text: /*
   ******************************************************************************
   * @file    lsm6dso_reg.h
   * @author  Sensors Software Solution Team
   * @brief   This file contains all the functions prototypes for the
   *          lsm6dso_reg.c driver.
   ******************************************************************************
   * @attention
   *
   * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
   * All rights reserved.</center></h2>
   *
   * This software component is licensed by ST under BSD 3-Clause license,
   * the "License"; You may not use this file except in compliance with the
   * License. You may obtain a copy of the License at:
   *                        opensource.org/licenses/BSD-3-Clause
   *
   ******************************************************************************
   */
  
  /* Define to prevent recursive inclusion -------------------------------------*/
  #ifndef LSM6DSO_REGS_H
  #define LSM6DSO_REGS_H
  
  #ifdef __cplusplus
    extern "C" {
  #endif
  
  /* Includes ------------------------------------------------------------------*/
  #include <stdint.h>
  #include <math.h>
  
  /** @addtogroup LSM6DSO
    * @{
    *
    */
  
  /** @defgroup STMicroelectronics sensors common types
    * @{
    *
    */
  
  #ifndef MEMS_SHARED_TYPES
  #define MEMS_SHARED_TYPES
  
  typedef struct{
    uint8_t bit0       : 1;
    uint8_t bit1       : 1;
    uint8_t bit2       : 1;
    uint8_t bit3       : 1;
    uint8_t bit4       : 1;
    uint8_t bit5       : 1;
    uint8_t bit6       : 1;
    uint8_t bit7       : 1;
  } bitwise_t;
  
  #define PROPERTY_DISABLE                (0U)
  #define PROPERTY_ENABLE                 (1U)
  
  /** @addtogroup  Interfaces_Functions
    * @brief       This section provide a set of functions used to read and
    *              write a generic register of the device.
    *              MANDATORY: return 0 -> no Error.
    * @{
    *
    */
  
  typedef int32_t (*stmdev_write_ptr)(void *, uint8_t, uint8_t*, uint16_t);
  typedef int32_t (*stmdev_read_ptr) (void *, uint8_t, uint8_t*, uint16_t);
  
  typedef struct {
    /** Component mandatory fields **/
    stmdev_write_ptr  write_reg;
    stmdev_read_ptr   read_reg;
    /** Customizable optional pointer **/
    void *handle;
  } stmdev_ctx_t;
  
  /**
    * @}
    *
    */
  
  #endif /* MEMS_SHARED_TYPES */
  
  #ifndef MEMS_UCF_SHARED_TYPES
  #define MEMS_UCF_SHARED_TYPES
  
  /** @defgroup    Generic address-data structure definition
    * @brief       This structure is useful to load a predefined configuration
    *              of a sensor.
    *              You can create a sensor configuration by your own or using
    *              Unico / Unicleo tools available on STMicroelectronics
    *              web site.
    *
    * @{
    *
    */
  
  typedef struct {
    uint8_t address;
    uint8_t data;
  } ucf_line_t;
  
  /**
    * @}
    *
    */
  
  #endif /* MEMS_UCF_SHARED_TYPES */
  
  /**
    * @}
    *
    */
  
  /** @defgroup LSM6DSO_Infos
    * @{
    *
    */
  
  /** I2C Device Address 8 bit format  if SA0=0 -> D5 if SA0=1 -> D7 **/
  #define LSM6DSO_I2C_ADD_L                    0xD5
  #define LSM6DSO_I2C_ADD_H                    0xD7
  
  /** Device Identification (Who am I) **/
  #define LSM6DSO_ID                           0x6C
  
  /**
    * @}
    *
    */
  
  #define LSM6DSO_FUNC_CFG_ACCESS              0x01U
  typedef struct {
    uint8_t not_used_01              : 6;
    uint8_t reg_access               : 2; /* shub_reg_access + func_cfg_access */
  } lsm6dso_func_cfg_access_t;
  
  #define LSM6DSO_PIN_CTRL                     0x02U
  typedef struct {
    uint8_t not_used_01              : 6;
    uint8_t sdo_pu_en                : 1;
    uint8_t ois_pu_dis               : 1;
  } lsm6dso_pin_ctrl_t;
  
  #define LSM6DSO_FIFO_CTRL1                   0x07U
  typedef struct {
    uint8_t wtm                      : 8;
  } lsm6dso_fifo_ctrl1_t;
  
  #define LSM6DSO_FIFO_CTRL2                   0x08U
  typedef struct {
    uint8_t wtm                      : 1;
    uint8_t uncoptr_rate             : 2;
    uint8_t not_used_01              : 1;
    uint8_t odrchg_en                : 1;
    uint8_t not_used_02              : 1;
    uint8_t fifo_compr_rt_en         : 1;
    uint8_t stop_on_wtm              : 1;
  } lsm6dso_fifo_ctrl2_t;
  
  #define LSM6DSO_FIFO_CTRL3                   0x09U
  typedef struct {
    uint8_t bdr_xl                   : 4;
    uint8_t bdr_gy                   : 4;
  } lsm6dso_fifo_ctrl3_t;
  
  #define LSM6DSO_FIFO_CTRL4                   0x0AU
  typedef struct {
    uint8_t fifo_mode                : 3;
    uint8_t not_used_01              : 1;
    uint8_t odr_t_batch              : 2;
    uint8_t odr_ts_batch             : 2;
  } lsm6dso_fifo_ctrl4_t;
  
  #define LSM6DSO_COUNTER_BDR_REG1             0x0BU
  typedef struct {
    uint8_t cnt_bdr_th               : 3;
    uint8_t not_used_01              : 2;
    uint8_t trig_counter_bdr         : 1;
    uint8_t rst_counter_bdr          : 1;
    uint8_t dataready_pulsed         : 1;
  } lsm6dso_counter_bdr_reg1_t;
  
  #define LSM6DSO_COUNTER_BDR_REG2             0x0CU
  typedef struct {
    uint8_t cnt_bdr_th               : 8;
  } lsm6dso_counter_bdr_reg2_t;
  
  #define LSM6DSO_INT1_CTRL  0x0D
  typedef struct {
    uint8_t int1_drdy_xl             : 1;
    uint8_t int1_drdy_g              : 1;
    uint8_t int1_boot                : 1;
    uint8_t int1_fifo_th             : 1;
    uint8_t int1_fifo_ovr            : 1;
    uint8_t int1_fifo_full           : 1;
    uint8_t int1_cnt_bdr             : 1;
    uint8_t den_drdy_flag            : 1;
  } lsm6dso_int1_ctrl_t;
  
  #define LSM6DSO_INT2_CTRL                    0x0EU
  typedef struct {
    uint8_t int2_drdy_xl             : 1;
    uint8_t int2_drdy_g              : 1;
    uint8_t int2_drdy_temp           : 1;
    uint8_t int2_fifo_th             : 1;
    uint8_t int2_fifo_ovr            : 1;
    uint8_t int2_fifo_full           : 1;
    uint8_t int2_cnt_bdr             : 1;
    uint8_t not_used_01              : 1;
  } lsm6dso_int2_ctrl_t;
  
  #define LSM6DSO_WHO_AM_I                     0x0FU
  #define LSM6DSO_CTRL1_XL                     0x10U
  typedef struct {
    uint8_t not_used_01              : 1;
    uint8_t lpf2_xl_en               : 1;
    uint8_t fs_xl                    : 2;
    uint8_t odr_xl                   : 4;
  } lsm6dso_ctrl1_xl_t;
  
  #define LSM6DSO_CTRL2_G                      0x11U
  typedef struct {
    uint8_t not_used_01              : 1;
    uint8_t fs_g                     : 3; /* fs_125 + fs_g */
    uint8_t odr_g                    : 4;
  } lsm6dso_ctrl2_g_t;
  
  #define LSM6DSO_CTRL3_C                      0x12U
  typedef struct {
    uint8_t sw_reset                 : 1;
    uint8_t not_used_01              : 1;
    uint8_t if_inc                   : 1;
    uint8_t sim                      : 1;
    uint8_t pp_od                    : 1;
    uint8_t h_lactive                : 1;
    uint8_t bdu                      : 1;
    uint8_t boot                     : 1;
  } lsm6dso_ctrl3_c_t;
  
  #define LSM6DSO_CTRL4_C                      0x13U
  typedef struct {
    uint8_t not_used_01              : 1;
    uint8_t lpf1_sel_g               : 1;
    uint8_t i2c_disable              : 1;
    uint8_t drdy_mask                : 1;
    uint8_t not_used_02              : 1;
    uint8_t int2_on_int1             : 1;
    uint8_t sleep_g                  : 1;
    uint8_t not_used_03              : 1;
  } lsm6dso_ctrl4_c_t;
  
  #define LSM6DSO_CTRL5_C                      0x14U
  typedef struct {
    uint8_t st_xl                    : 2;
    uint8_t st_g                     : 2;
    uint8_t not_used_01              : 1;
    uint8_t rounding                 : 2;
    uint8_t xl_ulp_en                : 1;
  } lsm6dso_ctrl5_c_t;
  
  #define LSM6DSO_CTRL6_C                      0x15U
  typedef struct {
    uint8_t ftype                    : 3;
    uint8_t usr_off_w                : 1;
    uint8_t xl_hm_mode               : 1;
    uint8_t den_mode                 : 3;   /* trig_en + lvl1_en + lvl2_en */
  } lsm6dso_ctrl6_c_t;
  
  #define LSM6DSO_CTRL7_G                      0x16U
  typedef struct {
    uint8_t ois_on                   : 1;
    uint8_t usr_off_on_out           : 1;
    uint8_t ois_on_en                : 1;
    uint8_t not_used_01              : 1;
    uint8_t hpm_g                    : 2;
    uint8_t hp_en_g                  : 1;
    uint8_t g_hm_mode                : 1;
  } lsm6dso_ctrl7_g_t;
  
  #define LSM6DSO_CTRL8_XL                     0x17U
  typedef struct {
    uint8_t low_pass_on_6d           : 1;
    uint8_t xl_fs_mode               : 1;
    uint8_t hp_slope_xl_en           : 1;
    uint8_t fastsettl_mode_xl        : 1;
    uint8_t hp_ref_mode_xl           : 1;
    uint8_t hpcf_xl                  : 3;
  } lsm6dso_ctrl8_xl_t;
  
  #define LSM6DSO_CTRL9_XL                     0x18U
  typedef struct {
    uint8_t not_used_01              : 1;
    uint8_t i3c_disable              : 1;
    uint8_t den_lh                   : 1;
    uint8_t den_xl_g                 : 2;   /* den_xl_en + den_xl_g */
    uint8_t den_z                    : 1;
    uint8_t den_y                    : 1;
    uint8_t den_x                    : 1;
  } lsm6dso_ctrl9_xl_t;
  
  #define LSM6DSO_CTRL10_C                     0x19U
  typedef struct {
    uint8_t not_used_01              : 5;
    uint8_t timestamp_en             : 1;
    uint8_t not_used_02              : 2;
  } lsm6dso_ctrl10_c_t;
  
  #define LSM6DSO_ALL_INT_SRC                  0x1AU
  typedef struct {
    uint8_t ff_ia                    : 1;
    uint8_t wu_ia                    : 1;
    uint8_t single_tap               : 1;
    uint8_t double_tap               : 1;
    uint8_t d6d_ia                   : 1;
    uint8_t sleep_change_ia          : 1;
    uint8_t not_used_01              : 1;
    uint8_t timestamp_endcount       : 1;
  } lsm6dso_all_int_src_t;
  
  #define LSM6DSO_WAKE_UP_SRC                  0x1BU
  typedef struct {
    uint8_t z_wu                     : 1;
    uint8_t y_wu                     : 1;
    uint8_t x_wu                     : 1;
    uint8_t wu_ia                    : 1;
    uint8_t sleep_state              : 1;
    uint8_t ff_ia                    : 1;
    uint8_t sleep_change_ia          : 1;
    uint8_t not_used_01              : 1;
  } lsm6dso_wake_up_src_t;
  
  #define LSM6DSO_TAP_SRC                      0x1CU
  typedef struct {
    uint8_t z_tap                    : 1;
    uint8_t y_tap                    : 1;
    uint8_t x_tap                    : 1;
    uint8_t tap_sign                 : 1;
    uint8_t double_tap               : 1;
    uint8_t single_tap               : 1;
    uint8_t tap_ia                   : 1;
    uint8_t not_used_02              : 1;
  } lsm6dso_tap_src_t;
  
  #define LSM6DSO_D6D_SRC                      0x1DU
  typedef struct {
    uint8_t xl                       : 1;
    uint8_t xh                       : 1;
    uint8_t yl                       : 1;
    uint8_t yh                       : 1;
    uint8_t zl                       : 1;
    uint8_t zh                       : 1;
    uint8_t d6d_ia                   : 1;
    uint8_t den_drdy                 : 1;
  } lsm6dso_d6d_src_t;
  
  #define LSM6DSO_STATUS_REG                   0x1EU
  typedef struct {
    uint8_t xlda                     : 1;
    uint8_t gda                      : 1;
    uint8_t tda                      : 1;
    uint8_t not_used_01              : 5;
  } lsm6dso_status_reg_t;
  
  #define LSM6DSO_STATUS_SPIAUX                0x1EU
  typedef struct {
    uint8_t xlda                     : 1;
    uint8_t gda                      : 1;
    uint8_t gyro_settling            : 1;
    uint8_t not_used_01              : 5;
  } lsm6dso_status_spiaux_t;
  
  #define LSM6DSO_OUT_TEMP_L                   0x20U
  #define LSM6DSO_OUT_TEMP_H                   0x21U
  #define LSM6DSO_OUTX_L_G                     0x22U
  #define LSM6DSO_OUTX_H_G                     0x23U
  #define LSM6DSO_OUTY_L_G                     0x24U
  #define LSM6DSO_OUTY_H_G                     0x25U
  #define LSM6DSO_OUTZ_L_G                     0x26U
  #define LSM6DSO_OUTZ_H_G                     0x27U
  #define LSM6DSO_OUTX_L_A                     0x28U
  #define LSM6DSO_OUTX_H_A                     0x29U
  #define LSM6DSO_OUTY_L_A                     0x2AU
  #define LSM6DSO_OUTY_H_A                     0x2BU
  #define LSM6DSO_OUTZ_L_A                     0x2CU
  #define LSM6DSO_OUTZ_H_A                     0x2DU
  #define LSM6DSO_EMB_FUNC_STATUS_MAINPAGE     0x35U
  typedef struct {
    uint8_t not_used_01             : 3;
    uint8_t is_step_det             : 1;
    uint8_t is_tilt                 : 1;
    uint8_t is_sigmot               : 1;
    uint8_t not_used_02             : 1;
    uint8_t is_fsm_lc               : 1;
  } lsm6dso_emb_func_status_mainpage_t;
  
  #define LSM6DSO_FSM_STATUS_A_MAINPAGE        0x36U
  typedef struct {
    uint8_t is_fsm1                 : 1;
    uint8_t is_fsm2                 : 1;
    uint8_t is_fsm3                 : 1;
    uint8_t is_fsm4                 : 1;
    uint8_t is_fsm5                 : 1;
    uint8_t is_fsm6                 : 1;
    uint8_t is_fsm7                 : 1;
    uint8_t is_fsm8                 : 1;
    } lsm6dso_fsm_status_a_mainpage_t;
  
  #define LSM6DSO_FSM_STATUS_B_MAINPAGE        0x37U
  typedef struct {
    uint8_t is_fsm9                 : 1;
    uint8_t is_fsm10                : 1;
    uint8_t is_fsm11                : 1;
    uint8_t is_fsm12                : 1;
    uint8_t is_fsm13                : 1;
    uint8_t is_fsm14                : 1;
    uint8_t is_fsm15                : 1;
    uint8_t is_fsm16                : 1;
  } lsm6dso_fsm_status_b_mainpage_t;
  
  #define LSM6DSO_STATUS_MASTER_MAINPAGE       0x39U
  typedef struct {
    uint8_t sens_hub_endop          : 1;
    uint8_t not_used_01             : 2;
    uint8_t slave0_nack             : 1;
    uint8_t slave1_nack             : 1;
    uint8_t slave2_nack             : 1;
    uint8_t slave3_nack             : 1;
    uint8_t wr_once_done            : 1;
  } lsm6dso_status_master_mainpage_t;
  
  #define LSM6DSO_FIFO_STATUS1                 0x3AU
  typedef struct {
    uint8_t diff_fifo                : 8;
  } lsm6dso_fifo_status1_t;
  
  #define LSM6DSO_FIFO_STATUS2                 0x3B
  typedef struct {
    uint8_t diff_fifo                : 2;
    uint8_t not_used_01              : 1;
    uint8_t over_run_latched         : 1;
    uint8_t counter_bdr_ia           : 1;
    uint8_t fifo_full_ia             : 1;
    uint8_t fifo_ovr_ia              : 1;
    uint8_t fifo_wtm_ia              : 1;
  } lsm6dso_fifo_status2_t;
  
  #define LSM6DSO_TIMESTAMP0                   0x40U
  #define LSM6DSO_TIMESTAMP1                   0x41U
  #define LSM6DSO_TIMESTAMP2                   0x42U
  #define LSM6DSO_TIMESTAMP3                   0x43U
  #define LSM6DSO_TAP_CFG0                     0x56U
  typedef struct {
    uint8_t lir                      : 1;
    uint8_t tap_z_en                 : 1;
    uint8_t tap_y_en                 : 1;
    uint8_t tap_x_en                 : 1;
    uint8_t slope_fds                : 1;
    uint8_t sleep_status_on_int      : 1;
    uint8_t int_clr_on_read          : 1;
    uint8_t not_used_01              : 1;
  } lsm6dso_tap_cfg0_t;
  
  #define LSM6DSO_TAP_CFG1                     0x57U
  typedef struct {
    uint8_t tap_ths_x                : 5;
    uint8_t tap_priority             : 3;
  } lsm6dso_tap_cfg1_t;
  
  #define LSM6DSO_TAP_CFG2                     0x58U
  typedef struct {
    uint8_t tap_ths_y                : 5;
    uint8_t inact_en                 : 2;
    uint8_t interrupts_enable        : 1;
  } lsm6dso_tap_cfg2_t;
  
  #define LSM6DSO_TAP_THS_6D                   0x59U
  typedef struct {
    uint8_t tap_ths_z                : 5;
    uint8_t sixd_ths                 : 2;
    uint8_t d4d_en                   : 1;
  } lsm6dso_tap_ths_6d_t;
  
