884 lines
52 KiB
C
884 lines
52 KiB
C
/****************************************************************************
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* include/nuttx/sensors/lsm6dsl.h
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __INCLUDE_NUTTX_SENSORS_LSM6DSL_H
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#define __INCLUDE_NUTTX_SENSORS_LSM6DSL_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/sensors/ioctl.h>
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#if defined(CONFIG_I2C) && defined(CONFIG_SENSORS_LSM6DSL)
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* I2C Addresses ************************************************************/
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/* Accelerometer addresses */
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#define LSM6DSLACCEL_ADDR0 (0xD4 >> 1) /* 0x6a low */
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#define LSM6DSLACCEL_ADDR1 (0xD6 >> 1) /* 0x6B .. high */
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/* Gyroscope addresses */
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#define LSM6DSLGYRO_ADDR0 0xd4
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#define LSM6DSLGYRO_ADDR1 0xd6
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/* Register Addresses *******************************************************/
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/* Accelerometer and gyroscope registers */
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#define LSM6DSL_FUNC_CFG_ACCESS 0x01 /* Enable embedded functions register (r/w).*/
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#define LSM6DSL_SENSOR_SYNC_TIME_FRAME 0x04 /* Sensor synchronization time frame register (r/w). */
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#define LSM6DSL_SENSOR_SYNC_RES_RATIO 0x05 /* Sensor synchronization resolution ratio (r/w) */
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#define LSM6DSL_FIFO_CTRL1 0x06 /* FIFO control register (r/w). */
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#define LSM6DSL_FIFO_CTRL2 0x07 /* FIFO control register (r/w). */
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#define LSM6DSL_FIFO_CTRL3 0x08 /* FIFO control register (r/w). */
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#define LSM6DSL_FIFO_CTRL4 0x09 /* FIFO control register (r/w). */
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#define LSM6DSL_FIFO_CTRL5 0x0A /* FIFO control register (r/w). */
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#define LSM6DSL_DRDY_PULSE_CFG_G 0x0B /* DataReady configuration register (r/w).*/
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#define LSM6DSL_INT1_CTRL 0x0D /* INT1 pad control register (r/w). */
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#define LSM6DSL_INT2_CTRL 0x0E /* INT2 pad control register (r/w). */
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#define LSM6DSL_WHO_AM_I 0x0F /* Who_AM_I register (r). This register is a read-only register. */
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#define LSM6DSL_WHO_AM_I_VALUE 0x6A
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#define LSM6DSL_CTRL1_XL 0x10 /* Linear acceleration sensor control register 1 (r/w). */
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#define LSM6DSL_CTRL2_G 0x11 /* Angular rate sensor control register 2 (r/w). */
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#define LSM6DSL_CTRL3_C 0x12 /* Control register 3 (r/w). */
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#define LSM6DSL_CTRL4_C 0x13 /* Control register 4 (r/w).*/
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#define LSM6DSL_CTRL5_C 0x14 /* Control register 5 (r/w). */
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#define LSM6DSL_CTRL6_C 0x15 /* Angular rate sensor control register 6 (r/w). */
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#define LSM6DSL_CTRL7_G 0x16 /* Angular rate sensor control register 7 (r/w). */
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#define LSM6DSL_CTRL8_XL 0x17 /* Linear acceleration sensor control register 8 (r/w). */
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#define LSM6DSL_CTRL9_XL 0x18 /* Linear acceleration sensor control register 9 (r/w). */
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#define LSM6DSL_CTRL10_C 0x19 /* Control register 10 (r/w). */
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#define LSM6DSL_MASTER_CONFIG 0x1A /* Master configuration register (r/w). */
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#define LSM6DSL_WAKE_UP_SRC 0x1B /* Wake up interrupt source register (r). */
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#define LSM6DSL_TAP_SRC 0x1C /* Tap source register (r). */
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#define LSM6DSL_D6D_SRC 0x1D /* Portrait, landscape, face-up and face-down source register (r). */
