text: """
  LSM6DSOX STMicro driver for MicroPython based on LSM9DS1:
  Source repo: https://github.com/hoihu/projects/tree/master/raspi-hat
  
  The MIT License (MIT)
  
  Copyright (c) 2021 Damien P. George
  Copyright (c) 2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
  
  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.
  
  Basic example usage:
  
  import time
  from lsm6dsox import LSM6DSOX
  
  from machine import Pin, I2C
  lsm = LSM6DSOX(I2C(0, scl=Pin(13), sda=Pin(12)))
  
  while (True):
      print('Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_accel()))
      print('Gyroscope:     x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_gyro()))
      print("")
      time.sleep_ms(100)
  """
  import array
  from micropython import const
  
  
  class LSM6DSOX:
      _CTRL3_C = const(0x12)
      _CTRL1_XL = const(0x10)
      _CTRL8_XL = const(0x17)
      _CTRL9_XL = const(0x18)
  
      _CTRL2_G = const(0x11)
      _CTRL7_G = const(0x16)
  
      _OUTX_L_G = const(0x22)
      _OUTX_L_XL = const(0x28)
      _MLC_STATUS = const(0x38)
  
      _DEFAULT_ADDR = const(0x6A)
      _WHO_AM_I_REG = const(0x0F)
  
      _FUNC_CFG_ACCESS = const(0x01)
      _FUNC_CFG_BANK_USER = const(0)
      _FUNC_CFG_BANK_HUB = const(1)
      _FUNC_CFG_BANK_EMBED = const(2)
  
      _MLC0_SRC = const(0x70)
      _MLC_INT1 = const(0x0D)
      _TAP_CFG0 = const(0x56)
  
      _EMB_FUNC_EN_A = const(0x04)
      _EMB_FUNC_EN_B = const(0x05)
  
      def __init__(
          self,
          i2c,
          address=_DEFAULT_ADDR,
          gyro_odr=104,
          accel_odr=104,
          gyro_scale=2000,
          accel_scale=4,
          ucf=None,
      ):
          """Initalizes Gyro and Accelerator.
          accel_odr: (0, 1.6Hz, 3.33Hz, 6.66Hz, 12.5Hz, 26Hz, 52Hz, 104Hz, 208Hz, 416Hz, 888Hz)
          gyro_odr:  (0, 1.6Hz, 3.33Hz, 6.66Hz, 12.5Hz, 26Hz, 52Hz, 104Hz, 208Hz, 416Hz, 888Hz)
          gyro_scale:  (245dps, 500dps, 1000dps, 2000dps)
          accel_scale: (+/-2g, +/-4g, +/-8g, +-16g)
          ucf: MLC program to load.
          """
          self.i2c = i2c
          self.address = address
  
          # check the id of the Accelerometer/Gyro
          if self.__read_reg(_WHO_AM_I_REG) != 108:
              raise OSError("No LSM6DS device was found at address 0x%x" % (self.address))
  
          # allocate scratch buffer for efficient conversions and memread op's
          self.scratch_int = array.array("h", [0, 0, 0])
  
          SCALE_GYRO = {250: 0, 500: 1, 1000: 2, 2000: 3}
          SCALE_ACCEL = {2: 0, 4: 2, 8: 3, 16: 1}
          # XL_HM_MODE = 0 by default. G_HM_MODE = 0 by default.
          ODR = {
              0: 0x00,
              1.6: 0x08,
              3.33: 0x09,
              6.66: 0x0A,
              12.5: 0x01,
              26: 0x02,
              52: 0x03,
              104: 0x04,
              208: 0x05,
              416: 0x06,
              888: 0x07,
          }
  
          gyro_odr = round(gyro_odr, 2)
          accel_odr = round(accel_odr, 2)
  
          # Sanity checks
          if not gyro_odr in ODR:
              raise ValueError("Invalid sampling rate: %d" % accel_odr)
          if not gyro_scale in SCALE_GYRO:
              raise ValueError("invalid gyro scaling: %d" % gyro_scale)
          if not accel_odr in ODR:
              raise ValueError("Invalid sampling rate: %d" % accel_odr)
          if not accel_scale in SCALE_ACCEL:
              raise ValueError("invalid accelerometer scaling: %d" % accel_scale)
  
          # Soft-reset the device.
          self.reset()
  
          # Load and configure MLC if UCF file is provided
          if ucf != None:
              self.load_mlc(ucf)
  
          # Set Gyroscope datarate and scale.
          # Note output from LPF2 second filtering stage is selected. See Figure 18.
          self.__write_reg(_CTRL1_XL, (ODR[accel_odr] << 4) | (SCALE_ACCEL[accel_scale] << 2) | 2)
  