  #define LSM6DSO_INT_DUR2                     0x5AU
  typedef struct {
    uint8_t shock                    : 2;
    uint8_t quiet                    : 2;
    uint8_t dur                      : 4;
  } lsm6dso_int_dur2_t;
  
  #define LSM6DSO_WAKE_UP_THS                  0x5BU
  typedef struct {
    uint8_t wk_ths                   : 6;
    uint8_t usr_off_on_wu            : 1;
    uint8_t single_double_tap        : 1;
  } lsm6dso_wake_up_ths_t;
  
  #define LSM6DSO_WAKE_UP_DUR                  0x5CU
  typedef struct {
    uint8_t sleep_dur                : 4;
    uint8_t wake_ths_w               : 1;
    uint8_t wake_dur                 : 2;
    uint8_t ff_dur                   : 1;
  } lsm6dso_wake_up_dur_t;
  
  #define LSM6DSO_FREE_FALL                    0x5DU
  typedef struct {
    uint8_t ff_ths                   : 3;
    uint8_t ff_dur                   : 5;
  } lsm6dso_free_fall_t;
  
  #define LSM6DSO_MD1_CFG                      0x5EU
  typedef struct {
    uint8_t int1_shub                : 1;
    uint8_t int1_emb_func            : 1;
    uint8_t int1_6d                  : 1;
    uint8_t int1_double_tap          : 1;
    uint8_t int1_ff                  : 1;
    uint8_t int1_wu                  : 1;
    uint8_t int1_single_tap          : 1;
    uint8_t int1_sleep_change        : 1;
  } lsm6dso_md1_cfg_t;
  
  #define LSM6DSO_MD2_CFG                      0x5FU
  typedef struct {
    uint8_t int2_timestamp           : 1;
    uint8_t int2_emb_func            : 1;
    uint8_t int2_6d                  : 1;
    uint8_t int2_double_tap          : 1;
    uint8_t int2_ff                  : 1;
    uint8_t int2_wu                  : 1;
    uint8_t int2_single_tap          : 1;
    uint8_t int2_sleep_change        : 1;
  } lsm6dso_md2_cfg_t;
  
  #define LSM6DSO_I3C_BUS_AVB                  0x62U
  typedef struct {
    uint8_t pd_dis_int1              : 1;
    uint8_t not_used_01              : 2;
    uint8_t i3c_bus_avb_sel          : 2;
    uint8_t not_used_02              : 3;
  } lsm6dso_i3c_bus_avb_t;
  
  #define LSM6DSO_INTERNAL_FREQ_FINE           0x63U
  typedef struct {
    uint8_t freq_fine                : 8;
  } lsm6dso_internal_freq_fine_t;
  
  #define LSM6DSO_INT_OIS                      0x6FU
  typedef struct {
    uint8_t st_xl_ois                : 2;
    uint8_t not_used_01              : 3;
    uint8_t den_lh_ois               : 1;
    uint8_t lvl2_ois                 : 1;
    uint8_t int2_drdy_ois            : 1;
  } lsm6dso_int_ois_t;
  
  #define LSM6DSO_CTRL1_OIS                    0x70U
  typedef struct {
    uint8_t ois_en_spi2              : 1;
    uint8_t fs_g_ois                 : 3; /* fs_125_ois + fs[1:0]_g_ois */
    uint8_t mode4_en                 : 1;
    uint8_t sim_ois                  : 1;
    uint8_t lvl1_ois                  : 1;
    uint8_t not_used_01              : 1;
  } lsm6dso_ctrl1_ois_t;
  
  #define LSM6DSO_CTRL2_OIS                    0x71U
  typedef struct {
    uint8_t hp_en_ois                : 1;
    uint8_t ftype_ois                : 2;
    uint8_t not_used_01              : 1;
    uint8_t hpm_ois                  : 2;
    uint8_t not_used_02              : 2;
  } lsm6dso_ctrl2_ois_t;
  
  #define LSM6DSO_CTRL3_OIS                    0x72U
  typedef struct {
    uint8_t st_ois_clampdis          : 1;
    uint8_t st_ois                   : 2;
    uint8_t filter_xl_conf_ois       : 3;
    uint8_t fs_xl_ois                : 2;
  } lsm6dso_ctrl3_ois_t;
  
  #define LSM6DSO_X_OFS_USR                    0x73U
  #define LSM6DSO_Y_OFS_USR                    0x74U
  #define LSM6DSO_Z_OFS_USR                    0x75U
  #define LSM6DSO_FIFO_DATA_OUT_TAG            0x78U
  typedef struct {
    uint8_t tag_parity               : 1;
    uint8_t tag_cnt                  : 2;
    uint8_t tag_sensor               : 5;
  } lsm6dso_fifo_data_out_tag_t;
  
  #define LSM6DSO_FIFO_DATA_OUT_X_L            0x79U
  #define LSM6DSO_FIFO_DATA_OUT_X_H            0x7AU
  #define LSM6DSO_FIFO_DATA_OUT_Y_L            0x7BU
  #define LSM6DSO_FIFO_DATA_OUT_Y_H            0x7CU
  #define LSM6DSO_FIFO_DATA_OUT_Z_L            0x7DU
  #define LSM6DSO_FIFO_DATA_OUT_Z_H            0x7EU
  #define LSM6DSO_PAGE_SEL                     0x02U
  typedef struct {
    uint8_t not_used_01              : 4;
    uint8_t page_sel                 : 4;
  } lsm6dso_page_sel_t;
  
  #define LSM6DSO_EMB_FUNC_EN_A                0x04U
  typedef struct {
    uint8_t not_used_01              : 3;
    uint8_t pedo_en                  : 1;
    uint8_t tilt_en                  : 1;
    uint8_t sign_motion_en           : 1;
    uint8_t not_used_02              : 2;
  } lsm6dso_emb_func_en_a_t;
  
  #define LSM6DSO_EMB_FUNC_EN_B                0x05U
  typedef struct {
    uint8_t fsm_en                   : 1;
    uint8_t not_used_01              : 2;
    uint8_t fifo_compr_en            : 1;
    uint8_t pedo_adv_en              : 1;
    uint8_t not_used_02              : 3;
  } lsm6dso_emb_func_en_b_t;
  
  #define LSM6DSO_PAGE_ADDRESS                 0x08U
  typedef struct {
    uint8_t page_addr                : 8;
  } lsm6dso_page_address_t;
  
  #define LSM6DSO_PAGE_VALUE                   0x09U
  typedef struct {
    uint8_t page_value               : 8;
  } lsm6dso_page_value_t;
  
  #define LSM6DSO_EMB_FUNC_INT1                0x0AU
  typedef struct {
    uint8_t not_used_01              : 3;
    uint8_t int1_step_detector       : 1;
    uint8_t int1_tilt                : 1;
    uint8_t int1_sig_mot             : 1;
    uint8_t not_used_02              : 1;
    uint8_t int1_fsm_lc              : 1;
  } lsm6dso_emb_func_int1_t;
  
  #define LSM6DSO_FSM_INT1_A                   0x0BU
  typedef struct {
    uint8_t int1_fsm1                : 1;
    uint8_t int1_fsm2                : 1;
    uint8_t int1_fsm3                : 1;
    uint8_t int1_fsm4                : 1;
    uint8_t int1_fsm5                : 1;
    uint8_t int1_fsm6                : 1;
    uint8_t int1_fsm7                : 1;
    uint8_t int1_fsm8                : 1;
  } lsm6dso_fsm_int1_a_t;
  
  #define LSM6DSO_FSM_INT1_B                   0x0CU
  typedef struct {
    uint8_t int1_fsm9                : 1;
    uint8_t int1_fsm10               : 1;
    uint8_t int1_fsm11               : 1;
    uint8_t int1_fsm12               : 1;
    uint8_t int1_fsm13               : 1;
    uint8_t int1_fsm14               : 1;
    uint8_t int1_fsm15               : 1;
    uint8_t int1_fsm16               : 1;
  } lsm6dso_fsm_int1_b_t;
  
  #define LSM6DSO_EMB_FUNC_INT2                0x0EU
  typedef struct {
    uint8_t not_used_01              : 3;
    uint8_t int2_step_detector       : 1;
    uint8_t int2_tilt                : 1;
    uint8_t int2_sig_mot             : 1;
    uint8_t not_used_02              : 1;
    uint8_t int2_fsm_lc              : 1;
  } lsm6dso_emb_func_int2_t;
  
  #define LSM6DSO_FSM_INT2_A                   0x0FU
  typedef struct {
    uint8_t int2_fsm1                : 1;
    uint8_t int2_fsm2                : 1;
    uint8_t int2_fsm3                : 1;
    uint8_t int2_fsm4                : 1;
    uint8_t int2_fsm5                : 1;
    uint8_t int2_fsm6                : 1;
    uint8_t int2_fsm7                : 1;
    uint8_t int2_fsm8                : 1;
  } lsm6dso_fsm_int2_a_t;
  
  #define LSM6DSO_FSM_INT2_B                   0x10U
  typedef struct {
    uint8_t int2_fsm9                : 1;
    uint8_t int2_fsm10               : 1;
    uint8_t int2_fsm11               : 1;
    uint8_t int2_fsm12               : 1;
    uint8_t int2_fsm13               : 1;
    uint8_t int2_fsm14               : 1;
    uint8_t int2_fsm15               : 1;
    uint8_t int2_fsm16               : 1;
  } lsm6dso_fsm_int2_b_t;
  
  #define LSM6DSO_EMB_FUNC_STATUS              0x12U
  typedef struct {
    uint8_t not_used_01              : 3;
    uint8_t is_step_det              : 1;
    uint8_t is_tilt                  : 1;
    uint8_t is_sigmot                : 1;
    uint8_t not_used_02              : 1;
    uint8_t is_fsm_lc                : 1;
  } lsm6dso_emb_func_status_t;
  
  #define LSM6DSO_FSM_STATUS_A                 0x13U
  typedef struct {
    uint8_t is_fsm1                  : 1;
    uint8_t is_fsm2                  : 1;
    uint8_t is_fsm3                  : 1;
    uint8_t is_fsm4                  : 1;
    uint8_t is_fsm5                  : 1;
    uint8_t is_fsm6                  : 1;
    uint8_t is_fsm7                  : 1;
    uint8_t is_fsm8                  : 1;
  } lsm6dso_fsm_status_a_t;
  
  #define LSM6DSO_FSM_STATUS_B                 0x14U
  typedef struct {
    uint8_t is_fsm9                  : 1;
    uint8_t is_fsm10                 : 1;
    uint8_t is_fsm11                 : 1;
    uint8_t is_fsm12                 : 1;
    uint8_t is_fsm13                 : 1;
    uint8_t is_fsm14                 : 1;
    uint8_t is_fsm15                 : 1;
    uint8_t is_fsm16                 : 1;
  } lsm6dso_fsm_status_b_t;
  
  #define LSM6DSO_PAGE_RW                      0x17U
  typedef struct {
    uint8_t not_used_01              : 5;
    uint8_t page_rw                  : 2;  /* page_write + page_read */
    uint8_t emb_func_lir             : 1;
  } lsm6dso_page_rw_t;
  
  #define LSM6DSO_EMB_FUNC_FIFO_CFG             0x44U
  typedef struct {
    uint8_t not_used_00              : 6;
    uint8_t pedo_fifo_en             : 1;
    uint8_t not_used_01              : 1;
  } lsm6dso_emb_func_fifo_cfg_t;
  
  #define LSM6DSO_FSM_ENABLE_A                 0x46U
  typedef struct {
    uint8_t fsm1_en                  : 1;
    uint8_t fsm2_en                  : 1;
    uint8_t fsm3_en                  : 1;
    uint8_t fsm4_en                  : 1;
    uint8_t fsm5_en                  : 1;
    uint8_t fsm6_en                  : 1;
    uint8_t fsm7_en                  : 1;
    uint8_t fsm8_en                  : 1;
  } lsm6dso_fsm_enable_a_t;
  
  #define LSM6DSO_FSM_ENABLE_B                 0x47U
  typedef struct {
    uint8_t fsm9_en                  : 1;
    uint8_t fsm10_en                 : 1;
    uint8_t fsm11_en                 : 1;
    uint8_t fsm12_en                 : 1;
    uint8_t fsm13_en                 : 1;
    uint8_t fsm14_en                 : 1;
    uint8_t fsm15_en                 : 1;
    uint8_t fsm16_en                 : 1;
  } lsm6dso_fsm_enable_b_t;
  
  #define LSM6DSO_FSM_LONG_COUNTER_L           0x48U
  #define LSM6DSO_FSM_LONG_COUNTER_H           0x49U
  #define LSM6DSO_FSM_LONG_COUNTER_CLEAR       0x4AU
  typedef struct {
    uint8_t fsm_lc_clr               : 2;  /* fsm_lc_cleared + fsm_lc_clear */
    uint8_t not_used_01              : 6;
  } lsm6dso_fsm_long_counter_clear_t;
  
  #define LSM6DSO_FSM_OUTS1                    0x4CU
  typedef struct {
    uint8_t n_v                      : 1;
    uint8_t p_v                      : 1;
    uint8_t n_z                      : 1;
    uint8_t p_z                      : 1;
    uint8_t n_y                      : 1;
    uint8_t p_y                      : 1;
    uint8_t n_x                      : 1;
    uint8_t p_x                      : 1;
  } lsm6dso_fsm_outs1_t;
  
  #define LSM6DSO_FSM_OUTS2                    0x4DU
  typedef struct {
    uint8_t n_v                      : 1;
    uint8_t p_v                      : 1;
    uint8_t n_z                      : 1;
    uint8_t p_z                      : 1;
    uint8_t n_y                      : 1;
    uint8_t p_y                      : 1;
    uint8_t n_x                      : 1;
    uint8_t p_x                      : 1;
  } lsm6dso_fsm_outs2_t;
  
  #define LSM6DSO_FSM_OUTS3                    0x4EU
  typedef struct {
    uint8_t n_v                      : 1;
    uint8_t p_v                      : 1;
    uint8_t n_z                      : 1;
    uint8_t p_z                      : 1;
    uint8_t n_y                      : 1;
    uint8_t p_y                      : 1;
    uint8_t n_x                      : 1;
    uint8_t p_x                      : 1;
  } lsm6dso_fsm_outs3_t;
  
  #define LSM6DSO_FSM_OUTS4                    0x4FU
  typedef struct {
    uint8_t n_v                      : 1;
    uint8_t p_v                      : 1;
    uint8_t n_z                      : 1;
    uint8_t p_z                      : 1;
    uint8_t n_y                      : 1;
    uint8_t p_y                      : 1;
    uint8_t n_x                      : 1;
    uint8_t p_x                      : 1;
  } lsm6dso_fsm_outs4_t;
  
  #define LSM6DSO_FSM_OUTS5                    0x50U
  typedef struct {
    uint8_t n_v                      : 1;
    uint8_t p_v                      : 1;
    uint8_t n_z                      : 1;
    uint8_t p_z                      : 1;
    uint8_t n_y                      : 1;
    uint8_t p_y                      : 1;
    uint8_t n_x                      : 1;
    uint8_t p_x                      : 1;
  } lsm6dso_fsm_outs5_t;
  
  #define LSM6DSO_FSM_OUTS6                    0x51U
  typedef struct {
    uint8_t n_v                      : 1;
    uint8_t p_v                      : 1;
    uint8_t n_z                      : 1;
    uint8_t p_z                      : 1;
    uint8_t n_y                      : 1;
    uint8_t p_y                      : 1;
    uint8_t n_x                      : 1;
    uint8_t p_x                      : 1;
  } lsm6dso_fsm_outs6_t;
  
  #define LSM6DSO_FSM_OUTS7                    0x52U
  typedef struct {
    uint8_t n_v                      : 1;
    uint8_t p_v                      : 1;
    uint8_t n_z                      : 1;
    uint8_t p_z                      : 1;
    uint8_t n_y                      : 1;
    uint8_t p_y                      : 1;
    uint8_t n_x                      : 1;
    uint8_t p_x                      : 1;
  } lsm6dso_fsm_outs7_t;
  
  #define LSM6DSO_FSM_OUTS8                    0x53U
  typedef struct {
    uint8_t n_v                      : 1;
    uint8_t p_v                      : 1;
    uint8_t n_z                      : 1;
    uint8_t p_z                      : 1;
    uint8_t n_y                      : 1;
    uint8_t p_y                      : 1;
    uint8_t n_x                      : 1;
    uint8_t p_x                      : 1;
  } lsm6dso_fsm_outs8_t;
  
  #define LSM6DSO_FSM_OUTS9                    0x54U
  typedef struct {
    uint8_t n_v                      : 1;
    uint8_t p_v                      : 1;
    uint8_t n_z                      : 1;
    uint8_t p_z                      : 1;
    uint8_t n_y                      : 1;
    uint8_t p_y                      : 1;
    uint8_t n_x                      : 1;
    uint8_t p_x                      : 1;
  } lsm6dso_fsm_outs9_t;
  
  #define LSM6DSO_FSM_OUTS10                   0x55U
  typedef struct {
    uint8_t n_v                      : 1;
    uint8_t p_v                      : 1;
    uint8_t n_z                      : 1;
    uint8_t p_z                      : 1;
    uint8_t n_y                      : 1;
    uint8_t p_y                      : 1;
    uint8_t n_x                      : 1;
    uint8_t p_x                      : 1;
  } lsm6dso_fsm_outs10_t;
  
  #define LSM6DSO_FSM_OUTS11                   0x56U
  typedef struct {
    uint8_t n_v                      : 1;
    uint8_t p_v                      : 1;
    uint8_t n_z                      : 1;
    uint8_t p_z                      : 1;
    uint8_t n_y                      : 1;
    uint8_t p_y                      : 1;
    uint8_t n_x                      : 1;
    uint8_t p_x                      : 1;
  } lsm6dso_fsm_outs11_t;
  
  #define LSM6DSO_FSM_OUTS12                   0x57U
  typedef struct {
    uint8_t n_v                      : 1;
    uint8_t p_v                      : 1;
    uint8_t n_z                      : 1;
    uint8_t p_z                      : 1;
    uint8_t n_y                      : 1;
    uint8_t p_y                      : 1;
    uint8_t n_x                      : 1;
    uint8_t p_x                      : 1;
  } lsm6dso_fsm_outs12_t;
  
  #define LSM6DSO_FSM_OUTS13                   0x58U
  typedef struct {
    uint8_t n_v                      : 1;
    uint8_t p_v                      : 1;
    uint8_t n_z                      : 1;
    uint8_t p_z                      : 1;
    uint8_t n_y                      : 1;
    uint8_t p_y                      : 1;
    uint8_t n_x                      : 1;
    uint8_t p_x                      : 1;
  } lsm6dso_fsm_outs13_t;
  