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#define LSM6DSL_STATUS_REG 0x1E /* The STATUS_REG register is read by the SPI/I2C interface (r). */
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#define LSM6DSL_OUT_TEMP_L 0x20 /* Temperature data output register (r). */
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#define LSM6DSL_OUT_TEMP_H 0x21 /* Temperature data output register (r). */
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#define LSM6DSL_OUTX_L_G 0x22 /* Angular rate sensor pitch axis (X) angular rate output register (r). */
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#define LSM6DSL_OUTX_H_G 0x23 /* Angular rate sensor pitch axis (X) angular rate output register (r). */
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#define LSM6DSL_OUTY_L_G 0x24 /* Angular rate sensor roll axis (Y) angular rate output register (r). */
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#define LSM6DSL_OUTY_H_G 0x25 /* Angular rate sensor roll axis (Y) angular rate output register (r). */
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#define LSM6DSL_OUTZ_L_G 0x26 /* Angular rate sensor roll axis (Z) angular rate output register (r). */
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#define LSM6DSL_OUTZ_H_G 0x27 /* Angular rate sensor roll axis (Z) angular rate output register (r). */
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#define LSM6DSL_OUTX_L_XL 0x28 /* Linear acceleration sensor X-axis output register (r). */
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#define LSM6DSL_OUTX_H_XL 0x29 /* Linear acceleration sensor X-axis output register (r). */
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#define LSM6DSL_OUTY_L_XL 0x2A /* Linear acceleration sensor Y-axis output register (r). */
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#define LSM6DSL_OUTY_H_XL 0x2B /* Linear acceleration sensor Y-axis output register (r). */
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#define LSM6DSL_OUTZ_L_XL 0x2C /* Linear acceleration sensor Z-axis output register (r). */
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#define LSM6DSL_OUTZ_H_XL 0x2D /* Linear acceleration sensor Z-axis output register (r). */
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#define LSM6DSL_SENSORHUB1_REG 0x2E /* First byte associated to external sensors. */
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#define LSM6DSL_SENSORHUB2_REG 0x2F /* Second byte associated to external sensors. */
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#define LSM6DSL_SENSORHUB3_REG 0x30 /* Third byte associated to external sensors. */
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#define LSM6DSL_SENSORHUB4_REG 0x31 /* Fourth byte associated to external sensors. */
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#define LSM6DSL_SENSORHUB5_REG 0x32 /* Fifth byte associated to external sensors. */
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#define LSM6DSL_SENSORHUB6_REG 0x33 /* Sixth byte associated to external sensors. */
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#define LSM6DSL_SENSORHUB7_REG 0x34 /* Seventh byte associated to external sensors. */
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#define LSM6DSL_SENSORHUB8_REG 0x35 /* Eighth byte associated to external sensors. */
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#define LSM6DSL_SENSORHUB9_REG 0x36 /* Ninth byte associated to external sensors. */
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#define LSM6DSL_SENSORHUB10_REG 0x37 /* Tenth byte associated to external sensors. */
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#define LSM6DSL_SENSORHUB11_REG 0x38 /* Eleventh byte associated to external sensors. */
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#define LSM6DSL_SENSORHUB12_REG 0x39 /* Twelfth byte associated to external sensors. */
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#define LSM6DSL_FIFO_STATUS1 0x3A /* FIFO status control register (r). */
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#define LSM6DSL_FIFO_STATUS2 0x3B /* FIFO status control register (r). */
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#define LSM6DSL_FIFO_STATUS3 0x3C /* FIFO status control register (r). */
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#define LSM6DSL_FIFO_STATUS4 0x3D /* FIFO status control register (r). */
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#define LSM6DSL_FIFO_DATA_OUT_L 0x3E /* FIFO data output register (r). */
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#define LSM6DSL_FIFO_DATA_OUT_H 0x3F /* FIFO data output register (r). */
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#define LSM6DSL_TIMESTAMP0_REG 0x40 /* Timestamp first (least significant) byte data output register (r). */
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#define LSM6DSL_TIMESTAMP1_REG 0x41 /* Timestamp second byte data output register (r). */
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#define LSM6DSL_TIMESTAMP2_REG 0x42 /* Timestamp third (most significant) byte data output register (r). */
