT1_TIMER_t;
 
/*******************************************************************************
* Register      : MD1_CFG
* Address       : 0X5E
* Bit Group Name: INT1_TILT
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT1_TILT_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_INT1_TILT_ENABLED         = 0x02,
} LSM6DS3_ACC_GYRO_INT1_TILT_t;
 
/*******************************************************************************
* Register      : MD1_CFG
* Address       : 0X5E
* Bit Group Name: INT1_6D
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT1_6D_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_INT1_6D_ENABLED         = 0x04,
} LSM6DS3_ACC_GYRO_INT1_6D_t;
 
/*******************************************************************************
* Register      : MD1_CFG
* Address       : 0X5E
* Bit Group Name: INT1_TAP
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT1_TAP_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_INT1_TAP_ENABLED       = 0x08,
} LSM6DS3_ACC_GYRO_INT1_TAP_t;
 
/*******************************************************************************
* Register      : MD1_CFG
* Address       : 0X5E
* Bit Group Name: INT1_FF
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT1_FF_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_INT1_FF_ENABLED         = 0x10,
} LSM6DS3_ACC_GYRO_INT1_FF_t;
 
/*******************************************************************************
* Register      : MD1_CFG
* Address       : 0X5E
* Bit Group Name: INT1_WU
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT1_WU_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_INT1_WU_ENABLED         = 0x20,
} LSM6DS3_ACC_GYRO_INT1_WU_t;
 
/*******************************************************************************
* Register      : MD1_CFG
* Address       : 0X5E
* Bit Group Name: INT1_SINGLE_TAP
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT1_SINGLE_TAP_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_INT1_SINGLE_TAP_ENABLED         = 0x40,
} LSM6DS3_ACC_GYRO_INT1_SINGLE_TAP_t;
 
/*******************************************************************************
* Register      : MD1_CFG
* Address       : 0X5E
* Bit Group Name: INT1_SLEEP
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT1_SLEEP_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_INT1_SLEEP_ENABLED       = 0x80,
} LSM6DS3_ACC_GYRO_INT1_SLEEP_t;
 
/*******************************************************************************
* Register      : MD2_CFG
* Address       : 0X5F
* Bit Group Name: INT2_TIMER
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT2_TIMER_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_INT2_TIMER_ENABLED       = 0x01,
} LSM6DS3_ACC_GYRO_INT2_TIMER_t;
 
/*******************************************************************************
* Register      : MD2_CFG
* Address       : 0X5F
* Bit Group Name: INT2_TILT
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT2_TILT_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_INT2_TILT_ENABLED         = 0x02,
} LSM6DS3_ACC_GYRO_INT2_TILT_t;
 
/*******************************************************************************
* Register      : MD2_CFG
* Address       : 0X5F
* Bit Group Name: INT2_6D
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT2_6D_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_INT2_6D_ENABLED         = 0x04,
} LSM6DS3_ACC_GYRO_INT2_6D_t;
 
/*******************************************************************************
* Register      : MD2_CFG
* Address       : 0X5F
* Bit Group Name: INT2_TAP
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT2_TAP_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_INT2_TAP_ENABLED       = 0x08,
} LSM6DS3_ACC_GYRO_INT2_TAP_t;
 
/*******************************************************************************
* Register      : MD2_CFG
* Address       : 0X5F
* Bit Group Name: INT2_FF
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT2_FF_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_INT2_FF_ENABLED         = 0x10,
} LSM6DS3_ACC_GYRO_INT2_FF_t;
 
/*******************************************************************************
* Register      : MD2_CFG
* Address       : 0X5F
* Bit Group Name: INT2_WU
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT2_WU_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_INT2_WU_ENABLED         = 0x20,
} LSM6DS3_ACC_GYRO_INT2_WU_t;
 
/*******************************************************************************
* Register      : MD2_CFG
* Address       : 0X5F
* Bit Group Name: INT2_SINGLE_TAP
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT2_SINGLE_TAP_DISABLED       = 0x00,
    LSM6DS3_ACC_GYRO_INT2_SINGLE_TAP_ENABLED         = 0x40,
} LSM6DS3_ACC_GYRO_INT2_SINGLE_TAP_t;
 
/*******************************************************************************
* Register      : MD2_CFG
* Address       : 0X5F
* Bit Group Name: INT2_SLEEP
* Permission    : RW
*******************************************************************************/
typedef enum {
    LSM6DS3_ACC_GYRO_INT2_SLEEP_DISABLED         = 0x00,
    LSM6DS3_ACC_GYRO_INT2_SLEEP_ENABLED       = 0x80,
} LSM6DS3_ACC_GYRO_INT2_SLEEP_t;
 
#endif  // End of __LSM6DS3IMU_H__ definition check