  #define LSM6DSO_FSM_OUTS14                   0x59U
  typedef struct {
    uint8_t n_v                      : 1;
    uint8_t p_v                      : 1;
    uint8_t n_z                      : 1;
    uint8_t p_z                      : 1;
    uint8_t n_y                      : 1;
    uint8_t p_y                      : 1;
    uint8_t n_x                      : 1;
    uint8_t p_x                      : 1;
  } lsm6dso_fsm_outs14_t;
  
  #define LSM6DSO_FSM_OUTS15                   0x5AU
  typedef struct {
    uint8_t n_v                      : 1;
    uint8_t p_v                      : 1;
    uint8_t n_z                      : 1;
    uint8_t p_z                      : 1;
    uint8_t n_y                      : 1;
    uint8_t p_y                      : 1;
    uint8_t n_x                      : 1;
    uint8_t p_x                      : 1;
  } lsm6dso_fsm_outs15_t;
  
  #define LSM6DSO_FSM_OUTS16                   0x5BU
  typedef struct {
    uint8_t n_v                      : 1;
    uint8_t p_v                      : 1;
    uint8_t n_z                      : 1;
    uint8_t p_z                      : 1;
    uint8_t n_y                      : 1;
    uint8_t p_y                      : 1;
    uint8_t n_x                      : 1;
    uint8_t p_x                      : 1;
  } lsm6dso_fsm_outs16_t;
  
  #define LSM6DSO_EMB_FUNC_ODR_CFG_B           0x5FU
  typedef struct {
    uint8_t not_used_01              : 3;
    uint8_t fsm_odr                  : 2;
    uint8_t not_used_02              : 3;
  } lsm6dso_emb_func_odr_cfg_b_t;
  
  #define LSM6DSO_STEP_COUNTER_L               0x62U
  #define LSM6DSO_STEP_COUNTER_H               0x63U
  #define LSM6DSO_EMB_FUNC_SRC                 0x64U
  typedef struct {
    uint8_t not_used_01              : 2;
    uint8_t stepcounter_bit_set      : 1;
    uint8_t step_overflow            : 1;
    uint8_t step_count_delta_ia      : 1;
    uint8_t step_detected            : 1;
    uint8_t not_used_02              : 1;
    uint8_t pedo_rst_step            : 1;
  } lsm6dso_emb_func_src_t;
  
  #define LSM6DSO_EMB_FUNC_INIT_A              0x66U
  typedef struct {
    uint8_t not_used_01               : 3;
    uint8_t step_det_init             : 1;
    uint8_t tilt_init                 : 1;
    uint8_t sig_mot_init              : 1;
    uint8_t not_used_02               : 2;
  } lsm6dso_emb_func_init_a_t;
  
  #define LSM6DSO_EMB_FUNC_INIT_B              0x67U
  typedef struct {
    uint8_t fsm_init                 : 1;
    uint8_t not_used_01              : 2;
    uint8_t fifo_compr_init          : 1;
    uint8_t not_used_02              : 4;
  } lsm6dso_emb_func_init_b_t;
  
  #define LSM6DSO_MAG_SENSITIVITY_L            0xBAU
  #define LSM6DSO_MAG_SENSITIVITY_H            0xBBU
  #define LSM6DSO_MAG_OFFX_L                   0xC0U
  #define LSM6DSO_MAG_OFFX_H                   0xC1U
  #define LSM6DSO_MAG_OFFY_L                   0xC2U
  #define LSM6DSO_MAG_OFFY_H                   0xC3U
  #define LSM6DSO_MAG_OFFZ_L                   0xC4U
  #define LSM6DSO_MAG_OFFZ_H                   0xC5U
  #define LSM6DSO_MAG_SI_XX_L                  0xC6U
  #define LSM6DSO_MAG_SI_XX_H                  0xC7U
  #define LSM6DSO_MAG_SI_XY_L                  0xC8U
  #define LSM6DSO_MAG_SI_XY_H                  0xC9U
  #define LSM6DSO_MAG_SI_XZ_L                  0xCAU
  #define LSM6DSO_MAG_SI_XZ_H                  0xCBU
  #define LSM6DSO_MAG_SI_YY_L                  0xCCU
  #define LSM6DSO_MAG_SI_YY_H                  0xCDU
  #define LSM6DSO_MAG_SI_YZ_L                  0xCEU
  #define LSM6DSO_MAG_SI_YZ_H                  0xCFU
  #define LSM6DSO_MAG_SI_ZZ_L                  0xD0U
  #define LSM6DSO_MAG_SI_ZZ_H                  0xD1U
  #define LSM6DSO_MAG_CFG_A                    0xD4U
  typedef struct {
    uint8_t mag_z_axis               : 3;
    uint8_t not_used_01              : 1;
    uint8_t mag_y_axis               : 3;
    uint8_t not_used_02              : 1;
  } lsm6dso_mag_cfg_a_t;
  
  #define LSM6DSO_MAG_CFG_B                    0xD5U
  typedef struct {
    uint8_t mag_x_axis               : 3;
    uint8_t not_used_01              : 5;
  } lsm6dso_mag_cfg_b_t;
  
  #define LSM6DSO_FSM_LC_TIMEOUT_L             0x17AU
  #define LSM6DSO_FSM_LC_TIMEOUT_H             0x17BU
  #define LSM6DSO_FSM_PROGRAMS                 0x17CU
  #define LSM6DSO_FSM_START_ADD_L              0x17EU
  #define LSM6DSO_FSM_START_ADD_H              0x17FU
  #define LSM6DSO_PEDO_CMD_REG                 0x183U
  typedef struct {
    uint8_t ad_det_en                : 1;
    uint8_t not_used_01              : 1;
    uint8_t fp_rejection_en          : 1;
    uint8_t carry_count_en           : 1;
    uint8_t not_used_02              : 4;
  } lsm6dso_pedo_cmd_reg_t;
  
  #define LSM6DSO_PEDO_DEB_STEPS_CONF          0x184U
  #define LSM6DSO_PEDO_SC_DELTAT_L             0x1D0U
  #define LSM6DSO_PEDO_SC_DELTAT_H             0x1D1U
  #define LSM6DSO_SENSOR_HUB_1                 0x02U
  typedef struct {
     uint8_t bit0                    : 1;
     uint8_t bit1                    : 1;
     uint8_t bit2                    : 1;
     uint8_t bit3                    : 1;
     uint8_t bit4                    : 1;
     uint8_t bit5                    : 1;
     uint8_t bit6                    : 1;
     uint8_t bit7                    : 1;
  } lsm6dso_sensor_hub_1_t;
  
  #define LSM6DSO_SENSOR_HUB_2                 0x03U
  typedef struct {
     uint8_t bit0                    : 1;
     uint8_t bit1                    : 1;
     uint8_t bit2                    : 1;
     uint8_t bit3                    : 1;
     uint8_t bit4                    : 1;
     uint8_t bit5                    : 1;
     uint8_t bit6                    : 1;
     uint8_t bit7                    : 1;
  } lsm6dso_sensor_hub_2_t;
  
  #define LSM6DSO_SENSOR_HUB_3                 0x04U
  typedef struct {
     uint8_t bit0                    : 1;
     uint8_t bit1                    : 1;
     uint8_t bit2                    : 1;
     uint8_t bit3                    : 1;
     uint8_t bit4                    : 1;
     uint8_t bit5                    : 1;
     uint8_t bit6                    : 1;
     uint8_t bit7                    : 1;
  } lsm6dso_sensor_hub_3_t;
  
  #define LSM6DSO_SENSOR_HUB_4                 0x05U
  typedef struct {
     uint8_t bit0                    : 1;
     uint8_t bit1                    : 1;
     uint8_t bit2                    : 1;
     uint8_t bit3                    : 1;
     uint8_t bit4                    : 1;
     uint8_t bit5                    : 1;
     uint8_t bit6                    : 1;
     uint8_t bit7                    : 1;
  } lsm6dso_sensor_hub_4_t;
  
  #define LSM6DSO_SENSOR_HUB_5                 0x06U
  typedef struct {
     uint8_t bit0                    : 1;
     uint8_t bit1                    : 1;
     uint8_t bit2                    : 1;
     uint8_t bit3                    : 1;
     uint8_t bit4                    : 1;
     uint8_t bit5                    : 1;
     uint8_t bit6                    : 1;
     uint8_t bit7                    : 1;
  } lsm6dso_sensor_hub_5_t;
  
  #define LSM6DSO_SENSOR_HUB_6                 0x07U
  typedef struct {
     uint8_t bit0                    : 1;
     uint8_t bit1                    : 1;
     uint8_t bit2                    : 1;
     uint8_t bit3                    : 1;
     uint8_t bit4                    : 1;
     uint8_t bit5                    : 1;
     uint8_t bit6                    : 1;
     uint8_t bit7                    : 1;
  } lsm6dso_sensor_hub_6_t;
  
  #define LSM6DSO_SENSOR_HUB_7                 0x08U
  typedef struct {
     uint8_t bit0                    : 1;
     uint8_t bit1                    : 1;
     uint8_t bit2                    : 1;
     uint8_t bit3                    : 1;
     uint8_t bit4                    : 1;
     uint8_t bit5                    : 1;
     uint8_t bit6                    : 1;
     uint8_t bit7                    : 1;
  } lsm6dso_sensor_hub_7_t;
  
  #define LSM6DSO_SENSOR_HUB_8                 0x09U
  typedef struct {
     uint8_t bit0                    : 1;
     uint8_t bit1                    : 1;
     uint8_t bit2                    : 1;
     uint8_t bit3                    : 1;
     uint8_t bit4                    : 1;
     uint8_t bit5                    : 1;
     uint8_t bit6                    : 1;
     uint8_t bit7                    : 1;
  } lsm6dso_sensor_hub_8_t;
  
  #define LSM6DSO_SENSOR_HUB_9                 0x0AU
  typedef struct {
     uint8_t bit0                    : 1;
     uint8_t bit1                    : 1;
     uint8_t bit2                    : 1;
     uint8_t bit3                    : 1;
     uint8_t bit4                    : 1;
     uint8_t bit5                    : 1;
     uint8_t bit6                    : 1;
     uint8_t bit7                    : 1;
  } lsm6dso_sensor_hub_9_t;
  
  #define LSM6DSO_SENSOR_HUB_10                0x0BU
  typedef struct {
     uint8_t bit0                    : 1;
     uint8_t bit1                    : 1;
     uint8_t bit2                    : 1;
     uint8_t bit3                    : 1;
     uint8_t bit4                    : 1;
     uint8_t bit5                    : 1;
     uint8_t bit6                    : 1;
     uint8_t bit7                    : 1;
  } lsm6dso_sensor_hub_10_t;
  
  #define LSM6DSO_SENSOR_HUB_11                0x0CU
  typedef struct {
     uint8_t bit0                    : 1;
     uint8_t bit1                    : 1;
     uint8_t bit2                    : 1;
     uint8_t bit3                    : 1;
     uint8_t bit4                    : 1;
     uint8_t bit5                    : 1;
     uint8_t bit6                    : 1;
     uint8_t bit7                    : 1;
  } lsm6dso_sensor_hub_11_t;
  
  #define LSM6DSO_SENSOR_HUB_12                0x0DU
  typedef struct {
     uint8_t bit0                    : 1;
     uint8_t bit1                    : 1;
     uint8_t bit2                    : 1;
     uint8_t bit3                    : 1;
     uint8_t bit4                    : 1;
     uint8_t bit5                    : 1;
     uint8_t bit6                    : 1;
     uint8_t bit7                    : 1;
  } lsm6dso_sensor_hub_12_t;
  
  #define LSM6DSO_SENSOR_HUB_13                0x0EU
  typedef struct {
     uint8_t bit0                    : 1;
     uint8_t bit1                    : 1;
     uint8_t bit2                    : 1;
     uint8_t bit3                    : 1;
     uint8_t bit4                    : 1;
     uint8_t bit5                    : 1;
     uint8_t bit6                    : 1;
     uint8_t bit7                    : 1;
  } lsm6dso_sensor_hub_13_t;
  
  #define LSM6DSO_SENSOR_HUB_14                0x0FU
  typedef struct {
     uint8_t bit0                    : 1;
     uint8_t bit1                    : 1;
     uint8_t bit2                    : 1;
     uint8_t bit3                    : 1;
     uint8_t bit4                    : 1;
     uint8_t bit5                    : 1;
     uint8_t bit6                    : 1;
     uint8_t bit7                    : 1;
  } lsm6dso_sensor_hub_14_t;
  
  #define LSM6DSO_SENSOR_HUB_15                0x10U
  typedef struct {
     uint8_t bit0                    : 1;
     uint8_t bit1                    : 1;
     uint8_t bit2                    : 1;
     uint8_t bit3                    : 1;
     uint8_t bit4                    : 1;
     uint8_t bit5                    : 1;
     uint8_t bit6                    : 1;
     uint8_t bit7                    : 1;
  } lsm6dso_sensor_hub_15_t;
  
  #define LSM6DSO_SENSOR_HUB_16                0x11U
  typedef struct {
     uint8_t bit0                    : 1;
     uint8_t bit1                    : 1;
     uint8_t bit2                    : 1;
     uint8_t bit3                    : 1;
     uint8_t bit4                    : 1;
     uint8_t bit5                    : 1;
     uint8_t bit6                    : 1;
     uint8_t bit7                    : 1;
  } lsm6dso_sensor_hub_16_t;
  
  #define LSM6DSO_SENSOR_HUB_17                0x12U
  typedef struct {
     uint8_t bit0                    : 1;
     uint8_t bit1                    : 1;
     uint8_t bit2                    : 1;
     uint8_t bit3                    : 1;
     uint8_t bit4                    : 1;
     uint8_t bit5                    : 1;
     uint8_t bit6                    : 1;
     uint8_t bit7                    : 1;
  } lsm6dso_sensor_hub_17_t;
  
  #define LSM6DSO_SENSOR_HUB_18                0x13U
  typedef struct {
     uint8_t bit0                    : 1;
     uint8_t bit1                    : 1;
     uint8_t bit2                    : 1;
     uint8_t bit3                    : 1;
     uint8_t bit4                    : 1;
     uint8_t bit5                    : 1;
     uint8_t bit6                    : 1;
     uint8_t bit7                    : 1;
  } lsm6dso_sensor_hub_18_t;
  
  #define LSM6DSO_MASTER_CONFIG                0x14U
  typedef struct {
    uint8_t aux_sens_on              : 2;
    uint8_t master_on                : 1;
    uint8_t shub_pu_en               : 1;
    uint8_t pass_through_mode        : 1;
    uint8_t start_config             : 1;
    uint8_t write_once               : 1;
    uint8_t rst_master_regs          : 1;
  } lsm6dso_master_config_t;
  
  #define LSM6DSO_SLV0_ADD                     0x15U
  typedef struct {
    uint8_t rw_0                     : 1;
    uint8_t slave0                   : 7;
  } lsm6dso_slv0_add_t;
  
  #define LSM6DSO_SLV0_SUBADD                  0x16U
  typedef struct {
    uint8_t slave0_reg               : 8;
  } lsm6dso_slv0_subadd_t;
  
  #define LSM6DSO_SLV0_CONFIG                  0x17U
  typedef struct {
    uint8_t slave0_numop             : 3;
    uint8_t batch_ext_sens_0_en      : 1;
    uint8_t not_used_01              : 2;
    uint8_t shub_odr                 : 2;
  } lsm6dso_slv0_config_t;
  
  #define LSM6DSO_SLV1_ADD                     0x18U
  typedef struct {
    uint8_t r_1                      : 1;
    uint8_t slave1_add               : 7;
  } lsm6dso_slv1_add_t;
  
  #define LSM6DSO_SLV1_SUBADD                  0x19U
  typedef struct {
    uint8_t slave1_reg               : 8;
  } lsm6dso_slv1_subadd_t;
  
  #define LSM6DSO_SLV1_CONFIG                  0x1AU
  typedef struct {
    uint8_t slave1_numop             : 3;
    uint8_t batch_ext_sens_1_en      : 1;
    uint8_t not_used_01              : 4;
  } lsm6dso_slv1_config_t;
  
  #define LSM6DSO_SLV2_ADD                     0x1BU
  typedef struct {
    uint8_t r_2                      : 1;
    uint8_t slave2_add               : 7;
  } lsm6dso_slv2_add_t;
  
  #define LSM6DSO_SLV2_SUBADD                  0x1CU
  typedef struct {
    uint8_t slave2_reg               : 8;
  } lsm6dso_slv2_subadd_t;
  
  #define LSM6DSO_SLV2_CONFIG                  0x1DU
  typedef struct {
    uint8_t slave2_numop             : 3;
    uint8_t batch_ext_sens_2_en      : 1;
    uint8_t not_used_01              : 4;
  } lsm6dso_slv2_config_t;
  
  #define LSM6DSO_SLV3_ADD                     0x1EU
  typedef struct {
    uint8_t r_3                      : 1;
    uint8_t slave3_add               : 7;
  } lsm6dso_slv3_add_t;
  
  #define LSM6DSO_SLV3_SUBADD                  0x1FU
  typedef struct {
    uint8_t slave3_reg               : 8;
  } lsm6dso_slv3_subadd_t;
  
  #define LSM6DSO_SLV3_CONFIG                  0x20U
  typedef struct {
    uint8_t slave3_numop             : 3;
    uint8_t  batch_ext_sens_3_en     : 1;
    uint8_t not_used_01              : 4;
  } lsm6dso_slv3_config_t;
  
  #define LSM6DSO_DATAWRITE_SLV0               0x21U
  typedef struct {
    uint8_t slave0_dataw             : 8;
  } lsm6dso_datawrite_src_mode_sub_slv0_t;
  
  #define LSM6DSO_STATUS_MASTER                0x22U
  typedef struct {
    uint8_t sens_hub_endop           : 1;
    uint8_t not_used_01              : 2;
    uint8_t slave0_nack              : 1;
    uint8_t slave1_nack              : 1;
    uint8_t slave2_nack              : 1;
    uint8_t slave3_nack              : 1;
    uint8_t wr_once_done             : 1;
  } lsm6dso_status_master_t;
  