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#define LSM6DSL_STEP_TIMESTAMP_L 0x49 /* Step counter timestamp information register (r). */
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#define LSM6DSL_STEP_TIMESTAMP_H 0x4A /* Step counter timestamp information register (r). */
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#define LSM6DSL_STEP_COUNTER_L 0x4B /* Step counter output register (r). */
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#define LSM6DSL_STEP_COUNTER_H 0x4C /* Step counter output register (r). */
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#define LSM6DSL_SENSORHUB13_REG 0x4D /* Thirteenth byte associated to external sensors. */
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#define LSM6DSL_SENSORHUB14_REG 0x4E /* Fourteenth byte associated to external sensors. */
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#define LSM6DSL_SENSORHUB15_REG 0x4F /* Fifteenth byte associated to external sensors. */
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#define LSM6DSL_SENSORHUB16_REG 0x50 /* Sixteenth byte associated to external sensors. */
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#define LSM6DSL_SENSORHUB17_REG 0x51 /* Seventeenth byte associated to external sensors. */
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#define LSM6DSL_SENSORHUB18_REG 0x52 /* Eighteenth byte associated to external sensors. */
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#define LSM6DSL_FUNC_SRC1 0x53 /* Significant motion, tilt, step detector, hard/soft-iron and sensor hub interrupt source register (r). */
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#define LSM6DSL_FUNC_SRC2 0x54 /* Wrist tilt interrupt source register (r). */
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#define LSM6DSL_WRIST_TILT_IA 0x55 /* Wrist tilt interrupt source register (r). */
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#define LSM6DSL_TAP_CFG 0x58 /* Enables interrupt and inactivity functions, configuration of filtering and tap recognition functions (r/w). */
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#define LSM6DSL_TAP_THS_6D 0x59 /* Portrait/landscape position and tap function threshold register (r/w). */
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#define LSM6DSL_INT_DUR2 0x5A /* Tap recognition function setting register (r/w). */
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#define LSM6DSL_WAKE_UP_THS 0x5B /* Single and double-tap function threshold register (r/w). */
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#define LSM6DSL_WAKE_UP_DUR 0x5C /* Free-fall, wakeup, timestamp and sleep mode functions duration setting register (r/w). */
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#define LSM6DSL_FREE_FALL 0x5D /* Free-fall function duration setting register (r/w). */
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#define LSM6DSL_MD1_CFG 0x5E /* Functions routing on INT1 register (r/w). */
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#define LSM6DSL_MD2_CFG 0x5F /* Functions routing on INT2 register (r/w). */
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#define LSM6DSL_MASTER_CMD_CODE 0x60 /* Master command code used for stamping for sensor sync. */
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#define LSM6DSL_SENS_SYNC_SPI_ERROR_CODE 0x61 /* Error code used for sensor synchronization. */
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#define LSM6DSL_OUT_MAG_RAW_X_L 0x66 /* External magnetometer raw data (r). */
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#define LSM6DSL_OUT_MAG_RAW_X_H 0x67 /* External magnetometer raw data (r). */
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#define LSM6DSL_OUT_MAG_RAW_Y_L 0x68 /* External magnetometer raw data (r). */
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#define LSM6DSL_OUT_MAG_RAW_Y_H 0x69 /* External magnetometer raw data (r). */
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#define LSM6DSL_OUT_MAG_RAW_Z_L 0x6A /* External magnetometer raw data (r). */
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#define LSM6DSL_OUT_MAG_RAW_Z_H 0x6B /* External magnetometer raw data (r). */
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#define LSM6DSL_X_OFS_USR 0x73 /* Accelerometer X-axis user offset correction (r/w). */
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#define LSM6DSL_Y_OFS_USR 0x74 /* Accelerometer Y-axis user offset correction (r/w). */
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#define LSM6DSL_Z_OFS_USR 0x75 /* Accelerometer Z-axis user offset correction (r/w). */
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/* Embedded functions registers description - Bank A */
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#define LSM6DSL_SLV0_ADD 0x02 /* I2C slave address of the first external sensor (Sensor1) register (r/w). */
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#define LSM6DSL_SLV0_SUBADD 0x03 /* Address of register on the first external sensor (Sensor1) register (r/w). */