          # Enable LPF2 and HPF fast-settling mode, ODR/4
          self.__write_reg(_CTRL8_XL, 0x09)
  
          # Set Gyroscope datarate and scale.
          self.__write_reg(_CTRL2_G, (ODR[gyro_odr] << 4) | (SCALE_GYRO[gyro_scale] << 2) | 0)
  
          self.gyro_scale = 32768 / gyro_scale
          self.accel_scale = 32768 / accel_scale
  
      def __read_reg(self, reg, size=1):
          buf = self.i2c.readfrom_mem(self.address, reg, size)
          if size == 1:
              return int(buf[0])
          return [int(x) for x in buf]
  
      def __write_reg(self, reg, val):
          self.i2c.writeto_mem(self.address, reg, bytes([val]))
  
      def reset(self):
          self.__write_reg(_CTRL3_C, self.__read_reg(_CTRL3_C) | 0x1)
          for i in range(0, 10):
              if (self.__read_reg(_CTRL3_C) & 0x01) == 0:
                  return
              time.sleep_ms(10)
          raise OSError("Failed to reset LSM6DS device.")
  
      def set_mem_bank(self, bank):
          cfg = self.__read_reg(_FUNC_CFG_ACCESS) & 0x3F
          self.__write_reg(_FUNC_CFG_ACCESS, cfg | (bank << 6))
  
      def set_embedded_functions(self, enable, emb_ab=None):
          self.set_mem_bank(_FUNC_CFG_BANK_EMBED)
          if enable:
              self.__write_reg(_EMB_FUNC_EN_A, emb_ab[0])
              self.__write_reg(_EMB_FUNC_EN_B, emb_ab[1])
          else:
              emb_a = self.__read_reg(_EMB_FUNC_EN_A)
              emb_b = self.__read_reg(_EMB_FUNC_EN_B)
              self.__write_reg(_EMB_FUNC_EN_A, (emb_a & 0xC7))
              self.__write_reg(_EMB_FUNC_EN_B, (emb_b & 0xE6))
              emb_ab = (emb_a, emb_b)
  
          self.set_mem_bank(_FUNC_CFG_BANK_USER)
          return emb_ab
  
      def load_mlc(self, ucf):
          # Load MLC config from file
          with open(ucf, "r") as ucf_file:
              for l in ucf_file:
                  if l.startswith("Ac"):
                      v = [int(v, 16) for v in l.strip().split(" ")[1:3]]
                      self.__write_reg(v[0], v[1])
  
          emb_ab = self.set_embedded_functions(False)
  
          # Disable I3C interface
          self.__write_reg(_CTRL9_XL, self.__read_reg(_CTRL9_XL) | 0x01)
  
          # Enable Block Data Update
          self.__write_reg(_CTRL3_C, self.__read_reg(_CTRL3_C) | 0x40)
  
          # Route signals on interrupt pin 1
          self.set_mem_bank(_FUNC_CFG_BANK_EMBED)
          self.__write_reg(_MLC_INT1, self.__read_reg(_MLC_INT1) & 0x01)
          self.set_mem_bank(_FUNC_CFG_BANK_USER)
  
          # Configure interrupt pin mode
          self.__write_reg(_TAP_CFG0, self.__read_reg(_TAP_CFG0) | 0x41)
  
          self.set_embedded_functions(True, emb_ab)
  
      def read_mlc_output(self):
          buf = None
          if self.__read_reg(_MLC_STATUS) & 0x1:
              self.__read_reg(0x1A, size=12)
              self.set_mem_bank(_FUNC_CFG_BANK_EMBED)
              buf = self.__read_reg(_MLC0_SRC, 8)
              self.set_mem_bank(_FUNC_CFG_BANK_USER)
          return buf
  
      def read_gyro(self):
          """Returns gyroscope vector in degrees/sec."""
          mv = memoryview(self.scratch_int)
          f = self.gyro_scale
          self.i2c.readfrom_mem_into(self.address, _OUTX_L_G, mv)
          return (mv[0] / f, mv[1] / f, mv[2] / f)
  
      def read_accel(self):
          """Returns acceleration vector in gravity units (9.81m/s^2)."""
          mv = memoryview(self.scratch_int)
          f = self.accel_scale
          self.i2c.readfrom_mem_into(self.address, _OUTX_L_XL, mv)
          return (mv[0] / f, mv[1] / f, mv[2] / f)
  