  #define LSM6DSO_START_FSM_ADD                0x0400U
  
  /**
    * @defgroup LSM6DSO_Register_Union
    * @brief    This union group all the registers that has a bitfield
    *           description.
    *           This union is useful but not need by the driver.
    *
    *           REMOVING this union you are compliant with:
    *           MISRA-C 2012 [Rule 19.2] -> " Union are not allowed "
    *
    * @{
    *
    */
  typedef union{
    lsm6dso_func_cfg_access_t               func_cfg_access;
    lsm6dso_pin_ctrl_t                      pin_ctrl;
    lsm6dso_fifo_ctrl1_t                    fifo_ctrl1;
    lsm6dso_fifo_ctrl2_t                    fifo_ctrl2;
    lsm6dso_fifo_ctrl3_t                    fifo_ctrl3;
    lsm6dso_fifo_ctrl4_t                    fifo_ctrl4;
    lsm6dso_counter_bdr_reg1_t              counter_bdr_reg1;
    lsm6dso_counter_bdr_reg2_t              counter_bdr_reg2;
    lsm6dso_int1_ctrl_t                     int1_ctrl;
    lsm6dso_int2_ctrl_t                     int2_ctrl;
    lsm6dso_ctrl1_xl_t                      ctrl1_xl;
    lsm6dso_ctrl2_g_t                       ctrl2_g;
    lsm6dso_ctrl3_c_t                       ctrl3_c;
    lsm6dso_ctrl4_c_t                       ctrl4_c;
    lsm6dso_ctrl5_c_t                       ctrl5_c;
    lsm6dso_ctrl6_c_t                       ctrl6_c;
    lsm6dso_ctrl7_g_t                       ctrl7_g;
    lsm6dso_ctrl8_xl_t                      ctrl8_xl;
    lsm6dso_ctrl9_xl_t                      ctrl9_xl;
    lsm6dso_ctrl10_c_t                      ctrl10_c;
    lsm6dso_all_int_src_t                   all_int_src;
    lsm6dso_wake_up_src_t                   wake_up_src;
    lsm6dso_tap_src_t                       tap_src;
    lsm6dso_d6d_src_t                       d6d_src;
    lsm6dso_status_reg_t                    status_reg;
    lsm6dso_status_spiaux_t                 status_spiaux;
    lsm6dso_fifo_status1_t                  fifo_status1;
    lsm6dso_fifo_status2_t                  fifo_status2;
    lsm6dso_tap_cfg0_t                      tap_cfg0;
    lsm6dso_tap_cfg1_t                      tap_cfg1;
    lsm6dso_tap_cfg2_t                      tap_cfg2;
    lsm6dso_tap_ths_6d_t                    tap_ths_6d;
    lsm6dso_int_dur2_t                      int_dur2;
    lsm6dso_wake_up_ths_t                   wake_up_ths;
    lsm6dso_wake_up_dur_t                   wake_up_dur;
    lsm6dso_free_fall_t                     free_fall;
    lsm6dso_md1_cfg_t                       md1_cfg;
    lsm6dso_md2_cfg_t                       md2_cfg;
    lsm6dso_i3c_bus_avb_t                   i3c_bus_avb;
    lsm6dso_internal_freq_fine_t            internal_freq_fine;
    lsm6dso_int_ois_t                       int_ois;
    lsm6dso_ctrl1_ois_t                     ctrl1_ois;
    lsm6dso_ctrl2_ois_t                     ctrl2_ois;
    lsm6dso_ctrl3_ois_t                     ctrl3_ois;
    lsm6dso_fifo_data_out_tag_t             fifo_data_out_tag;
    lsm6dso_page_sel_t                      page_sel;
    lsm6dso_emb_func_en_a_t                 emb_func_en_a;
    lsm6dso_emb_func_en_b_t                 emb_func_en_b;
    lsm6dso_page_address_t                  page_address;
    lsm6dso_page_value_t                    page_value;
    lsm6dso_emb_func_int1_t                 emb_func_int1;
    lsm6dso_fsm_int1_a_t                    fsm_int1_a;
    lsm6dso_fsm_int1_b_t                    fsm_int1_b;
    lsm6dso_emb_func_int2_t                 emb_func_int2;
    lsm6dso_fsm_int2_a_t                    fsm_int2_a;
    lsm6dso_fsm_int2_b_t                    fsm_int2_b;
    lsm6dso_emb_func_status_t               emb_func_status;
    lsm6dso_fsm_status_a_t                  fsm_status_a;
    lsm6dso_fsm_status_b_t                  fsm_status_b;
    lsm6dso_page_rw_t                       page_rw;
    lsm6dso_emb_func_fifo_cfg_t              emb_func_fifo_cfg;
    lsm6dso_fsm_enable_a_t                  fsm_enable_a;
    lsm6dso_fsm_enable_b_t                  fsm_enable_b;
    lsm6dso_fsm_long_counter_clear_t        fsm_long_counter_clear;
    lsm6dso_fsm_outs1_t                     fsm_outs1;
    lsm6dso_fsm_outs2_t                     fsm_outs2;
    lsm6dso_fsm_outs3_t                     fsm_outs3;
    lsm6dso_fsm_outs4_t                     fsm_outs4;
    lsm6dso_fsm_outs5_t                     fsm_outs5;
    lsm6dso_fsm_outs6_t                     fsm_outs6;
    lsm6dso_fsm_outs7_t                     fsm_outs7;
    lsm6dso_fsm_outs8_t                     fsm_outs8;
    lsm6dso_fsm_outs9_t                     fsm_outs9;
    lsm6dso_fsm_outs10_t                    fsm_outs10;
    lsm6dso_fsm_outs11_t                    fsm_outs11;
    lsm6dso_fsm_outs12_t                    fsm_outs12;
    lsm6dso_fsm_outs13_t                    fsm_outs13;
    lsm6dso_fsm_outs14_t                    fsm_outs14;
    lsm6dso_fsm_outs15_t                    fsm_outs15;
    lsm6dso_fsm_outs16_t                    fsm_outs16;
    lsm6dso_emb_func_odr_cfg_b_t            emb_func_odr_cfg_b;
    lsm6dso_emb_func_src_t                  emb_func_src;
    lsm6dso_emb_func_init_a_t               emb_func_init_a;
    lsm6dso_emb_func_init_b_t               emb_func_init_b;
    lsm6dso_mag_cfg_a_t                     mag_cfg_a;
    lsm6dso_mag_cfg_b_t                     mag_cfg_b;
    lsm6dso_pedo_cmd_reg_t                  pedo_cmd_reg;
    lsm6dso_sensor_hub_1_t                  sensor_hub_1;
    lsm6dso_sensor_hub_2_t                  sensor_hub_2;
    lsm6dso_sensor_hub_3_t                  sensor_hub_3;
    lsm6dso_sensor_hub_4_t                  sensor_hub_4;
    lsm6dso_sensor_hub_5_t                  sensor_hub_5;
    lsm6dso_sensor_hub_6_t                  sensor_hub_6;
    lsm6dso_sensor_hub_7_t                  sensor_hub_7;
    lsm6dso_sensor_hub_8_t                  sensor_hub_8;
    lsm6dso_sensor_hub_9_t                  sensor_hub_9;
    lsm6dso_sensor_hub_10_t                 sensor_hub_10;
    lsm6dso_sensor_hub_11_t                 sensor_hub_11;
    lsm6dso_sensor_hub_12_t                 sensor_hub_12;
    lsm6dso_sensor_hub_13_t                 sensor_hub_13;
    lsm6dso_sensor_hub_14_t                 sensor_hub_14;
    lsm6dso_sensor_hub_15_t                 sensor_hub_15;
    lsm6dso_sensor_hub_16_t                 sensor_hub_16;
    lsm6dso_sensor_hub_17_t                 sensor_hub_17;
    lsm6dso_sensor_hub_18_t                 sensor_hub_18;
    lsm6dso_master_config_t                 master_config;
    lsm6dso_slv0_add_t                      slv0_add;
    lsm6dso_slv0_subadd_t                   slv0_subadd;
    lsm6dso_slv0_config_t                   slv0_config;
    lsm6dso_slv1_add_t                      slv1_add;
    lsm6dso_slv1_subadd_t                   slv1_subadd;
    lsm6dso_slv1_config_t                   slv1_config;
    lsm6dso_slv2_add_t                      slv2_add;
    lsm6dso_slv2_subadd_t                   slv2_subadd;
    lsm6dso_slv2_config_t                   slv2_config;
    lsm6dso_slv3_add_t                      slv3_add;
    lsm6dso_slv3_subadd_t                   slv3_subadd;
    lsm6dso_slv3_config_t                   slv3_config;
    lsm6dso_datawrite_src_mode_sub_slv0_t   datawrite_src_mode_sub_slv0;
    lsm6dso_status_master_t                 status_master;
    bitwise_t                               bitwise;
    uint8_t                                 byte;
  } lsm6dso_reg_t;
  
  /**
    * @}
    *
    */
  
  int32_t lsm6dso_read_reg(stmdev_ctx_t *ctx, uint8_t reg, uint8_t* data,
                           uint16_t len);
  int32_t lsm6dso_write_reg(stmdev_ctx_t *ctx, uint8_t reg, uint8_t* data,
                            uint16_t len);
  
  extern float_t lsm6dso_from_fs2_to_mg(int16_t lsb);
  extern float_t lsm6dso_from_fs4_to_mg(int16_t lsb);
  extern float_t lsm6dso_from_fs8_to_mg(int16_t lsb);
  extern float_t lsm6dso_from_fs16_to_mg(int16_t lsb);
  extern float_t lsm6dso_from_fs125_to_mdps(int16_t lsb);
  extern float_t lsm6dso_from_fs500_to_mdps(int16_t lsb);
  extern float_t lsm6dso_from_fs250_to_mdps(int16_t lsb);
  extern float_t lsm6dso_from_fs1000_to_mdps(int16_t lsb);
  extern float_t lsm6dso_from_fs2000_to_mdps(int16_t lsb);
  extern float_t lsm6dso_from_lsb_to_celsius(int16_t lsb);
  extern float_t lsm6dso_from_lsb_to_nsec(int16_t lsb);
  
  typedef enum {
    LSM6DSO_2g   = 0,
    LSM6DSO_16g  = 1, /* if XL_FS_MODE = ‘1’ -> LSM6DSO_2g */
    LSM6DSO_4g   = 2,
    LSM6DSO_8g   = 3,
  } lsm6dso_fs_xl_t;
  int32_t lsm6dso_xl_full_scale_set(stmdev_ctx_t *ctx, lsm6dso_fs_xl_t val);
  int32_t lsm6dso_xl_full_scale_get(stmdev_ctx_t *ctx, lsm6dso_fs_xl_t *val);
  
  typedef enum {
    LSM6DSO_XL_ODR_OFF    = 0,
    LSM6DSO_XL_ODR_12Hz5  = 1,
    LSM6DSO_XL_ODR_26Hz   = 2,
    LSM6DSO_XL_ODR_52Hz   = 3,
    LSM6DSO_XL_ODR_104Hz  = 4,
    LSM6DSO_XL_ODR_208Hz  = 5,
    LSM6DSO_XL_ODR_417Hz  = 6,
    LSM6DSO_XL_ODR_833Hz  = 7,
    LSM6DSO_XL_ODR_1667Hz = 8,
    LSM6DSO_XL_ODR_3333Hz = 9,
    LSM6DSO_XL_ODR_6667Hz = 10,
    LSM6DSO_XL_ODR_1Hz6   = 11, /* (low power only) */
  } lsm6dso_odr_xl_t;
  int32_t lsm6dso_xl_data_rate_set(stmdev_ctx_t *ctx, lsm6dso_odr_xl_t val);
  int32_t lsm6dso_xl_data_rate_get(stmdev_ctx_t *ctx, lsm6dso_odr_xl_t *val);
  
  typedef enum {
    LSM6DSO_250dps   = 0,
    LSM6DSO_125dps   = 1,
    LSM6DSO_500dps   = 2,
    LSM6DSO_1000dps  = 4,
    LSM6DSO_2000dps  = 6,
  } lsm6dso_fs_g_t;
  int32_t lsm6dso_gy_full_scale_set(stmdev_ctx_t *ctx, lsm6dso_fs_g_t val);
  int32_t lsm6dso_gy_full_scale_get(stmdev_ctx_t *ctx, lsm6dso_fs_g_t *val);
  
  typedef enum {
    LSM6DSO_GY_ODR_OFF    = 0,
    LSM6DSO_GY_ODR_12Hz5  = 1,
    LSM6DSO_GY_ODR_26Hz   = 2,
    LSM6DSO_GY_ODR_52Hz   = 3,
    LSM6DSO_GY_ODR_104Hz  = 4,
    LSM6DSO_GY_ODR_208Hz  = 5,
    LSM6DSO_GY_ODR_417Hz  = 6,
    LSM6DSO_GY_ODR_833Hz  = 7,
    LSM6DSO_GY_ODR_1667Hz = 8,
    LSM6DSO_GY_ODR_3333Hz = 9,
    LSM6DSO_GY_ODR_6667Hz = 10,
  } lsm6dso_odr_g_t;
  int32_t lsm6dso_gy_data_rate_set(stmdev_ctx_t *ctx, lsm6dso_odr_g_t val);
  int32_t lsm6dso_gy_data_rate_get(stmdev_ctx_t *ctx, lsm6dso_odr_g_t *val);
  
  int32_t lsm6dso_block_data_update_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_block_data_update_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  typedef enum {
    LSM6DSO_LSb_1mg  = 0,
    LSM6DSO_LSb_16mg = 1,
  } lsm6dso_usr_off_w_t;
  int32_t lsm6dso_xl_offset_weight_set(stmdev_ctx_t *ctx,
                                       lsm6dso_usr_off_w_t val);
  int32_t lsm6dso_xl_offset_weight_get(stmdev_ctx_t *ctx,
                                       lsm6dso_usr_off_w_t *val);
  
  typedef enum {
    LSM6DSO_HIGH_PERFORMANCE_MD  = 0,
    LSM6DSO_LOW_NORMAL_POWER_MD  = 1,
    LSM6DSO_ULTRA_LOW_POWER_MD   = 2,
  } lsm6dso_xl_hm_mode_t;
  int32_t lsm6dso_xl_power_mode_set(stmdev_ctx_t *ctx,
                                    lsm6dso_xl_hm_mode_t val);
  int32_t lsm6dso_xl_power_mode_get(stmdev_ctx_t *ctx,
                                    lsm6dso_xl_hm_mode_t *val);
  
  typedef enum {
    LSM6DSO_GY_HIGH_PERFORMANCE  = 0,
    LSM6DSO_GY_NORMAL            = 1,
  } lsm6dso_g_hm_mode_t;
  int32_t lsm6dso_gy_power_mode_set(stmdev_ctx_t *ctx,
                                    lsm6dso_g_hm_mode_t val);
  int32_t lsm6dso_gy_power_mode_get(stmdev_ctx_t *ctx,
                                    lsm6dso_g_hm_mode_t *val);
  
  int32_t lsm6dso_status_reg_get(stmdev_ctx_t *ctx,
                                 lsm6dso_status_reg_t *val);
  
  int32_t lsm6dso_xl_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_gy_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_temp_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_xl_usr_offset_x_set(stmdev_ctx_t *ctx, uint8_t *buff);
  int32_t lsm6dso_xl_usr_offset_x_get(stmdev_ctx_t *ctx, uint8_t *buff);
  
  int32_t lsm6dso_xl_usr_offset_y_set(stmdev_ctx_t *ctx, uint8_t *buff);
  int32_t lsm6dso_xl_usr_offset_y_get(stmdev_ctx_t *ctx, uint8_t *buff);
  
  int32_t lsm6dso_xl_usr_offset_z_set(stmdev_ctx_t *ctx, uint8_t *buff);
  int32_t lsm6dso_xl_usr_offset_z_get(stmdev_ctx_t *ctx, uint8_t *buff);
  
  int32_t lsm6dso_xl_usr_offset_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_xl_usr_offset_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_timestamp_rst(stmdev_ctx_t *ctx);
  
  int32_t lsm6dso_timestamp_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_timestamp_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_timestamp_raw_get(stmdev_ctx_t *ctx, uint8_t *buff);
  
  typedef enum {
    LSM6DSO_NO_ROUND      = 0,
    LSM6DSO_ROUND_XL      = 1,
    LSM6DSO_ROUND_GY      = 2,
    LSM6DSO_ROUND_GY_XL   = 3,
  } lsm6dso_rounding_t;
  int32_t lsm6dso_rounding_mode_set(stmdev_ctx_t *ctx,
                                      lsm6dso_rounding_t val);
  int32_t lsm6dso_rounding_mode_get(stmdev_ctx_t *ctx,
                                      lsm6dso_rounding_t *val);
  
  int32_t lsm6dso_temperature_raw_get(stmdev_ctx_t *ctx, uint8_t *buff);
  
  int32_t lsm6dso_angular_rate_raw_get(stmdev_ctx_t *ctx, uint8_t *buff);
  
  int32_t lsm6dso_acceleration_raw_get(stmdev_ctx_t *ctx, uint8_t *buff);
  
  int32_t lsm6dso_fifo_out_raw_get(stmdev_ctx_t *ctx, uint8_t *buff);
  
  int32_t lsm6dso_number_of_steps_get(stmdev_ctx_t *ctx, uint8_t *buff);
  
  int32_t lsm6dso_steps_reset(stmdev_ctx_t *ctx);
  
  int32_t lsm6dso_odr_cal_reg_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_odr_cal_reg_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  typedef enum {
    LSM6DSO_USER_BANK           = 0,
    LSM6DSO_SENSOR_HUB_BANK     = 1,
    LSM6DSO_EMBEDDED_FUNC_BANK  = 2,
  } lsm6dso_reg_access_t;
  int32_t lsm6dso_mem_bank_set(stmdev_ctx_t *ctx, lsm6dso_reg_access_t val);
  int32_t lsm6dso_mem_bank_get(stmdev_ctx_t *ctx, lsm6dso_reg_access_t *val);
  
  int32_t lsm6dso_ln_pg_write_byte(stmdev_ctx_t *ctx, uint16_t address,
                                   uint8_t *val);
  int32_t lsm6dso_ln_pg_read_byte(stmdev_ctx_t *ctx, uint16_t address,
                                  uint8_t *val);
  int32_t lsm6dso_ln_pg_write(stmdev_ctx_t *ctx, uint16_t address,
                              uint8_t *buf, uint8_t len);
  int32_t lsm6dso_ln_pg_read(stmdev_ctx_t *ctx, uint16_t address,
                             uint8_t *val);
  
  typedef enum {
    LSM6DSO_DRDY_LATCHED = 0,
    LSM6DSO_DRDY_PULSED  = 1,
  } lsm6dso_dataready_pulsed_t;
  int32_t lsm6dso_data_ready_mode_set(stmdev_ctx_t *ctx,
                                      lsm6dso_dataready_pulsed_t val);
  int32_t lsm6dso_data_ready_mode_get(stmdev_ctx_t *ctx,
                                      lsm6dso_dataready_pulsed_t *val);
  