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#define LSM6DSL_SLAVE0_CONFIG 0x04 /* First external sensor (Sensor1) configuration and sensor hub settings register (r/w). */
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#define LSM6DSL_SLV1_ADD 0x05 /* I2C slave address of the second external sensor (Sensor2) register (r/w). */
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#define LSM6DSL_SLV1_SUBADD 0x06 /* Address of register on the second external sensor (Sensor2) register (r/w). */
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#define LSM6DSL_SLAVE1_CONFIG 0x07 /* Second external sensor (Sensor2) configuration register (r/w). */
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#define LSM6DSL_SLV2_ADD 0x08 /* I2C slave address of the third external sensor (Sensor3) register (r/w). */
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#define LSM6DSL_SLV2_SUBADD 0x09 /* Address of register on the third external sensor (Sensor3) register (r/w). */
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#define LSM6DSL_SLAVE2_CONFIG 0x0A /* Third external sensor (Sensor3) configuration register (r/w). */
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#define LSM6DSL_SLV3_ADD 0x0B /* I2C slave address of the fourth external sensor (Sensor4) register (r/w). */
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#define LSM6DSL_SLV3_SUBADD 0x0C /* Address of register on the fourth external sensor (Sensor4) register (r/w). */
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#define LSM6DSL_SLAVE3_CONFIG 0x0D /* Fourth external sensor (Sensor4) configuration register (r/w). */
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#define LSM6DSL_DATAWRITE_SRC_MODE_SUB_SLV0 0x0E /* Data to be written into the slave device register (r/w). */
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#define LSM6DSL_CONFIG_PEDO_THS_MIN 0x0F
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#define LSM6DSL_SM_THS 0x13 /* Significant motion configuration register (r/w). */
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#define LSM6DSL_PEDO_DEB_REG 0x14
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#define LSM6DSL_STEP_COUNT_DELTA 0x15 /* Time period register for step detection on delta time (r/w). */
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#define LSM6DSL_MAG_SI_XX 0x24 /* Soft-iron matrix correction register (r/w). */
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#define LSM6DSL_MAG_SI_XY 0x25 /* Soft-iron matrix correction register (r/w). */
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#define LSM6DSL_MAG_SI_XZ 0x26 /* Soft-iron matrix correction register (r/w). */
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#define LSM6DSL_MAG_SI_YX 0x27 /* Soft-iron matrix correction register (r/w). */
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#define LSM6DSL_MAG_SI_YY 0x28 /* Soft-iron matrix correction register (r/w). */
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#define LSM6DSL_MAG_SI_YZ 0x29 /* Soft-iron matrix correction register (r/w). */
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#define LSM6DSL_MAG_SI_ZX 0x2A /* Soft-iron matrix correction register (r/w). */
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#define LSM6DSL_MAG_SI_ZY 0x2B /* Soft-iron matrix correction register (r/w). */
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#define LSM6DSL_MAG_SI_ZZ 0x2C /* Soft-iron matrix correction register (r/w). */
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#define LSM6DSL_MAG_OFFX_L 0x2D /* Offset for X-axis hard-iron compensation register (r/w). */
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#define LSM6DSL_MAG_OFFX_H 0x2E /* Offset for X-axis hard-iron compensation register (r/w). */
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#define LSM6DSL_MAG_OFFY_L 0x2F /* Offset for Y-axis hard-iron compensation register (r/w). */
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#define LSM6DSL_MAG_OFFY_H 0x30 /* Offset for Y-axis hard-iron compensation register (r/w). */
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#define LSM6DSL_MAG_OFFZ_L 0x31 /* Offset for Z-axis hard-iron compensation register (r/w). */
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#define LSM6DSL_MAG_OFFZ_H 0x32 /* Offset for Z-axis hard-iron compensation register (r/w). */
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/* Embedded functions registers description - Bank B */
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#define LSM6DSL_A_WRIST_TILT_LAT 0x50 /* Absolute Wrist Tilt latency register (r/w). */
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#define LSM6DSL_A_WRIST_TILT_THS 0x54 /* Absolute Wrist Tilt threshold register (r/w). */
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#define LSM6DSL_A_WRIST_TILT_Mask 0x59 /* Absolute Wrist Tilt mask register (r/w). */
