imu_lsm6dsv16x.h

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#ifndef IMU_LSM6DSV16X_H
#define IMU_LSM6DSV16X_H
 
#include <stdint.h>
#include <stddef.h>
#include "sensor_bus.h"
#include "lsm6dsv16x_reg.h"
 
#define IMU_I2C_ADDR_7BIT       0x6Bu   
#define IMU_FIFO_REG            LSM6DSV16X_FIFO_DATA_OUT_TAG   
#define IMU_FIFO_WORD_BYTES     7u
#define IMU_FIFO_MAX_WORDS      48u     
typedef enum { IMU_ODR_960HZ = 0, IMU_ODR_1920HZ = 1 } imu_odr_t;
 
typedef struct {
    imu_odr_t odr;              
    uint8_t   watermark_words;  
    uint8_t   gy_lpf1_bw;       
    uint8_t   xl_lpf2_enable;
    uint8_t   xl_lpf2_bw;       
    uint8_t   mag_enable;       
    uint8_t   mag_fast;         
    uint8_t   baro_enable;      /* LPS22DF/LPS22HB via sensor hub, optional: a missing
                                   part leaves baro_enabled = 0 and is not an error   */
} imu_config_t;
 
typedef enum { IMU_BARO_NONE = 0, IMU_BARO_LPS22DF = 1, IMU_BARO_LPS22HB = 2 } imu_baro_t;
 
/* Sensor-hub re-read rate, used to compute the age of the mag sample */
#define IMU_SH_HZ(fast)   ((fast) ? 120.0f : 60.0f)
 
typedef enum {
    IMU_OK = 0, IMU_ERR_BUS = -1, IMU_ERR_ID = -2, IMU_ERR_MAG_ID = -3,
    IMU_ERR_SH_TIMEOUT = -4, IMU_ERR_ARG = -5
} imu_status_t;
 
typedef enum { IMU_EV_GYRO = 1, IMU_EV_ACC = 2, IMU_EV_MAG = 3, IMU_EV_BARO = 4 } imu_ev_type_t;
 
typedef struct {
    uint8_t type;      
    float   v[3];      /* gyro rad/s, acc g, mag uT (sensor frame);
                          baro: v[0] Pa, v[1] degC                      */
} imu_event_t;
 
typedef struct {
    uint32_t words, gyro, acc, mag, mag_dup, sh_nack, empty, unknown;
    uint32_t baro, baro_dup;
} imu_parse_stats_t;
 
typedef struct {
    stmdev_ctx_t ctx;
    sensor_bus_t bus;
    float        odr_hz;
    uint8_t      mag_enabled;
    uint8_t      last_mag_raw[6];   
    uint8_t      have_mag;
    uint8_t      baro_enabled, baro_model, baro_addr8, baro_slot;
    uint8_t      last_baro_raw[5];
    uint8_t      have_baro;
} imu_t;
 
int32_t imu_init(imu_t *imu, const sensor_bus_t *bus, const imu_config_t *cfg);
 
int32_t imu_fifo_level(imu_t *imu, uint16_t *words);
 
int32_t imu_fifo_read_burst(imu_t *imu, uint8_t *raw, uint16_t words);
 
size_t  imu_fifo_parse(imu_t *imu, const uint8_t *raw, uint16_t words,
                       imu_event_t *ev, size_t cap, imu_parse_stats_t *st);
 
#endif /* IMU_LSM6DSV16X_H */