  int32_t lsm6dso_device_id_get(stmdev_ctx_t *ctx, uint8_t *buff);
  
  int32_t lsm6dso_reset_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_reset_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_auto_increment_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_auto_increment_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_boot_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_boot_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  typedef enum {
    LSM6DSO_XL_ST_DISABLE  = 0,
    LSM6DSO_XL_ST_POSITIVE = 1,
    LSM6DSO_XL_ST_NEGATIVE = 2,
  } lsm6dso_st_xl_t;
  int32_t lsm6dso_xl_self_test_set(stmdev_ctx_t *ctx, lsm6dso_st_xl_t val);
  int32_t lsm6dso_xl_self_test_get(stmdev_ctx_t *ctx, lsm6dso_st_xl_t *val);
  
  typedef enum {
    LSM6DSO_GY_ST_DISABLE  = 0,
    LSM6DSO_GY_ST_POSITIVE = 1,
    LSM6DSO_GY_ST_NEGATIVE = 3,
  } lsm6dso_st_g_t;
  int32_t lsm6dso_gy_self_test_set(stmdev_ctx_t *ctx, lsm6dso_st_g_t val);
  int32_t lsm6dso_gy_self_test_get(stmdev_ctx_t *ctx, lsm6dso_st_g_t *val);
  
  int32_t lsm6dso_xl_filter_lp2_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_xl_filter_lp2_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_gy_filter_lp1_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_gy_filter_lp1_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_filter_settling_mask_set(stmdev_ctx_t *ctx,
                                           uint8_t val);
  int32_t lsm6dso_filter_settling_mask_get(stmdev_ctx_t *ctx,
                                           uint8_t *val);
  
  typedef enum {
    LSM6DSO_ULTRA_LIGHT  = 0,
    LSM6DSO_VERY_LIGHT   = 1,
    LSM6DSO_LIGHT        = 2,
    LSM6DSO_MEDIUM       = 3,
    LSM6DSO_STRONG       = 4, /* not available for data rate > 1k670Hz */
    LSM6DSO_VERY_STRONG  = 5, /* not available for data rate > 1k670Hz */
    LSM6DSO_AGGRESSIVE   = 6, /* not available for data rate > 1k670Hz */
    LSM6DSO_XTREME       = 7, /* not available for data rate > 1k670Hz */
  } lsm6dso_ftype_t;
  int32_t lsm6dso_gy_lp1_bandwidth_set(stmdev_ctx_t *ctx,
                                       lsm6dso_ftype_t val);
  int32_t lsm6dso_gy_lp1_bandwidth_get(stmdev_ctx_t *ctx,
                                       lsm6dso_ftype_t *val);
  
  int32_t lsm6dso_xl_lp2_on_6d_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_xl_lp2_on_6d_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  typedef enum {
    LSM6DSO_HP_PATH_DISABLE_ON_OUT    = 0x00,
    LSM6DSO_SLOPE_ODR_DIV_4           = 0x10,
    LSM6DSO_HP_ODR_DIV_10             = 0x11,
    LSM6DSO_HP_ODR_DIV_20             = 0x12,
    LSM6DSO_HP_ODR_DIV_45             = 0x13,
    LSM6DSO_HP_ODR_DIV_100            = 0x14,
    LSM6DSO_HP_ODR_DIV_200            = 0x15,
    LSM6DSO_HP_ODR_DIV_400            = 0x16,
    LSM6DSO_HP_ODR_DIV_800            = 0x17,
    LSM6DSO_HP_REF_MD_ODR_DIV_10      = 0x31,
    LSM6DSO_HP_REF_MD_ODR_DIV_20      = 0x32,
    LSM6DSO_HP_REF_MD_ODR_DIV_45      = 0x33,
    LSM6DSO_HP_REF_MD_ODR_DIV_100     = 0x34,
    LSM6DSO_HP_REF_MD_ODR_DIV_200     = 0x35,
    LSM6DSO_HP_REF_MD_ODR_DIV_400     = 0x36,
    LSM6DSO_HP_REF_MD_ODR_DIV_800     = 0x37,
    LSM6DSO_LP_ODR_DIV_10             = 0x01,
    LSM6DSO_LP_ODR_DIV_20             = 0x02,
    LSM6DSO_LP_ODR_DIV_45             = 0x03,
    LSM6DSO_LP_ODR_DIV_100            = 0x04,
    LSM6DSO_LP_ODR_DIV_200            = 0x05,
    LSM6DSO_LP_ODR_DIV_400            = 0x06,
    LSM6DSO_LP_ODR_DIV_800            = 0x07,
  } lsm6dso_hp_slope_xl_en_t;
  int32_t lsm6dso_xl_hp_path_on_out_set(stmdev_ctx_t *ctx,
                                        lsm6dso_hp_slope_xl_en_t val);
  int32_t lsm6dso_xl_hp_path_on_out_get(stmdev_ctx_t *ctx,
                                        lsm6dso_hp_slope_xl_en_t *val);
  
  int32_t lsm6dso_xl_fast_settling_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_xl_fast_settling_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  typedef enum {
    LSM6DSO_USE_SLOPE = 0,
    LSM6DSO_USE_HPF   = 1,
  } lsm6dso_slope_fds_t;
  int32_t lsm6dso_xl_hp_path_internal_set(stmdev_ctx_t *ctx,
                                           lsm6dso_slope_fds_t val);
  int32_t lsm6dso_xl_hp_path_internal_get(stmdev_ctx_t *ctx,
                                           lsm6dso_slope_fds_t *val);
  
  typedef enum {
    LSM6DSO_HP_FILTER_NONE     = 0x00,
    LSM6DSO_HP_FILTER_16mHz    = 0x80,
    LSM6DSO_HP_FILTER_65mHz    = 0x81,
    LSM6DSO_HP_FILTER_260mHz   = 0x82,
    LSM6DSO_HP_FILTER_1Hz04    = 0x83,
  } lsm6dso_hpm_g_t;
  int32_t lsm6dso_gy_hp_path_internal_set(stmdev_ctx_t *ctx,
                                           lsm6dso_hpm_g_t val);
  int32_t lsm6dso_gy_hp_path_internal_get(stmdev_ctx_t *ctx,
                                           lsm6dso_hpm_g_t *val);
  
  typedef enum {
    LSM6DSO_AUX_PULL_UP_DISC       = 0,
    LSM6DSO_AUX_PULL_UP_CONNECT    = 1,
  } lsm6dso_ois_pu_dis_t;
  int32_t lsm6dso_aux_sdo_ocs_mode_set(stmdev_ctx_t *ctx,
                                       lsm6dso_ois_pu_dis_t val);
  int32_t lsm6dso_aux_sdo_ocs_mode_get(stmdev_ctx_t *ctx,
                                       lsm6dso_ois_pu_dis_t *val);
  
  typedef enum {
    LSM6DSO_AUX_ON                    = 1,
    LSM6DSO_AUX_ON_BY_AUX_INTERFACE   = 0,
  } lsm6dso_ois_on_t;
  int32_t lsm6dso_aux_pw_on_ctrl_set(stmdev_ctx_t *ctx, lsm6dso_ois_on_t val);
  int32_t lsm6dso_aux_pw_on_ctrl_get(stmdev_ctx_t *ctx, lsm6dso_ois_on_t *val);
  
  typedef enum {
    LSM6DSO_USE_SAME_XL_FS        = 0,
    LSM6DSO_USE_DIFFERENT_XL_FS   = 1,
  } lsm6dso_xl_fs_mode_t;
  int32_t lsm6dso_aux_xl_fs_mode_set(stmdev_ctx_t *ctx,
                                     lsm6dso_xl_fs_mode_t val);
  int32_t lsm6dso_aux_xl_fs_mode_get(stmdev_ctx_t *ctx,
                                     lsm6dso_xl_fs_mode_t *val);
  
  int32_t lsm6dso_aux_status_reg_get(stmdev_ctx_t *ctx,
                                     lsm6dso_status_spiaux_t *val);
  
  int32_t lsm6dso_aux_xl_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_aux_gy_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_aux_gy_flag_settling_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  typedef enum {
    LSM6DSO_AUX_XL_DISABLE = 0,
    LSM6DSO_AUX_XL_POS     = 1,
    LSM6DSO_AUX_XL_NEG     = 2,
  } lsm6dso_st_xl_ois_t;
  int32_t lsm6dso_aux_xl_self_test_set(stmdev_ctx_t *ctx,
                                       lsm6dso_st_xl_ois_t val);
  int32_t lsm6dso_aux_xl_self_test_get(stmdev_ctx_t *ctx,
                                       lsm6dso_st_xl_ois_t *val);
  
  typedef enum {
    LSM6DSO_AUX_DEN_ACTIVE_LOW     = 0,
    LSM6DSO_AUX_DEN_ACTIVE_HIGH    = 1,
  } lsm6dso_den_lh_ois_t;
  int32_t lsm6dso_aux_den_polarity_set(stmdev_ctx_t *ctx,
                                       lsm6dso_den_lh_ois_t val);
  int32_t lsm6dso_aux_den_polarity_get(stmdev_ctx_t *ctx,
                                       lsm6dso_den_lh_ois_t *val);
  
  typedef enum {
    LSM6DSO_AUX_DEN_DISABLE         = 0,
    LSM6DSO_AUX_DEN_LEVEL_LATCH     = 3,
    LSM6DSO_AUX_DEN_LEVEL_TRIG      = 2,
  } lsm6dso_lvl2_ois_t;
  int32_t lsm6dso_aux_den_mode_set(stmdev_ctx_t *ctx, lsm6dso_lvl2_ois_t val);
  int32_t lsm6dso_aux_den_mode_get(stmdev_ctx_t *ctx, lsm6dso_lvl2_ois_t *val);
  
  int32_t lsm6dso_aux_drdy_on_int2_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_aux_drdy_on_int2_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  typedef enum {
    LSM6DSO_AUX_DISABLE  = 0,
    LSM6DSO_MODE_3_GY    = 1,
    LSM6DSO_MODE_4_GY_XL = 3,
  } lsm6dso_ois_en_spi2_t;
  int32_t lsm6dso_aux_mode_set(stmdev_ctx_t *ctx, lsm6dso_ois_en_spi2_t val);
  int32_t lsm6dso_aux_mode_get(stmdev_ctx_t *ctx, lsm6dso_ois_en_spi2_t *val);
  
  typedef enum {
    LSM6DSO_250dps_AUX  = 0,
    LSM6DSO_125dps_AUX  = 1,
    LSM6DSO_500dps_AUX  = 2,
    LSM6DSO_1000dps_AUX = 4,
    LSM6DSO_2000dps_AUX = 6,
  } lsm6dso_fs_g_ois_t;
  int32_t lsm6dso_aux_gy_full_scale_set(stmdev_ctx_t *ctx,
                                        lsm6dso_fs_g_ois_t val);
  int32_t lsm6dso_aux_gy_full_scale_get(stmdev_ctx_t *ctx,
                                        lsm6dso_fs_g_ois_t *val);
  
  typedef enum {
    LSM6DSO_AUX_SPI_4_WIRE = 0,
    LSM6DSO_AUX_SPI_3_WIRE = 1,
  } lsm6dso_sim_ois_t;
  int32_t lsm6dso_aux_spi_mode_set(stmdev_ctx_t *ctx, lsm6dso_sim_ois_t val);
  int32_t lsm6dso_aux_spi_mode_get(stmdev_ctx_t *ctx, lsm6dso_sim_ois_t *val);
  
  typedef enum {
    LSM6DSO_351Hz39 = 0,
    LSM6DSO_236Hz63 = 1,
    LSM6DSO_172Hz70 = 2,
    LSM6DSO_937Hz91 = 3,
  } lsm6dso_ftype_ois_t;
  int32_t lsm6dso_aux_gy_lp1_bandwidth_set(stmdev_ctx_t *ctx,
                                            lsm6dso_ftype_ois_t val);
  int32_t lsm6dso_aux_gy_lp1_bandwidth_get(stmdev_ctx_t *ctx,
                                            lsm6dso_ftype_ois_t *val);
  
  typedef enum {
    LSM6DSO_AUX_HP_DISABLE = 0x00,
    LSM6DSO_AUX_HP_Hz016   = 0x10,
    LSM6DSO_AUX_HP_Hz065   = 0x11,
    LSM6DSO_AUX_HP_Hz260   = 0x12,
    LSM6DSO_AUX_HP_1Hz040  = 0x13,
  } lsm6dso_hpm_ois_t;
  int32_t lsm6dso_aux_gy_hp_bandwidth_set(stmdev_ctx_t *ctx,
                                           lsm6dso_hpm_ois_t val);
  int32_t lsm6dso_aux_gy_hp_bandwidth_get(stmdev_ctx_t *ctx,
                                           lsm6dso_hpm_ois_t *val);
  
  typedef enum {
    LSM6DSO_ENABLE_CLAMP  = 0,
    LSM6DSO_DISABLE_CLAMP = 1,
  } lsm6dso_st_ois_clampdis_t;
  int32_t lsm6dso_aux_gy_clamp_set(stmdev_ctx_t *ctx,
                                   lsm6dso_st_ois_clampdis_t val);
  int32_t lsm6dso_aux_gy_clamp_get(stmdev_ctx_t *ctx,
                                   lsm6dso_st_ois_clampdis_t *val);
  
  typedef enum {
    LSM6DSO_AUX_GY_DISABLE = 0,
    LSM6DSO_AUX_GY_POS     = 1,
    LSM6DSO_AUX_GY_NEG     = 3,
  } lsm6dso_st_ois_t;
  int32_t lsm6dso_aux_gy_self_test_set(stmdev_ctx_t *ctx,
                                       lsm6dso_st_ois_t val);
  int32_t lsm6dso_aux_gy_self_test_get(stmdev_ctx_t *ctx,
                                       lsm6dso_st_ois_t *val);
  
  typedef enum {
    LSM6DSO_289Hz = 0,
    LSM6DSO_258Hz = 1,
    LSM6DSO_120Hz = 2,
    LSM6DSO_65Hz2 = 3,
    LSM6DSO_33Hz2 = 4,
    LSM6DSO_16Hz6 = 5,
    LSM6DSO_8Hz30 = 6,
    LSM6DSO_4Hz15 = 7,
  } lsm6dso_filter_xl_conf_ois_t;
  int32_t lsm6dso_aux_xl_bandwidth_set(stmdev_ctx_t *ctx,
                                       lsm6dso_filter_xl_conf_ois_t val);
  int32_t lsm6dso_aux_xl_bandwidth_get(stmdev_ctx_t *ctx,
                                       lsm6dso_filter_xl_conf_ois_t *val);
  
  typedef enum {
    LSM6DSO_AUX_2g  = 0,
    LSM6DSO_AUX_16g = 1,
    LSM6DSO_AUX_4g  = 2,
    LSM6DSO_AUX_8g  = 3,
  } lsm6dso_fs_xl_ois_t;
  int32_t lsm6dso_aux_xl_full_scale_set(stmdev_ctx_t *ctx,
                                        lsm6dso_fs_xl_ois_t val);
  int32_t lsm6dso_aux_xl_full_scale_get(stmdev_ctx_t *ctx,
                                        lsm6dso_fs_xl_ois_t *val);
  
  typedef enum {
    LSM6DSO_PULL_UP_DISC       = 0,
    LSM6DSO_PULL_UP_CONNECT    = 1,
  } lsm6dso_sdo_pu_en_t;
  int32_t lsm6dso_sdo_sa0_mode_set(stmdev_ctx_t *ctx,
                                   lsm6dso_sdo_pu_en_t val);
  int32_t lsm6dso_sdo_sa0_mode_get(stmdev_ctx_t *ctx,
                                   lsm6dso_sdo_pu_en_t *val);
  
  typedef enum {
    LSM6DSO_SPI_4_WIRE = 0,
    LSM6DSO_SPI_3_WIRE = 1,
  } lsm6dso_sim_t;
  int32_t lsm6dso_spi_mode_set(stmdev_ctx_t *ctx, lsm6dso_sim_t val);
  int32_t lsm6dso_spi_mode_get(stmdev_ctx_t *ctx, lsm6dso_sim_t *val);
  
  typedef enum {
    LSM6DSO_I2C_ENABLE  = 0,
    LSM6DSO_I2C_DISABLE = 1,
  } lsm6dso_i2c_disable_t;
  int32_t lsm6dso_i2c_interface_set(stmdev_ctx_t *ctx,
                                    lsm6dso_i2c_disable_t val);
  int32_t lsm6dso_i2c_interface_get(stmdev_ctx_t *ctx,
                                    lsm6dso_i2c_disable_t *val);
  
  typedef enum {
    LSM6DSO_I3C_DISABLE         = 0x80,
    LSM6DSO_I3C_ENABLE_T_50us   = 0x00,
    LSM6DSO_I3C_ENABLE_T_2us    = 0x01,
    LSM6DSO_I3C_ENABLE_T_1ms    = 0x02,
    LSM6DSO_I3C_ENABLE_T_25ms   = 0x03,
  } lsm6dso_i3c_disable_t;
  int32_t lsm6dso_i3c_disable_set(stmdev_ctx_t *ctx,
                                  lsm6dso_i3c_disable_t val);
  int32_t lsm6dso_i3c_disable_get(stmdev_ctx_t *ctx,
                                  lsm6dso_i3c_disable_t *val);
  
  typedef enum {
    LSM6DSO_PULL_DOWN_DISC       = 0,
    LSM6DSO_PULL_DOWN_CONNECT    = 1,
  } lsm6dso_int1_pd_en_t;
  int32_t lsm6dso_int1_mode_set(stmdev_ctx_t *ctx,
                                lsm6dso_int1_pd_en_t val);
  int32_t lsm6dso_int1_mode_get(stmdev_ctx_t *ctx,
                                lsm6dso_int1_pd_en_t *val);
  
  typedef enum {
    LSM6DSO_PUSH_PULL   = 0,
    LSM6DSO_OPEN_DRAIN  = 1,
  } lsm6dso_pp_od_t;
  int32_t lsm6dso_pin_mode_set(stmdev_ctx_t *ctx, lsm6dso_pp_od_t val);
  int32_t lsm6dso_pin_mode_get(stmdev_ctx_t *ctx, lsm6dso_pp_od_t *val);
  