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/****************************************************************************
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* Register Bit Definitions
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*
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* For this sensor it is chosen to not define each pin individually...its set
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* bitwise like:
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* 0b000[0]0000 with preferred hex value!
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* Where [] is showing the [not defined in datasheet] bit.
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* A complete definition is written below, just not all registers are
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* validated!!
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*
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****************************************************************************/
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#define LSM6DSL_FUNC_CFG_ACCESS_FUNC_CFG_EN (1 << 5)
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#define LSM6DSL_FUNC_CFG_ACCESS_FUNC_CFG_EN_B (1 << 7)
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#define LSM6DSL_SENSOR_SYNC_TIME_FRAME_TPH_SHIFT 0
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#define LSM6DSL_SENSOR_SYNC_TIME_FRAME_TPH_MASK (15 << LSM6DSL_SENSOR_SYNC_TIME_FRAME_TPH_SHIFT)
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#define LSM6DSL_SENSOR_SYNC_RES_RATIO_SHIFT 0
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#define LSM6DSL_SENSOR_SYNC_RES_RATIO_MASK (3 << LSM6DSL_SENSOR_SYNC_RES_RATIO_SHIFT)
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#define LSM6DSL_SENSOR_SYNC_RES_RATIO_RR_2_11 (0 << LSM6DSL_SENSOR_SYNC_RES_RATIO_SHIFT)
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#define LSM6DSL_SENSOR_SYNC_RES_RATIO_RR_2_12 (1 << LSM6DSL_SENSOR_SYNC_RES_RATIO_SHIFT)
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#define LSM6DSL_SENSOR_SYNC_RES_RATIO_RR_2_13 (2 << LSM6DSL_SENSOR_SYNC_RES_RATIO_SHIFT)
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#define LSM6DSL_SENSOR_SYNC_RES_RATIO_RR_2_14 (3 << LSM6DSL_SENSOR_SYNC_RES_RATIO_SHIFT)
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#define LSM6DSL_FIFO_CTRL1_SHIFT 0
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#define LSM6DSL_FIFO_CTRL1_MASK (255 << LSM6DSL_FIFO_CTRL1_SHIFT)
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#define LSM6DSL_FIFO_CTRL2_SHIFT 255
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#define LSM6DSL_FIFO_CTRL2_MASK (255 << LSM6DSL_FIFO_CTRL2_SHIFT)
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#define LSM6DSL_FIFO_CTRL2_FTH_8 (1 << 0)
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#define LSM6DSL_FIFO_CTRL2_FTH_9 (1 << 1)
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#define LSM6DSL_FIFO_CTRL2_FTH_10 (1 << 2)
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#define LSM6DSL_FIFO_CTRL2_FIFO_TEMP_EN (1 << 3)
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#define LSM6DSL_FIFO_CTRL2_PEDO_FIFO_DRDY (1 << 6)
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#define LSM6DSL_FIFO_CTRL2_PEDO_FIFO_EN (1 << 7)
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#define LSM6DSL_FIFO_CTRL3_DEC_FIFO_XL_SHIFT 0
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#define LSM6DSL_FIFO_CTRL3_DEC_FIFO_XL_MASK (3 << LSM6DSL_FIFO_CTRL3_DEC_FIFO_XL_SHIFT)
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#define LSM6DSL_FIFO_CTRL3_DEC_FIFO_GYRO_SHIFT 3
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#define LSM6DSL_FIFO_CTRL3_DEC_FIFO_GYRO_MASK (3 << LSM6DSL_FIFO_CTRL3_DEC_FIFO_GYRO_SHIFT)
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#define LSM6DSL_FIFO_CTRL4_DEC_DS3_FIFO_SHIFT 0
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#define LSM6DSL_FIFO_CTRL4_DEC_DS3_FIFO_MASK (3 << LSM6DSL_FIFO_CTRL4_DEC_DS3_FIFO_SHIFT)
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#define LSM6DSL_FIFO_CTRL4_DEC_DS4_FIFO_SHIFT 3
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#define LSM6DSL_FIFO_CTRL4_DEC_DS4_FIFO_MASK (3 << LSM6DSL_FIFO_CTRL4_DEC_DS4_FIFO_SHIFT)
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#define LSM6DSL_FIFO_CTRL4_ONLY_HIGH_DATA (1 << 6) /* */
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#define LSM6DSL_FIFO_CTRL4_STOP_ON_FTH (1 << 7) /* .*/
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#define LSM6DSL_FIFO_CTRL5_FIFO_MODE_SHIFT 0
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#define LSM6DSL_FIFO_CTRL5_FIFO_MODE_MASK (3 << LSM6DSL_FIFO_CTRL5_FIFO_MODE_SHIFT)
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#define LSM6DSL_FIFO_CTRL5_FMODE_BYPASS (0 << LSM6DSL_FIFO_CTRL5_FIFO_MODE_SHIFT)
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#define LSM6DSL_FIFO_CTRL5_FMODE_FIFO (1 << LSM6DSL_FIFO_CTRL5_FIFO_MODE_SHIFT)
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#define LSM6DSL_FIFO_CTRL5_FMODE_CONT_FIFO (3 << LSM6DSL_FIFO_CTRL5_FIFO_MODE_SHIFT)
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#define LSM6DSL_FIFO_CTRL5_FMODE_BYPASS_CONT (4 << LSM6DSL_FIFO_CTRL5_FIFO_MODE_SHIFT)
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#define LSM6DSL_FIFO_CTRL5_FMODE_CONT (6 << LSM6DSL_FIFO_CTRL5_FIFO_MODE_SHIFT)
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#define LSM6DSL_FIFO_CTRL5_ODR_FIFO_SHIFT 3
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#define LSM6DSL_FIFO_CTRL5_ODR_FIFO_MASK (15 << LSM6DSL_FIFO_CTRL5_ODR_FIFO_SHIFT)
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#define LSM6DSL_DRDY_PULSE_CFG_G_INT2_WRIST_TILT (1 << 0)
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#define LSM6DSL_DRDY_PULSE_CFG_G_DRDY_PULSED (1 << 7)
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#define LSM6DSL_INT1_CTRL_INT1_DRDY_XL (1 << 0)
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#define LSM6DSL_INT1_CTRL_INT1_DRDY_G (1 << 1)
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#define LSM6DSL_INT1_CTRL_INT1_BOOT (1 << 2)
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#define LSM6DSL_INT1_CTRL_INT1_FTH (1 << 3)
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#define LSM6DSL_INT1_CTRL_INT1_FIFO_OVT (1 << 4)
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#define LSM6DSL_INT1_CTRL_INT1_FULL_FLAG (1 << 5)
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#define LSM6DSL_INT1_CTRL_INT1_SIGN_MOT (1 << 6)
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#define LSM6DSL_INT1_CTRL_INT1_STEP_DETECTOR (1 << 7)
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#define LSM6DSL_INT2_CTRL_INT2_DRDY_XL (1 << 0)
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#define LSM6DSL_INT2_CTRL_INT2_DRDY_G (1 << 1)
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#define LSM6DSL_INT2_CTRL_INT2_DRDY_TEMP (1 << 2)
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#define LSM6DSL_INT2_CTRL_INT2_FTH (1 << 3)
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#define LSM6DSL_INT2_CTRL_INT2_FIFO_OVT (1 << 4)
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#define LSM6DSL_INT2_CTRL_INT2_FULL_FLAG (1 << 5)
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#define LSM6DSL_INT2_CTRL_INT2_STEP_COUNT_OV (1 << 6)
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#define LSM6DSL_INT2_CTRL_INT2_STEP_DELTA (1 << 7)
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#define LSM6DSL_FIFO_CTRL5_ODR_FIFO_MASK (15 << LSM6DSL_FIFO_CTRL5_ODR_FIFO_SHIFT)
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#define LSM6DSL_CTRL1_XL_DRDY_XL (1 << 0)
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#define LSM6DSL_CTRL1_XL_SHIFT 0
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#define LSM6DSL_CTRL1_XL_BW0_XL (1 << 0)
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#define LSM6DSL_CTRL1_XL_LPF1_BW_SEL (1 << 1)
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#define LSM6DSL_CTRL1_XL_FS_XL_SHIFT 2
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#define LSM6DSL_CTRL1_XL_FS_XL_MASK (3 << LSM6DSL_CTRL1_XL_FS_XL_SHIFT)
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#define LSM6DSL_CTRL1_XL_FS_XL_2G (0 << LSM6DSL_CTRL1_XL_FS_XL_SHIFT)
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#define LSM6DSL_CTRL1_XL_FS_XL_16G (1 << LSM6DSL_CTRL1_XL_FS_XL_SHIFT)
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#define LSM6DSL_CTRL1_XL_FS_XL_4G (2 << LSM6DSL_CTRL1_XL_FS_XL_SHIFT)
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#define LSM6DSL_CTRL1_XL_FS_XL_8G (3 << LSM6DSL_CTRL1_XL_FS_XL_SHIFT)
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#define LSM6DSL_CTRL1_XL_ODR_XL_SHIFT 4
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#define LSM6DSL_CTRL1_XL_ODR_XL_MASK (15 << LSM6DSL_CTRL1_XL_ODR_XL_SHIFT)
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#define LSM6DSL_CTRL1_XL_ODR_XL_POWER_DOWN (0 << LSM6DSL_CTRL1_XL_ODR_XL_SHIFT)
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#define LSM6DSL_CTRL1_XL_ODR_XL_1_6HZ_12_5HZ (11 << LSM6DSL_CTRL1_XL_ODR_XL_SHIFT)
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#define LSM6DSL_CTRL1_XL_ODR_XL_12_5HZ_12_5HZ (1 << LSM6DSL_CTRL1_XL_ODR_XL_SHIFT)
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#define LSM6DSL_CTRL1_XL_ODR_XL_26HZ_26HZ (2 << LSM6DSL_CTRL1_XL_ODR_XL_SHIFT)
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#define LSM6DSL_CTRL1_XL_ODR_XL_52HZ_52HZ (3 << LSM6DSL_CTRL1_XL_ODR_XL_SHIFT)
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#define LSM6DSL_CTRL1_XL_ODR_XL_104HZ_104HZ (4 << LSM6DSL_CTRL1_XL_ODR_XL_SHIFT)
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#define LSM6DSL_CTRL1_XL_ODR_XL_208HZ_208HZ (5 << LSM6DSL_CTRL1_XL_ODR_XL_SHIFT)
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#define LSM6DSL_CTRL1_XL_ODR_XL_416HZ_416HZ (6 << LSM6DSL_CTRL1_XL_ODR_XL_SHIFT)