  typedef enum {
    LSM6DSO_ACTIVE_HIGH = 0,
    LSM6DSO_ACTIVE_LOW  = 1,
  } lsm6dso_h_lactive_t;
  int32_t lsm6dso_pin_polarity_set(stmdev_ctx_t *ctx,
                                   lsm6dso_h_lactive_t val);
  int32_t lsm6dso_pin_polarity_get(stmdev_ctx_t *ctx,
                                   lsm6dso_h_lactive_t *val);
  
  int32_t lsm6dso_all_on_int1_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_all_on_int1_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  typedef enum {
    LSM6DSO_ALL_INT_PULSED            = 0,
    LSM6DSO_BASE_LATCHED_EMB_PULSED   = 1,
    LSM6DSO_BASE_PULSED_EMB_LATCHED   = 2,
    LSM6DSO_ALL_INT_LATCHED           = 3,
  } lsm6dso_lir_t;
  int32_t lsm6dso_int_notification_set(stmdev_ctx_t *ctx, lsm6dso_lir_t val);
  int32_t lsm6dso_int_notification_get(stmdev_ctx_t *ctx, lsm6dso_lir_t *val);
  
  typedef enum {
    LSM6DSO_LSb_FS_DIV_64       = 0,
    LSM6DSO_LSb_FS_DIV_256      = 1,
  } lsm6dso_wake_ths_w_t;
  int32_t lsm6dso_wkup_ths_weight_set(stmdev_ctx_t *ctx,
                                        lsm6dso_wake_ths_w_t val);
  int32_t lsm6dso_wkup_ths_weight_get(stmdev_ctx_t *ctx,
                                         lsm6dso_wake_ths_w_t *val);
  
  int32_t lsm6dso_wkup_threshold_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_wkup_threshold_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_xl_usr_offset_on_wkup_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_xl_usr_offset_on_wkup_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_wkup_dur_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_wkup_dur_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_gy_sleep_mode_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_gy_sleep_mode_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  typedef enum {
    LSM6DSO_DRIVE_SLEEP_CHG_EVENT = 0,
    LSM6DSO_DRIVE_SLEEP_STATUS    = 1,
  } lsm6dso_sleep_status_on_int_t;
  int32_t lsm6dso_act_pin_notification_set(stmdev_ctx_t *ctx,
                                           lsm6dso_sleep_status_on_int_t val);
  int32_t lsm6dso_act_pin_notification_get(stmdev_ctx_t *ctx,
                                           lsm6dso_sleep_status_on_int_t *val);
  
  typedef enum {
    LSM6DSO_XL_AND_GY_NOT_AFFECTED      = 0,
    LSM6DSO_XL_12Hz5_GY_NOT_AFFECTED    = 1,
    LSM6DSO_XL_12Hz5_GY_SLEEP           = 2,
    LSM6DSO_XL_12Hz5_GY_PD              = 3,
  } lsm6dso_inact_en_t;
  int32_t lsm6dso_act_mode_set(stmdev_ctx_t *ctx, lsm6dso_inact_en_t val);
  int32_t lsm6dso_act_mode_get(stmdev_ctx_t *ctx, lsm6dso_inact_en_t *val);
  
  int32_t lsm6dso_act_sleep_dur_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_act_sleep_dur_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_tap_detection_on_z_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_tap_detection_on_z_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_tap_detection_on_y_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_tap_detection_on_y_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_tap_detection_on_x_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_tap_detection_on_x_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_tap_threshold_x_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_tap_threshold_x_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  typedef enum {
    LSM6DSO_XYZ = 0,
    LSM6DSO_YXZ = 1,
    LSM6DSO_XZY = 2,
    LSM6DSO_ZYX = 3,
    LSM6DSO_YZX = 5,
    LSM6DSO_ZXY = 6,
  } lsm6dso_tap_priority_t;
  int32_t lsm6dso_tap_axis_priority_set(stmdev_ctx_t *ctx,
                                        lsm6dso_tap_priority_t val);
  int32_t lsm6dso_tap_axis_priority_get(stmdev_ctx_t *ctx,
                                        lsm6dso_tap_priority_t *val);
  
  int32_t lsm6dso_tap_threshold_y_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_tap_threshold_y_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_tap_threshold_z_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_tap_threshold_z_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_tap_shock_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_tap_shock_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_tap_quiet_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_tap_quiet_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_tap_dur_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_tap_dur_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  typedef enum {
    LSM6DSO_ONLY_SINGLE = 0,
    LSM6DSO_BOTH_SINGLE_DOUBLE = 1,
  } lsm6dso_single_double_tap_t;
  int32_t lsm6dso_tap_mode_set(stmdev_ctx_t *ctx,
                               lsm6dso_single_double_tap_t val);
  int32_t lsm6dso_tap_mode_get(stmdev_ctx_t *ctx,
                               lsm6dso_single_double_tap_t *val);
  
  typedef enum {
    LSM6DSO_DEG_80  = 0,
    LSM6DSO_DEG_70  = 1,
    LSM6DSO_DEG_60  = 2,
    LSM6DSO_DEG_50  = 3,
  } lsm6dso_sixd_ths_t;
  int32_t lsm6dso_6d_threshold_set(stmdev_ctx_t *ctx, lsm6dso_sixd_ths_t val);
  int32_t lsm6dso_6d_threshold_get(stmdev_ctx_t *ctx, lsm6dso_sixd_ths_t *val);
  
  int32_t lsm6dso_4d_mode_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_4d_mode_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  typedef enum {
    LSM6DSO_FF_TSH_156mg = 0,
    LSM6DSO_FF_TSH_219mg = 1,
    LSM6DSO_FF_TSH_250mg = 2,
    LSM6DSO_FF_TSH_312mg = 3,
    LSM6DSO_FF_TSH_344mg = 4,
    LSM6DSO_FF_TSH_406mg = 5,
    LSM6DSO_FF_TSH_469mg = 6,
    LSM6DSO_FF_TSH_500mg = 7,
  } lsm6dso_ff_ths_t;
  int32_t lsm6dso_ff_threshold_set(stmdev_ctx_t *ctx, lsm6dso_ff_ths_t val);
  int32_t lsm6dso_ff_threshold_get(stmdev_ctx_t *ctx, lsm6dso_ff_ths_t *val);
  
  int32_t lsm6dso_ff_dur_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_ff_dur_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_fifo_watermark_set(stmdev_ctx_t *ctx, uint16_t val);
  int32_t lsm6dso_fifo_watermark_get(stmdev_ctx_t *ctx, uint16_t *val);
  
  int32_t lsm6dso_compression_algo_init_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_compression_algo_init_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  typedef enum {
    LSM6DSO_CMP_DISABLE  = 0x00,
    LSM6DSO_CMP_ALWAYS   = 0x04,
    LSM6DSO_CMP_8_TO_1   = 0x05,
    LSM6DSO_CMP_16_TO_1  = 0x06,
    LSM6DSO_CMP_32_TO_1  = 0x07,
  } lsm6dso_uncoptr_rate_t;
  int32_t lsm6dso_compression_algo_set(stmdev_ctx_t *ctx,
                                       lsm6dso_uncoptr_rate_t val);
  int32_t lsm6dso_compression_algo_get(stmdev_ctx_t *ctx,
                                       lsm6dso_uncoptr_rate_t *val);
  
  int32_t lsm6dso_fifo_virtual_sens_odr_chg_set(stmdev_ctx_t *ctx,
                                                uint8_t val);
  int32_t lsm6dso_fifo_virtual_sens_odr_chg_get(stmdev_ctx_t *ctx,
                                                uint8_t *val);
  
  int32_t lsm6dso_compression_algo_real_time_set(stmdev_ctx_t *ctx,
                                                 uint8_t val);
  int32_t lsm6dso_compression_algo_real_time_get(stmdev_ctx_t *ctx,
                                                 uint8_t *val);
  
  int32_t lsm6dso_fifo_stop_on_wtm_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_fifo_stop_on_wtm_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  typedef enum {
    LSM6DSO_XL_NOT_BATCHED       =  0,
    LSM6DSO_XL_BATCHED_AT_12Hz5   =  1,
    LSM6DSO_XL_BATCHED_AT_26Hz    =  2,
    LSM6DSO_XL_BATCHED_AT_52Hz    =  3,
    LSM6DSO_XL_BATCHED_AT_104Hz   =  4,
    LSM6DSO_XL_BATCHED_AT_208Hz   =  5,
    LSM6DSO_XL_BATCHED_AT_417Hz   =  6,
    LSM6DSO_XL_BATCHED_AT_833Hz   =  7,
    LSM6DSO_XL_BATCHED_AT_1667Hz  =  8,
    LSM6DSO_XL_BATCHED_AT_3333Hz  =  9,
    LSM6DSO_XL_BATCHED_AT_6667Hz  = 10,
    LSM6DSO_XL_BATCHED_AT_6Hz5    = 11,
  } lsm6dso_bdr_xl_t;
  int32_t lsm6dso_fifo_xl_batch_set(stmdev_ctx_t *ctx, lsm6dso_bdr_xl_t val);
  int32_t lsm6dso_fifo_xl_batch_get(stmdev_ctx_t *ctx, lsm6dso_bdr_xl_t *val);
  
  typedef enum {
    LSM6DSO_GY_NOT_BATCHED         = 0,
    LSM6DSO_GY_BATCHED_AT_12Hz5    = 1,
    LSM6DSO_GY_BATCHED_AT_26Hz     = 2,
    LSM6DSO_GY_BATCHED_AT_52Hz     = 3,
    LSM6DSO_GY_BATCHED_AT_104Hz    = 4,
    LSM6DSO_GY_BATCHED_AT_208Hz    = 5,
    LSM6DSO_GY_BATCHED_AT_417Hz    = 6,
    LSM6DSO_GY_BATCHED_AT_833Hz    = 7,
    LSM6DSO_GY_BATCHED_AT_1667Hz   = 8,
    LSM6DSO_GY_BATCHED_AT_3333Hz   = 9,
    LSM6DSO_GY_BATCHED_AT_6667Hz   = 10,
    LSM6DSO_GY_BATCHED_AT_6Hz5     = 11,
  } lsm6dso_bdr_gy_t;
  int32_t lsm6dso_fifo_gy_batch_set(stmdev_ctx_t *ctx, lsm6dso_bdr_gy_t val);
  int32_t lsm6dso_fifo_gy_batch_get(stmdev_ctx_t *ctx, lsm6dso_bdr_gy_t *val);
  
  typedef enum {
    LSM6DSO_BYPASS_MODE             = 0,
    LSM6DSO_FIFO_MODE               = 1,
    LSM6DSO_STREAM_TO_FIFO_MODE     = 3,
    LSM6DSO_BYPASS_TO_STREAM_MODE   = 4,
    LSM6DSO_STREAM_MODE             = 6,
    LSM6DSO_BYPASS_TO_FIFO_MODE     = 7,
  } lsm6dso_fifo_mode_t;
  int32_t lsm6dso_fifo_mode_set(stmdev_ctx_t *ctx, lsm6dso_fifo_mode_t val);
  int32_t lsm6dso_fifo_mode_get(stmdev_ctx_t *ctx, lsm6dso_fifo_mode_t *val);
  
  typedef enum {
    LSM6DSO_TEMP_NOT_BATCHED        = 0,
    LSM6DSO_TEMP_BATCHED_AT_1Hz6    = 1,
    LSM6DSO_TEMP_BATCHED_AT_12Hz5   = 2,
    LSM6DSO_TEMP_BATCHED_AT_52Hz    = 3,
  } lsm6dso_odr_t_batch_t;
  int32_t lsm6dso_fifo_temp_batch_set(stmdev_ctx_t *ctx,
                                      lsm6dso_odr_t_batch_t val);
  int32_t lsm6dso_fifo_temp_batch_get(stmdev_ctx_t *ctx,
                                      lsm6dso_odr_t_batch_t *val);
  
  typedef enum {
    LSM6DSO_NO_DECIMATION = 0,
    LSM6DSO_DEC_1         = 1,
    LSM6DSO_DEC_8         = 2,
    LSM6DSO_DEC_32        = 3,
  } lsm6dso_odr_ts_batch_t;
  int32_t lsm6dso_fifo_timestamp_decimation_set(stmdev_ctx_t *ctx,
                                                lsm6dso_odr_ts_batch_t val);
  int32_t lsm6dso_fifo_timestamp_decimation_get(stmdev_ctx_t *ctx,
                                                lsm6dso_odr_ts_batch_t *val);
  
  typedef enum {
    LSM6DSO_XL_BATCH_EVENT   = 0,
    LSM6DSO_GYRO_BATCH_EVENT = 1,
  } lsm6dso_trig_counter_bdr_t;
  
  typedef enum {
    LSM6DSO_GYRO_NC_TAG    = 1,
    LSM6DSO_XL_NC_TAG,
    LSM6DSO_TEMPERATURE_TAG,
    LSM6DSO_TIMESTAMP_TAG,
    LSM6DSO_CFG_CHANGE_TAG,
    LSM6DSO_XL_NC_T_2_TAG,
    LSM6DSO_XL_NC_T_1_TAG,
    LSM6DSO_XL_2XC_TAG,
    LSM6DSO_XL_3XC_TAG,
    LSM6DSO_GYRO_NC_T_2_TAG,
    LSM6DSO_GYRO_NC_T_1_TAG,
    LSM6DSO_GYRO_2XC_TAG,
    LSM6DSO_GYRO_3XC_TAG,
    LSM6DSO_SENSORHUB_SLAVE0_TAG,
    LSM6DSO_SENSORHUB_SLAVE1_TAG,
    LSM6DSO_SENSORHUB_SLAVE2_TAG,
    LSM6DSO_SENSORHUB_SLAVE3_TAG,
    LSM6DSO_STEP_CPUNTER_TAG,
    LSM6DSO_GAME_ROTATION_TAG,
    LSM6DSO_GEOMAG_ROTATION_TAG,
    LSM6DSO_ROTATION_TAG,
    LSM6DSO_SENSORHUB_NACK_TAG  = 0x19,
  } lsm6dso_fifo_tag_t;
  int32_t lsm6dso_fifo_cnt_event_batch_set(stmdev_ctx_t *ctx,
                                            lsm6dso_trig_counter_bdr_t val);
  int32_t lsm6dso_fifo_cnt_event_batch_get(stmdev_ctx_t *ctx,
                                            lsm6dso_trig_counter_bdr_t *val);
  
  int32_t lsm6dso_rst_batch_counter_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_rst_batch_counter_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_batch_counter_threshold_set(stmdev_ctx_t *ctx,
                                              uint16_t val);
  int32_t lsm6dso_batch_counter_threshold_get(stmdev_ctx_t *ctx,
                                              uint16_t *val);
  
  int32_t lsm6dso_fifo_data_level_get(stmdev_ctx_t *ctx, uint16_t *val);
  
  int32_t lsm6dso_fifo_status_get(stmdev_ctx_t *ctx,
                                  lsm6dso_fifo_status2_t *val);
  
  int32_t lsm6dso_fifo_full_flag_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_fifo_ovr_flag_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_fifo_wtm_flag_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_fifo_sensor_tag_get(stmdev_ctx_t *ctx,
              lsm6dso_fifo_tag_t *val);
  
  int32_t lsm6dso_fifo_pedo_batch_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_fifo_pedo_batch_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_sh_batch_slave_0_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_sh_batch_slave_0_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_sh_batch_slave_1_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_sh_batch_slave_1_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_sh_batch_slave_2_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_sh_batch_slave_2_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_sh_batch_slave_3_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_sh_batch_slave_3_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  typedef enum {
    LSM6DSO_DEN_DISABLE    = 0,
    LSM6DSO_LEVEL_FIFO     = 6,
    LSM6DSO_LEVEL_LETCHED  = 3,
    LSM6DSO_LEVEL_TRIGGER  = 2,
    LSM6DSO_EDGE_TRIGGER   = 4,
  } lsm6dso_den_mode_t;
  int32_t lsm6dso_den_mode_set(stmdev_ctx_t *ctx, lsm6dso_den_mode_t val);
  int32_t lsm6dso_den_mode_get(stmdev_ctx_t *ctx, lsm6dso_den_mode_t *val);
  
  typedef enum {
    LSM6DSO_DEN_ACT_LOW  = 0,
    LSM6DSO_DEN_ACT_HIGH = 1,
  } lsm6dso_den_lh_t;
  int32_t lsm6dso_den_polarity_set(stmdev_ctx_t *ctx, lsm6dso_den_lh_t val);
  int32_t lsm6dso_den_polarity_get(stmdev_ctx_t *ctx, lsm6dso_den_lh_t *val);
  
  typedef enum {
    LSM6DSO_STAMP_IN_GY_DATA     = 0,
    LSM6DSO_STAMP_IN_XL_DATA     = 1,
    LSM6DSO_STAMP_IN_GY_XL_DATA  = 2,
  } lsm6dso_den_xl_g_t;
  int32_t lsm6dso_den_enable_set(stmdev_ctx_t *ctx, lsm6dso_den_xl_g_t val);
  int32_t lsm6dso_den_enable_get(stmdev_ctx_t *ctx, lsm6dso_den_xl_g_t *val);
  
  int32_t lsm6dso_den_mark_axis_x_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_den_mark_axis_x_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_den_mark_axis_y_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_den_mark_axis_y_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_den_mark_axis_z_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_den_mark_axis_z_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  typedef enum {
    LSM6DSO_PEDO_DISABLE              = 0x00,
    LSM6DSO_PEDO_BASE_MODE            = 0x01,
    LSM6DSO_FALSE_STEP_REJ            = 0x13,
    LSM6DSO_FALSE_STEP_REJ_ADV_MODE   = 0x33,
  } lsm6dso_pedo_md_t;
  int32_t lsm6dso_pedo_sens_set(stmdev_ctx_t *ctx, lsm6dso_pedo_md_t val);
  int32_t lsm6dso_pedo_sens_get(stmdev_ctx_t *ctx, lsm6dso_pedo_md_t *val);
  
  int32_t lsm6dso_pedo_step_detect_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_pedo_debounce_steps_set(stmdev_ctx_t *ctx,
                                               uint8_t *buff);
  int32_t lsm6dso_pedo_debounce_steps_get(stmdev_ctx_t *ctx,
                                               uint8_t *buff);
  
  int32_t lsm6dso_pedo_steps_period_set(stmdev_ctx_t *ctx, uint8_t *buff);
  int32_t lsm6dso_pedo_steps_period_get(stmdev_ctx_t *ctx, uint8_t *buff);
  
  typedef enum {
    LSM6DSO_EVERY_STEP     = 0,
    LSM6DSO_COUNT_OVERFLOW = 1,
  } lsm6dso_carry_count_en_t;
  int32_t lsm6dso_pedo_int_mode_set(stmdev_ctx_t *ctx,
                                    lsm6dso_carry_count_en_t val);
  int32_t lsm6dso_pedo_int_mode_get(stmdev_ctx_t *ctx,
                                    lsm6dso_carry_count_en_t *val);
  