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#define LSM6DSL_CTRL1_XL_ODR_XL_833HZ_833HZ (7 << LSM6DSL_CTRL1_XL_ODR_XL_SHIFT)
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#define LSM6DSL_CTRL1_XL_ODR_XL_1_6kHZ_1_6kHZ (8 << LSM6DSL_CTRL1_XL_ODR_XL_SHIFT)
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#define LSM6DSL_CTRL1_XL_ODR_XL_3_3kHz_3_3kHZ (9 << LSM6DSL_CTRL1_XL_ODR_XL_SHIFT)
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#define LSM6DSL_CTRL1_XL_ODR_XL_6_6kHZ_6_6kHZ (10 << LSM6DSL_CTRL1_XL_ODR_XL_SHIFT)
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#define LSM6DSL_CTRL2_G_SHIFT 0
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#define LSM6DSL_CTRL2_G_FS_125 (1 << 1)
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#define LSM6DSL_CTRL2_G_FS_G_SHIFT 2
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#define LSM6DSL_CTRL2_G_FS_G_MASK (3 << LSM6DSL_CTRL2_G_FS_G_SHIFT)
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#define LSM6DSL_CTRL2_G_FS_G_250DPS (0 << LSM6DSL_CTRL2_G_FS_G_SHIFT)
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#define LSM6DSL_CTRL2_G_FS_G_500DPS (1 << LSM6DSL_CTRL2_G_FS_G_SHIFT)
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#define LSM6DSL_CTRL2_G_FS_G_1000DPS (2 << LSM6DSL_CTRL2_G_FS_G_SHIFT)
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#define LSM6DSL_CTRL2_G_FS_G_2000DPS (3 << LSM6DSL_CTRL2_G_FS_G_SHIFT)
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#define LSM6DSL_CTRL2_G_ODR_G_SHIFT 4
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#define LSM6DSL_CTRL2_G_ODR_G_MASK (15 << LSM6DSL_CTRL2_G_ODR_G_SHIFT)
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#define LSM6DSL_CTRL2_G_ODR_G_POWER_DOWN (0 << LSM6DSL_CTRL2_G_ODR_G_SHIFT)
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#define LSM6DSL_CTRL2_G_ODR_G_1_6HZ_12_5HZ (11 << LSM6DSL_CTRL2_G_ODR_G_SHIFT)
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#define LSM6DSL_CTRL2_G_ODR_G_12_5HZ_12_5HZ (1 << LSM6DSL_CTRL2_G_ODR_G_SHIFT)
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#define LSM6DSL_CTRL2_G_ODR_G_26HZ_26HZ (2 << LSM6DSL_CTRL2_G_ODR_G_SHIFT)
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#define LSM6DSL_CTRL2_G_ODR_G_52HZ_52HZ (3 << LSM6DSL_CTRL2_G_ODR_G_SHIFT)
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#define LSM6DSL_CTRL2_G_ODR_G_104HZ_104HZ (4 << LSM6DSL_CTRL2_G_ODR_G_SHIFT)
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#define LSM6DSL_CTRL2_G_ODR_G_208HZ_208HZ (5 << LSM6DSL_CTRL2_G_ODR_G_SHIFT)
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#define LSM6DSL_CTRL2_G_ODR_G_416HZ_416HZ (6 << LSM6DSL_CTRL2_G_ODR_G_SHIFT)
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#define LSM6DSL_CTRL2_G_ODR_G_833HZ_833HZ (7 << LSM6DSL_CTRL2_G_ODR_G_SHIFT)
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#define LSM6DSL_CTRL2_G_ODR_G_1_6kHZ_1_6kHZ (8 << LSM6DSL_CTRL2_G_ODR_G_SHIFT)
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#define LSM6DSL_CTRL2_G_ODR_G_3_3kHz_3_3kHZ (9 << LSM6DSL_CTRL2_G_ODR_G_SHIFT)
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#define LSM6DSL_CTRL2_G_ODR_G_6_6kHZ_6_6kHZ (10 << LSM6DSL_CTRL2_G_ODR_G_SHIFT)
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#define LSM6DSL_CTRL3_C_SHIFT 0
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#define LSM6DSL_CTRL3_C_MASK (0 << LSM6DSL_CTRL3_C_SHIFT)
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#define LSM6DSL_CTRL3_C_SW_RESET (1 << 0)
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#define LSM6DSL_CTRL3_C_BLE (1 << 1)
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#define LSM6DSL_CTRL3_C_IF_INC (1 << 2)
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#define LSM6DSL_CTRL3_C_SIM (1 << 3)
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#define LSM6DSL_CTRL3_C_PP_OD (1 << 4)
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#define LSM6DSL_CTRL3_C_H_LACTIVE (1 << 5)
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#define LSM6DSL_CTRL3_C_BDU (1 << 6)
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#define LSM6DSL_CTRL3_C_BOOT (1 << 7)
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#define LSM6DSL_CTRL4_C_LPF1_SEL_G (1 << 1)
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#define LSM6DSL_CTRL4_C_I2C_disable (1 << 2)
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#define LSM6DSL_CTRL4_C_DRDY_MASK (1 << 3)
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#define LSM6DSL_CTRL4_C_DEN_DRDY_INT1 (1 << 4)
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#define LSM6DSL_CTRL4_C_INT2_on_INT1 (1 << 5)
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#define LSM6DSL_CTRL4_C_SLEEP (1 << 6)
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#define LSM6DSL_CTRL4_C_DEN_XL_EN (1 << 7)
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#define LSM6DSL_CTRL5_C_SHIFT 0
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#define LSM6DSL_CTRL5_C_ST_XL_MASK (3 << LSM6DSL_CTRL5_C_SHIFT)
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#define LSM6DSL_CTRL5_C_ST_G_SHIFT 2