  int32_t lsm6dso_motion_sens_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_motion_sens_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_motion_flag_data_ready_get(stmdev_ctx_t *ctx,
                                                  uint8_t *val);
  
  int32_t lsm6dso_tilt_sens_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_tilt_sens_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_tilt_flag_data_ready_get(stmdev_ctx_t *ctx,
                                                uint8_t *val);
  
  int32_t lsm6dso_mag_sensitivity_set(stmdev_ctx_t *ctx, uint8_t *buff);
  int32_t lsm6dso_mag_sensitivity_get(stmdev_ctx_t *ctx, uint8_t *buff);
  
  int32_t lsm6dso_mag_offset_set(stmdev_ctx_t *ctx, uint8_t *buff);
  int32_t lsm6dso_mag_offset_get(stmdev_ctx_t *ctx, uint8_t *buff);
  
  int32_t lsm6dso_mag_soft_iron_set(stmdev_ctx_t *ctx, uint8_t *buff);
  int32_t lsm6dso_mag_soft_iron_get(stmdev_ctx_t *ctx, uint8_t *buff);
  
  typedef enum {
    LSM6DSO_Z_EQ_Y     = 0,
    LSM6DSO_Z_EQ_MIN_Y = 1,
    LSM6DSO_Z_EQ_X     = 2,
    LSM6DSO_Z_EQ_MIN_X = 3,
    LSM6DSO_Z_EQ_MIN_Z = 4,
    LSM6DSO_Z_EQ_Z     = 5,
  } lsm6dso_mag_z_axis_t;
  int32_t lsm6dso_mag_z_orient_set(stmdev_ctx_t *ctx,
                                           lsm6dso_mag_z_axis_t val);
  int32_t lsm6dso_mag_z_orient_get(stmdev_ctx_t *ctx,
                                           lsm6dso_mag_z_axis_t *val);
  
  typedef enum {
    LSM6DSO_Y_EQ_Y     = 0,
    LSM6DSO_Y_EQ_MIN_Y = 1,
    LSM6DSO_Y_EQ_X     = 2,
    LSM6DSO_Y_EQ_MIN_X = 3,
    LSM6DSO_Y_EQ_MIN_Z = 4,
    LSM6DSO_Y_EQ_Z     = 5,
  } lsm6dso_mag_y_axis_t;
  int32_t lsm6dso_mag_y_orient_set(stmdev_ctx_t *ctx,
                                           lsm6dso_mag_y_axis_t val);
  int32_t lsm6dso_mag_y_orient_get(stmdev_ctx_t *ctx,
                                           lsm6dso_mag_y_axis_t *val);
  
  typedef enum {
    LSM6DSO_X_EQ_Y     = 0,
    LSM6DSO_X_EQ_MIN_Y = 1,
    LSM6DSO_X_EQ_X     = 2,
    LSM6DSO_X_EQ_MIN_X = 3,
    LSM6DSO_X_EQ_MIN_Z = 4,
    LSM6DSO_X_EQ_Z     = 5,
  } lsm6dso_mag_x_axis_t;
  int32_t lsm6dso_mag_x_orient_set(stmdev_ctx_t *ctx,
                                           lsm6dso_mag_x_axis_t val);
  int32_t lsm6dso_mag_x_orient_get(stmdev_ctx_t *ctx,
                                           lsm6dso_mag_x_axis_t *val);
  
  int32_t lsm6dso_long_cnt_flag_data_ready_get(stmdev_ctx_t *ctx,
                                               uint8_t *val);
  
  int32_t lsm6dso_emb_fsm_en_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_emb_fsm_en_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  typedef struct {
      lsm6dso_fsm_enable_a_t          fsm_enable_a;
      lsm6dso_fsm_enable_b_t          fsm_enable_b;
  } lsm6dso_emb_fsm_enable_t;
  int32_t lsm6dso_fsm_enable_set(stmdev_ctx_t *ctx,
                                 lsm6dso_emb_fsm_enable_t *val);
  int32_t lsm6dso_fsm_enable_get(stmdev_ctx_t *ctx,
                                 lsm6dso_emb_fsm_enable_t *val);
  
  int32_t lsm6dso_long_cnt_set(stmdev_ctx_t *ctx, uint8_t *buff);
  int32_t lsm6dso_long_cnt_get(stmdev_ctx_t *ctx, uint8_t *buff);
  
  typedef enum {
    LSM6DSO_LC_NORMAL     = 0,
    LSM6DSO_LC_CLEAR      = 1,
    LSM6DSO_LC_CLEAR_DONE = 2,
  } lsm6dso_fsm_lc_clr_t;
  int32_t lsm6dso_long_clr_set(stmdev_ctx_t *ctx, lsm6dso_fsm_lc_clr_t val);
  int32_t lsm6dso_long_clr_get(stmdev_ctx_t *ctx, lsm6dso_fsm_lc_clr_t *val);
  
  typedef struct {
      lsm6dso_fsm_outs1_t    fsm_outs1;
      lsm6dso_fsm_outs2_t    fsm_outs2;
      lsm6dso_fsm_outs3_t    fsm_outs3;
      lsm6dso_fsm_outs4_t    fsm_outs4;
      lsm6dso_fsm_outs5_t    fsm_outs5;
      lsm6dso_fsm_outs6_t    fsm_outs6;
      lsm6dso_fsm_outs7_t    fsm_outs7;
      lsm6dso_fsm_outs8_t    fsm_outs8;
      lsm6dso_fsm_outs9_t    fsm_outs9;
      lsm6dso_fsm_outs10_t   fsm_outs10;
      lsm6dso_fsm_outs11_t   fsm_outs11;
      lsm6dso_fsm_outs12_t   fsm_outs12;
      lsm6dso_fsm_outs13_t   fsm_outs13;
      lsm6dso_fsm_outs14_t   fsm_outs14;
      lsm6dso_fsm_outs15_t   fsm_outs15;
      lsm6dso_fsm_outs16_t   fsm_outs16;
  } lsm6dso_fsm_out_t;
  int32_t lsm6dso_fsm_out_get(stmdev_ctx_t *ctx, lsm6dso_fsm_out_t *val);
  
  typedef enum {
    LSM6DSO_ODR_FSM_12Hz5 = 0,
    LSM6DSO_ODR_FSM_26Hz  = 1,
    LSM6DSO_ODR_FSM_52Hz  = 2,
    LSM6DSO_ODR_FSM_104Hz = 3,
  } lsm6dso_fsm_odr_t;
  int32_t lsm6dso_fsm_data_rate_set(stmdev_ctx_t *ctx, lsm6dso_fsm_odr_t val);
  int32_t lsm6dso_fsm_data_rate_get(stmdev_ctx_t *ctx, lsm6dso_fsm_odr_t *val);
  
  int32_t lsm6dso_fsm_init_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_fsm_init_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_long_cnt_int_value_set(stmdev_ctx_t *ctx, uint16_t val);
  int32_t lsm6dso_long_cnt_int_value_get(stmdev_ctx_t *ctx, uint16_t *val);
  
  int32_t lsm6dso_fsm_number_of_programs_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_fsm_number_of_programs_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  int32_t lsm6dso_fsm_start_address_set(stmdev_ctx_t *ctx, uint16_t val);
  int32_t lsm6dso_fsm_start_address_get(stmdev_ctx_t *ctx, uint16_t *val);
  
  int32_t lsm6dso_sh_read_data_raw_get(stmdev_ctx_t *ctx, uint8_t *val,
                                       uint8_t len);
  
  typedef enum {
    LSM6DSO_SLV_0       = 0,
    LSM6DSO_SLV_0_1     = 1,
    LSM6DSO_SLV_0_1_2   = 2,
    LSM6DSO_SLV_0_1_2_3 = 3,
  } lsm6dso_aux_sens_on_t;
  int32_t lsm6dso_sh_slave_connected_set(stmdev_ctx_t *ctx,
                                         lsm6dso_aux_sens_on_t val);
  int32_t lsm6dso_sh_slave_connected_get(stmdev_ctx_t *ctx,
                                         lsm6dso_aux_sens_on_t *val);
  
  int32_t lsm6dso_sh_master_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_sh_master_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  typedef enum {
    LSM6DSO_EXT_PULL_UP      = 0,
    LSM6DSO_INTERNAL_PULL_UP = 1,
  } lsm6dso_shub_pu_en_t;
  int32_t lsm6dso_sh_pin_mode_set(stmdev_ctx_t *ctx, lsm6dso_shub_pu_en_t val);
  int32_t lsm6dso_sh_pin_mode_get(stmdev_ctx_t *ctx, lsm6dso_shub_pu_en_t *val);
  
  int32_t lsm6dso_sh_pass_through_set(stmdev_ctx_t *ctx, uint8_t val);
  int32_t lsm6dso_sh_pass_through_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  typedef enum {
    LSM6DSO_EXT_ON_INT2_PIN = 0,
    LSM6DSO_XL_GY_DRDY      = 1,
  } lsm6dso_start_config_t;
  int32_t lsm6dso_sh_syncro_mode_set(stmdev_ctx_t *ctx,
                                     lsm6dso_start_config_t val);
  int32_t lsm6dso_sh_syncro_mode_get(stmdev_ctx_t *ctx,
                                     lsm6dso_start_config_t *val);
  
  typedef enum {
    LSM6DSO_EACH_SH_CYCLE    = 0,
    LSM6DSO_ONLY_FIRST_CYCLE = 1,
  } lsm6dso_write_once_t;
  int32_t lsm6dso_sh_write_mode_set(stmdev_ctx_t *ctx,
                                    lsm6dso_write_once_t val);
  int32_t lsm6dso_sh_write_mode_get(stmdev_ctx_t *ctx,
                                    lsm6dso_write_once_t *val);
  
  int32_t lsm6dso_sh_reset_set(stmdev_ctx_t *ctx);
  int32_t lsm6dso_sh_reset_get(stmdev_ctx_t *ctx, uint8_t *val);
  
  typedef enum {
    LSM6DSO_SH_ODR_104Hz = 0,
    LSM6DSO_SH_ODR_52Hz  = 1,
    LSM6DSO_SH_ODR_26Hz  = 2,
    LSM6DSO_SH_ODR_13Hz  = 3,
  } lsm6dso_shub_odr_t;
  int32_t lsm6dso_sh_data_rate_set(stmdev_ctx_t *ctx, lsm6dso_shub_odr_t val);
  int32_t lsm6dso_sh_data_rate_get(stmdev_ctx_t *ctx, lsm6dso_shub_odr_t *val);
  
  typedef struct{
    uint8_t   slv0_add;
    uint8_t   slv0_subadd;
    uint8_t   slv0_data;
  } lsm6dso_sh_cfg_write_t;
  int32_t lsm6dso_sh_cfg_write(stmdev_ctx_t *ctx, lsm6dso_sh_cfg_write_t *val);
  
  typedef struct{
    uint8_t   slv_add;
    uint8_t   slv_subadd;
    uint8_t   slv_len;
  } lsm6dso_sh_cfg_read_t;
  int32_t lsm6dso_sh_slv0_cfg_read(stmdev_ctx_t *ctx,
                                   lsm6dso_sh_cfg_read_t *val);
  int32_t lsm6dso_sh_slv1_cfg_read(stmdev_ctx_t *ctx,
                                   lsm6dso_sh_cfg_read_t *val);
  int32_t lsm6dso_sh_slv2_cfg_read(stmdev_ctx_t *ctx,
                                   lsm6dso_sh_cfg_read_t *val);
  int32_t lsm6dso_sh_slv3_cfg_read(stmdev_ctx_t *ctx,
                                   lsm6dso_sh_cfg_read_t *val);
  
  int32_t lsm6dso_sh_status_get(stmdev_ctx_t *ctx,
                                lsm6dso_status_master_t *val);
  
  
  typedef struct {
    uint8_t ui;
    uint8_t aux;
  } lsm6dso_id_t;
  int32_t lsm6dso_id_get(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx,
                          lsm6dso_id_t *val);
  
  typedef struct {
    enum {
      LSM6DSO_SEL_BY_HW   = 0x00, /* bus mode select by HW (SPI 3W disable) */
      LSM6DSO_SPI_4W      = 0x06, /* Only SPI: SDO / SDI separated ledRgb */
      LSM6DSO_SPI_3W      = 0x07, /* Only SPI: SDO / SDI share the same pin */
      LSM6DSO_I2C         = 0x04, /* Only I2C */
      LSM6DSO_I3C_T_50us  = 0x02, /* I3C: available time equal to 50 μs */
      LSM6DSO_I3C_T_2us   = 0x12, /* I3C: available time equal to 2 μs */
      LSM6DSO_I3C_T_1ms   = 0x22, /* I3C: available time equal to 1 ms */
      LSM6DSO_I3C_T_25ms  = 0x32, /* I3C: available time equal to 25 ms */
    } ui_bus_md;
    enum {
      LSM6DSO_SPI_4W_AUX  = 0x00,
      LSM6DSO_SPI_3W_AUX  = 0x01,
    } aux_bus_md;
  } lsm6dso_bus_mode_t;
  int32_t lsm6dso_bus_mode_set(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx,
                                lsm6dso_bus_mode_t val);
  int32_t lsm6dso_bus_mode_get(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx,
                                lsm6dso_bus_mode_t *val);
  
  typedef enum {
    LSM6DSO_DRV_RDY   = 0x00, /* Initialize the device for driver usage */
    LSM6DSO_BOOT      = 0x01, /* Restore calib. param. ( it takes 10ms ) */
    LSM6DSO_RESET     = 0x02, /* Reset configuration registers */
    LSM6DSO_FIFO_COMP = 0x04, /* FIFO compression initialization request. */
    LSM6DSO_FSM       = 0x08, /* Finite State Machine initialization request */
    LSM6DSO_PEDO      = 0x20, /* Pedometer algo initialization request. */
    LSM6DSO_TILT      = 0x40, /* Tilt algo initialization request */
    LSM6DSO_SMOTION   = 0x80, /* Significant Motion initialization request */
  } lsm6dso_init_t;
  int32_t lsm6dso_init_set(stmdev_ctx_t *ctx, lsm6dso_init_t val);
  
  typedef struct {
    uint8_t sw_reset           : 1; /* Restoring configuration registers */
    uint8_t boot               : 1; /* Restoring calibration parameters */
    uint8_t drdy_xl            : 1; /* Accelerometer data ready */
    uint8_t drdy_g             : 1; /* Gyroscope data ready */
    uint8_t drdy_temp          : 1; /* Temperature data ready */
    uint8_t ois_drdy_xl        : 1; /* Accelerometer data ready on OIS */
    uint8_t ois_drdy_g         : 1; /* Gyroscope data ready on OIS */
    uint8_t ois_gyro_settling  : 1; /* Gyroscope is in the settling phase */
  } lsm6dso_status_t;
  int32_t lsm6dso_status_get(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx,
                              lsm6dso_status_t *val);
  
  typedef struct {
    uint8_t sdo_sa0_pull_up     : 1; /* 1 = pull-up on SDO/SA0 pin */
    uint8_t aux_sdo_ocs_pull_up : 1; /* 1 = pull-up on OCS_Aux/SDO_Aux ledRgb */
    uint8_t int1_int2_push_pull : 1; /* 1 = push-pull / 0 = open-drain*/
    uint8_t int1_pull_down      : 1; /* 1 = pull-down always disabled (0=auto) */
  } lsm6dso_pin_conf_t;
  int32_t lsm6dso_pin_conf_set(stmdev_ctx_t *ctx, lsm6dso_pin_conf_t val);
  int32_t lsm6dso_pin_conf_get(stmdev_ctx_t *ctx, lsm6dso_pin_conf_t *val);
  
  typedef struct {
    uint8_t active_low   : 1; /* 1 = active low / 0 = active high */
    uint8_t base_latched : 1; /* base functions are: FF, WU, 6D, Tap, Act/Inac */
    uint8_t emb_latched  : 1; /* emb functions are: Pedo, Tilt, SMot, Timestamp */
  } lsm6dso_int_mode_t;
  int32_t lsm6dso_interrupt_mode_set(stmdev_ctx_t *ctx,
                                      lsm6dso_int_mode_t val);
  int32_t lsm6dso_interrupt_mode_get(stmdev_ctx_t *ctx,
                                      lsm6dso_int_mode_t *val);
  
  typedef struct {
    uint8_t drdy_xl       : 1; /* Accelerometer data ready */
    uint8_t drdy_g        : 1; /* Gyroscope data ready */
    uint8_t drdy_temp     : 1; /* Temperature data ready (1 = int2 pin disable) */
    uint8_t boot          : 1; /* Restoring calibration parameters */
    uint8_t fifo_th       : 1; /* FIFO threshold reached */
    uint8_t fifo_ovr      : 1; /* FIFO overrun */
    uint8_t fifo_full     : 1; /* FIFO full */
    uint8_t fifo_bdr      : 1; /* FIFO Batch counter threshold reached */
    uint8_t den_flag      : 1; /* external trigger level recognition (DEN) */
    uint8_t sh_endop      : 1; /* sensor hub end operation */
    uint8_t timestamp     : 1; /* timestamp overflow (1 = int2 pin disable) */
    uint8_t six_d         : 1; /* orientation change (6D/4D detection) */
    uint8_t double_tap    : 1; /* double-tap event */
    uint8_t free_fall     : 1; /* free fall event */
    uint8_t wake_up       : 1; /* wake up event */
    uint8_t single_tap    : 1; /* single-tap event */
    uint8_t sleep_change  : 1; /* Act/Inact (or Vice-versa) status changed */
    uint8_t step_detector : 1; /* Step detected */
    uint8_t tilt          : 1; /* Relative tilt event detected */
    uint8_t sig_mot       : 1; /* "significant motion" event detected */
    uint8_t fsm_lc        : 1; /* fsm long counter timeout interrupt event */
    uint8_t fsm1          : 1; /* fsm 1 interrupt event */
    uint8_t fsm2          : 1; /* fsm 2 interrupt event */
    uint8_t fsm3          : 1; /* fsm 3 interrupt event */
    uint8_t fsm4          : 1; /* fsm 4 interrupt event */
    uint8_t fsm5          : 1; /* fsm 5 interrupt event */
    uint8_t fsm6          : 1; /* fsm 6 interrupt event */
    uint8_t fsm7          : 1; /* fsm 7 interrupt event */
    uint8_t fsm8          : 1; /* fsm 8 interrupt event */
    uint8_t fsm9          : 1; /* fsm 9 interrupt event */
    uint8_t fsm10         : 1; /* fsm 10 interrupt event */
    uint8_t fsm11         : 1; /* fsm 11 interrupt event */
    uint8_t fsm12         : 1; /* fsm 12 interrupt event */
    uint8_t fsm13         : 1; /* fsm 13 interrupt event */
    uint8_t fsm14         : 1; /* fsm 14 interrupt event */
    uint8_t fsm15         : 1; /* fsm 15 interrupt event */
    uint8_t fsm16         : 1; /* fsm 16 interrupt event */
    uint8_t mlc1          : 1; /* mlc 1 interrupt event */
    uint8_t mlc2          : 1; /* mlc 2 interrupt event */
    uint8_t mlc3          : 1; /* mlc 3 interrupt event */
    uint8_t mlc4          : 1; /* mlc 4 interrupt event */
    uint8_t mlc5          : 1; /* mlc 5 interrupt event */
    uint8_t mlc6          : 1; /* mlc 6 interrupt event */
    uint8_t mlc7          : 1; /* mlc 7 interrupt event */
    uint8_t mlc8          : 1; /* mlc 8 interrupt event */
  } lsm6dso_pin_int1_route_t;
  
  int32_t lsm6dso_pin_int1_route_set(stmdev_ctx_t *ctx,
                                     lsm6dso_pin_int1_route_t val);
  int32_t lsm6dso_pin_int1_route_get(stmdev_ctx_t *ctx,
                                     lsm6dso_pin_int1_route_t *val);
  
  typedef struct {
    uint8_t drdy_ois      : 1; /* OIS chain data ready */
    uint8_t drdy_xl       : 1; /* Accelerometer data ready */
    uint8_t drdy_g        : 1; /* Gyroscope data ready */
    uint8_t drdy_temp     : 1; /* Temperature data ready */
    uint8_t fifo_th       : 1; /* FIFO threshold reached */
    uint8_t fifo_ovr      : 1; /* FIFO overrun */
    uint8_t fifo_full     : 1; /* FIFO full */
    uint8_t fifo_bdr      : 1; /* FIFO Batch counter threshold reached */
    uint8_t timestamp     : 1; /* timestamp overflow */
    uint8_t six_d         : 1; /* orientation change (6D/4D detection) */
    uint8_t double_tap    : 1; /* double-tap event */
    uint8_t free_fall     : 1; /* free fall event */
    uint8_t wake_up       : 1; /* wake up event */
    uint8_t single_tap    : 1; /* single-tap event */
    uint8_t sleep_change  : 1; /* Act/Inact (or Vice-versa) status changed */
    uint8_t step_detector : 1; /* Step detected */
    uint8_t tilt          : 1; /* Relative tilt event detected */
    uint8_t sig_mot       : 1; /* "significant motion" event detected */
    uint8_t fsm_lc        : 1; /* fsm long counter timeout interrupt event */
    uint8_t fsm1          : 1; /* fsm 1 interrupt event */
    uint8_t fsm2          : 1; /* fsm 2 interrupt event */
    uint8_t fsm3          : 1; /* fsm 3 interrupt event */
    uint8_t fsm4          : 1; /* fsm 4 interrupt event */
    uint8_t fsm5          : 1; /* fsm 5 interrupt event */
    uint8_t fsm6          : 1; /* fsm 6 interrupt event */
    uint8_t fsm7          : 1; /* fsm 7 interrupt event */
    uint8_t fsm8          : 1; /* fsm 8 interrupt event */
    uint8_t fsm9          : 1; /* fsm 9 interrupt event */
    uint8_t fsm10         : 1; /* fsm 10 interrupt event */
    uint8_t fsm11         : 1; /* fsm 11 interrupt event */
    uint8_t fsm12         : 1; /* fsm 12 interrupt event */
    uint8_t fsm13         : 1; /* fsm 13 interrupt event */
    uint8_t fsm14         : 1; /* fsm 14 interrupt event */
    uint8_t fsm15         : 1; /* fsm 15 interrupt event */
    uint8_t fsm16         : 1; /* fsm 16 interrupt event */
    uint8_t mlc1          : 1; /* mlc 1 interrupt event */
    uint8_t mlc2          : 1; /* mlc 2 interrupt event */
    uint8_t mlc3          : 1; /* mlc 3 interrupt event */
    uint8_t mlc4          : 1; /* mlc 4 interrupt event */
    uint8_t mlc5          : 1; /* mlc 5 interrupt event */
    uint8_t mlc6          : 1; /* mlc 6 interrupt event */
    uint8_t mlc7          : 1; /* mlc 7 interrupt event */
    uint8_t mlc8          : 1; /* mlc 8 interrupt event */
  } lsm6dso_pin_int2_route_t;
  
  int32_t lsm6dso_pin_int2_route_set(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx,
                                      lsm6dso_pin_int2_route_t val);
  int32_t lsm6dso_pin_int2_route_get(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx,
                                      lsm6dso_pin_int2_route_t *val);
  
  typedef struct {
    uint8_t drdy_xl          :  1; /* Accelerometer data ready */
    uint8_t drdy_g           :  1; /* Gyroscope data ready */
    uint8_t drdy_temp        :  1; /* Temperature data ready */
    uint8_t den_flag         :  1; /* external trigger level recognition (DEN) */
    uint8_t timestamp        :  1; /* timestamp overflow (1 = int2 pin disable) */
    uint8_t free_fall        :  1; /* free fall event */
    uint8_t wake_up          :  1; /* wake up event */
    uint8_t wake_up_z        :  1; /* wake up on Z axis event */
    uint8_t wake_up_y        :  1; /* wake up on Y axis event */
    uint8_t wake_up_x        :  1; /* wake up on X axis event */
    uint8_t single_tap       :  1; /* single-tap event */
    uint8_t double_tap       :  1; /* double-tap event */
    uint8_t tap_z            :  1; /* single-tap on Z axis event */
    uint8_t tap_y            :  1; /* single-tap on Y axis event */
    uint8_t tap_x            :  1; /* single-tap on X axis event */
    uint8_t tap_sign         :  1; /* sign of tap event (0-pos / 1-neg) */
    uint8_t six_d            :  1; /* orientation change (6D/4D detection) */
    uint8_t six_d_xl         :  1; /* X-axis low 6D/4D event (under threshold) */
    uint8_t six_d_xh         :  1; /* X-axis high 6D/4D event (over threshold) */
    uint8_t six_d_yl         :  1; /* Y-axis low 6D/4D event (under threshold) */
    uint8_t six_d_yh         :  1; /* Y-axis high 6D/4D event (over threshold) */
    uint8_t six_d_zl         :  1; /* Z-axis low 6D/4D event (under threshold) */
    uint8_t six_d_zh         :  1; /* Z-axis high 6D/4D event (over threshold) */
    uint8_t sleep_change     :  1; /* Act/Inact (or Vice-versa) status changed */
    uint8_t sleep_state      :  1; /* Act/Inact status flag (0-Act / 1-Inact) */
    uint8_t step_detector    :  1; /* Step detected */
    uint8_t tilt             :  1; /* Relative tilt event detected */
    uint8_t sig_mot          :  1; /* "significant motion" event detected */
    uint8_t fsm_lc           :  1; /* fsm long counter timeout interrupt event */
    uint8_t fsm1             :  1; /* fsm 1 interrupt event */
    uint8_t fsm2             :  1; /* fsm 2 interrupt event */
    uint8_t fsm3             :  1; /* fsm 3 interrupt event */
    uint8_t fsm4             :  1; /* fsm 4 interrupt event */
    uint8_t fsm5             :  1; /* fsm 5 interrupt event */
    uint8_t fsm6             :  1; /* fsm 6 interrupt event */
    uint8_t fsm7             :  1; /* fsm 7 interrupt event */
    uint8_t fsm8             :  1; /* fsm 8 interrupt event */
    uint8_t fsm9             :  1; /* fsm 9 interrupt event */
    uint8_t fsm10            :  1; /* fsm 10 interrupt event */
    uint8_t fsm11            :  1; /* fsm 11 interrupt event */
    uint8_t fsm12            :  1; /* fsm 12 interrupt event */
    uint8_t fsm13            :  1; /* fsm 13 interrupt event */
    uint8_t fsm14            :  1; /* fsm 14 interrupt event */
    uint8_t fsm15            :  1; /* fsm 15 interrupt event */
    uint8_t fsm16            :  1; /* fsm 16 interrupt event */
    uint8_t mlc1             :  1; /* mlc 1 interrupt event */
    uint8_t mlc2             :  1; /* mlc 2 interrupt event */
    uint8_t mlc3             :  1; /* mlc 3 interrupt event */
    uint8_t mlc4             :  1; /* mlc 4 interrupt event */
    uint8_t mlc5             :  1; /* mlc 5 interrupt event */
    uint8_t mlc6             :  1; /* mlc 6 interrupt event */
    uint8_t mlc7             :  1; /* mlc 7 interrupt event */
    uint8_t mlc8             :  1; /* mlc 8 interrupt event */
    uint8_t sh_endop         :  1; /* sensor hub end operation */
    uint8_t sh_slave0_nack   :  1; /* Not acknowledge on sensor hub slave 0 */
    uint8_t sh_slave1_nack   :  1; /* Not acknowledge on sensor hub slave 1 */
    uint8_t sh_slave2_nack   :  1; /* Not acknowledge on sensor hub slave 2 */
    uint8_t sh_slave3_nack   :  1; /* Not acknowledge on sensor hub slave 3 */
    uint8_t sh_wr_once       :  1; /* "WRITE_ONCE" end on sensor hub slave 0 */
    uint16_t fifo_diff       : 10; /* Number of unread sensor data in FIFO*/
    uint8_t fifo_ovr_latched :  1; /* Latched FIFO overrun status */
    uint8_t fifo_bdr         :  1; /* FIFO Batch counter threshold reached */
    uint8_t fifo_full        :  1; /* FIFO full */
    uint8_t fifo_ovr         :  1; /* FIFO overrun */
    uint8_t fifo_th          :  1; /* FIFO threshold reached */
  } lsm6dso_all_sources_t;
  int32_t lsm6dso_all_sources_get(stmdev_ctx_t *ctx,
                                   lsm6dso_all_sources_t *val);
  
  typedef struct{
    uint8_t odr_fine_tune;
  } dev_cal_t;
  int32_t lsm6dso_calibration_get(stmdev_ctx_t *ctx, dev_cal_t *val);
  
  typedef struct {
    struct {
      struct {
        enum {
          LSM6DSO_XL_UI_OFF       = 0x00, /* in power down */
          LSM6DSO_XL_UI_1Hz6_LP   = 0x1B, /* @1Hz6 (low power) */
          LSM6DSO_XL_UI_1Hz6_ULP  = 0x2B, /* @1Hz6 (ultra low/Gy, OIS imu off) */
          LSM6DSO_XL_UI_12Hz5_HP  = 0x01, /* @12Hz5 (high performance) */
          LSM6DSO_XL_UI_12Hz5_LP  = 0x11, /* @12Hz5 (low power) */
          LSM6DSO_XL_UI_12Hz5_ULP = 0x21, /* @12Hz5 (ultra low/Gy, OIS imu off) */
          LSM6DSO_XL_UI_26Hz_HP   = 0x02, /* @26Hz  (high performance) */
          LSM6DSO_XL_UI_26Hz_LP   = 0x12, /* @26Hz  (low power) */
          LSM6DSO_XL_UI_26Hz_ULP  = 0x22, /* @26Hz  (ultra low/Gy, OIS imu off) */
          LSM6DSO_XL_UI_52Hz_HP   = 0x03, /* @52Hz  (high performance) */
          LSM6DSO_XL_UI_52Hz_LP   = 0x13, /* @52Hz  (low power) */
          LSM6DSO_XL_UI_52Hz_ULP  = 0x23, /* @52Hz  (ultra low/Gy, OIS imu off) */
          LSM6DSO_XL_UI_104Hz_HP  = 0x04, /* @104Hz (high performance) */
          LSM6DSO_XL_UI_104Hz_NM  = 0x14, /* @104Hz (normal mode) */
          LSM6DSO_XL_UI_104Hz_ULP = 0x24, /* @104Hz (ultra low/Gy, OIS imu off) */
          LSM6DSO_XL_UI_208Hz_HP  = 0x05, /* @208Hz (high performance) */
          LSM6DSO_XL_UI_208Hz_NM  = 0x15, /* @208Hz (normal mode) */
          LSM6DSO_XL_UI_208Hz_ULP = 0x25, /* @208Hz (ultra low/Gy, OIS imu off) */
          LSM6DSO_XL_UI_416Hz_HP  = 0x06, /* @416Hz (high performance) */
          LSM6DSO_XL_UI_833Hz_HP  = 0x07, /* @833Hz (high performance) */
          LSM6DSO_XL_UI_1667Hz_HP = 0x08, /* @1kHz66 (high performance) */
          LSM6DSO_XL_UI_3333Hz_HP = 0x09, /* @3kHz33 (high performance) */
          LSM6DSO_XL_UI_6667Hz_HP = 0x0A, /* @6kHz66 (high performance) */
        } odr;
        enum {
          LSM6DSO_XL_UI_2g   = 0,
          LSM6DSO_XL_UI_4g   = 2,
          LSM6DSO_XL_UI_8g   = 3,
          LSM6DSO_XL_UI_16g  = 1, /* OIS full scale is also forced to be 16g */
        } fs;
      } xl;
      struct {
        enum {
          LSM6DSO_GY_UI_OFF       = 0x00, /* gy in power down */
          LSM6DSO_GY_UI_12Hz5_LP  = 0x11, /* gy @12Hz5 (low power) */
          LSM6DSO_GY_UI_12Hz5_HP  = 0x01, /* gy @12Hz5 (high performance) */
          LSM6DSO_GY_UI_26Hz_LP   = 0x12, /* gy @26Hz  (low power) */
          LSM6DSO_GY_UI_26Hz_HP   = 0x02, /* gy @26Hz  (high performance) */
          LSM6DSO_GY_UI_52Hz_LP   = 0x13, /* gy @52Hz  (low power) */
          LSM6DSO_GY_UI_52Hz_HP   = 0x03, /* gy @52Hz  (high performance) */
          LSM6DSO_GY_UI_104Hz_NM  = 0x14, /* gy @104Hz (low power) */
          LSM6DSO_GY_UI_104Hz_HP  = 0x04, /* gy @104Hz (high performance) */
          LSM6DSO_GY_UI_208Hz_NM  = 0x15, /* gy @208Hz (low power) */
          LSM6DSO_GY_UI_208Hz_HP  = 0x05, /* gy @208Hz (high performance) */
          LSM6DSO_GY_UI_416Hz_HP  = 0x06, /* gy @416Hz (high performance) */
          LSM6DSO_GY_UI_833Hz_HP  = 0x07, /* gy @833Hz (high performance) */
          LSM6DSO_GY_UI_1667Hz_HP = 0x08, /* gy @1kHz66 (high performance) */
          LSM6DSO_GY_UI_3333Hz_HP = 0x09, /* gy @3kHz33 (high performance) */
          LSM6DSO_GY_UI_6667Hz_HP = 0x0A, /* gy @6kHz66 (high performance) */
        } odr;
        enum {
          LSM6DSO_GY_UI_250dps   = 0,
          LSM6DSO_GY_UI_125dps   = 1,
          LSM6DSO_GY_UI_500dps   = 2,
          LSM6DSO_GY_UI_1000dps  = 4,
          LSM6DSO_GY_UI_2000dps  = 6,
        } fs;
      }gy;
    } ui;
    struct {
      enum {
        LSM6DSO_OIS_ONLY_AUX    = 0x00, /* Auxiliary SPI full control */
        LSM6DSO_OIS_MIXED       = 0x01, /* Enabling by UI / read-config by AUX */
      } ctrl_md;
      struct {
        enum {
          LSM6DSO_XL_OIS_OFF       = 0x00, /* in power down */
          LSM6DSO_XL_OIS_6667Hz_HP = 0x01, /* @6kHz OIS imu active/NO ULP on UI */
        } odr;
        enum {
          LSM6DSO_XL_OIS_2g   = 0,
          LSM6DSO_XL_OIS_4g   = 2,
          LSM6DSO_XL_OIS_8g   = 3,
          LSM6DSO_XL_OIS_16g  = 1, /* UI full scale is also forced to be 16g */
        } fs;
      } xl;
      struct {
        enum {
          LSM6DSO_GY_OIS_OFF       = 0x00, /* in power down */
          LSM6DSO_GY_OIS_6667Hz_HP = 0x01, /* @6kHz No Ultra Low Power*/
        } odr;
        enum {
          LSM6DSO_GY_OIS_250dps   = 0,
          LSM6DSO_GY_OIS_125dps   = 1,
          LSM6DSO_GY_OIS_500dps   = 2,
          LSM6DSO_GY_OIS_1000dps  = 4,
          LSM6DSO_GY_OIS_2000dps  = 6,
        } fs;
      } gy;
    } ois;
    struct {
      enum {
        LSM6DSO_FSM_DISABLE = 0x00,
        LSM6DSO_FSM_XL      = 0x01,
        LSM6DSO_FSM_GY      = 0x02,
        LSM6DSO_FSM_XL_GY   = 0x03,
      } sens;
      enum {
        LSM6DSO_FSM_12Hz5 = 0x00,
        LSM6DSO_FSM_26Hz  = 0x01,
        LSM6DSO_FSM_52Hz  = 0x02,
        LSM6DSO_FSM_104Hz = 0x03,
      } odr;
    } fsm;
  } lsm6dso_md_t;
  int32_t lsm6dso_mode_set(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx,
                            lsm6dso_md_t *val);
  int32_t lsm6dso_mode_get(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx,
                            lsm6dso_md_t *val);
  typedef struct {
    struct {
      struct {
        float mg[3];
        int16_t raw[3];
      }xl;
      struct {
        float mdps[3];
        int16_t raw[3];
      }gy;
      struct {
        float deg_c;
        int16_t raw;
      }heat;
    } ui;
    struct {
      struct {
        float mg[3];
        int16_t raw[3];
      }xl;
      struct {
        float mdps[3];
        int16_t raw[3];
      }gy;
    } ois;
  } lsm6dso_data_t;
  int32_t lsm6dso_data_get(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx,
                            lsm6dso_md_t *md, lsm6dso_data_t *data);
  
  /**
    * @}
    *
    */
  
  #ifdef __cplusplus
  }
  #endif
  
  #endif /*LSM6DSO_DRIVER_H */
  
  /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
  