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#define LSM6DSL_CTRL5_C_ST_G_MASK (3 << LSM6DSL_CTRL5_C_ST_G_SHIFT)
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#define LSM6DSL_CTRL5_C_DEN_LH (1 << 4)
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#define LSM6DSL_CTRL5_C_ROUNDING_SHIFT 2
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#define LSM6DSL_CTRL5_C_ROUNDING_MASK (7 << LSM6DSL_CTRL5_C_ROUNDING_SHIFT)
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#define LSM6DSL_CTRL6_C_SHIFT 0
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#define LSM6DSL_CTRL6_C_FTYPE_MASK (3 << LSM6DSL_CTRL6_C_SHIFT)
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#define LSM6DSL_CTRL6_C_USR_OFF_W (1 << 3)
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#define LSM6DSL_CTRL6_C_XL_HM_MODE (1 << 4)
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#define LSM6DSL_CTRL6_C_LVL2_EN (1 << 5)
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#define LSM6DSL_CTRL6_C_LEL_EN (1 << 6)
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#define LSM6DSL_CTRL6_C_TRIG_EN (1 << 7)
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#define LSM6DSL_CTRL7_G_SHIFT 0
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#define LSM6DSL_CTRL7_G_MASK (0 << LSM6DSL_CTRL7_G_SHIFT)
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#define LSM6DSL_CTRL7_G_ROUNDING_STATUS (1 << 2)
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#define LSM6DSL_CTRL7_G_HPM0_G (1 << 4)
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#define LSM6DSL_CTRL7_G_HPM1_G (1 << 5)
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#define LSM6DSL_CTRL7_G_HP_EN_G (1 << 6)
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#define LSM6DSL_CTRL7_G_G_HM_MODE (1 << 7)
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#define LSM6DSL_CTRL8_XL_LOW_PASS_ON_6D (1 << 0)
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#define LSM6DSL_CTRL8_XL_HP_SLOPE_XL_EN (1 << 2)
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#define LSM6DSL_CTRL8_XL_INPUT_COMPOSITE (1 << 3)
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#define LSM6DSL_CTRL8_XL_HP_REF_MODE (1 << 4)
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#define LSM6DSL_CTRL8_XL_HPCF_XL_SHIFT 5
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#define LSM6DSL_CTRL8_XL_HPCF_XL_MASK (3 << LSM6DSL_CTRL8_XL_HPCF_XL_SHIFT)
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#define LSM6DSL_CTRL8_XL_LPF2_XL_EN (1 << 7)
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#define LSM6DSL_CTRL9_XL_SOFT_EN (1 << 2)
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#define LSM6DSL_CTRL9_XL_DEN_XL_G (1 << 4)
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#define LSM6DSL_CTRL9_XL_DEN_Z (1 << 5)
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#define LSM6DSL_CTRL9_XL_DEN_Y (1 << 6)
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#define LSM6DSL_CTRL9_XL_DEN_X (1 << 7)
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#define LSM6DSL_CTRL10_C_SIGN_MOTION_EN (1 << 0)
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#define LSM6DSL_CTRL10_C_PEDO_RST_STEP (1 << 1)
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#define LSM6DSL_CTRL10_C_FUNC_EN (1 << 2)
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#define LSM6DSL_CTRL10_C_TILT_EN (1 << 3)
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#define LSM6DSL_CTRL10_C_PEDO_EN (1 << 4)
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#define LSM6DSL_CTRL10_C_TIMER_EN (1 << 5)
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#define LSM6DSL_CTRL10_C_WRIST_TILT_EN (1 << 7)
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#define LSM6DSL_MASTER_CONFIG_MASTER_ON (1 << 0)
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#define LSM6DSL_MASTER_CONFIG_IRON_EN (1 << 1)
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#define LSM6DSL_MASTER_CONFIG_PASS_THROUGH_MODE (1 << 2)
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#define LSM6DSL_MASTER_CONFIG_PULL_UP_EN (1 << 3)
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#define LSM6DSL_MASTER_CONFIG_START_CONFIG (1 << 4)
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#define LSM6DSL_MASTER_CONFIG_DATA_VALID_SEL_FIFO (1 << 6)
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#define LSM6DSL_MASTER_CONFIG_RDY_ON_INT1 (1 << 7)
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#define LSM6DSL_WAKE_UP_SRC_Z_WU (1 << 0)
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#define LSM6DSL_WAKE_UP_SRC_Y_WU (1 << 1)
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#define LSM6DSL_WAKE_UP_SRC_X_WU (1 << 2)
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#define LSM6DSL_WAKE_UP_SRC_WU_IA (1 << 3)
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#define LSM6DSL_WAKE_UP_SRC_SLEEP_STATE_IA (1 << 4)
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#define LSM6DSL_WAKE_UP_SRC_FF_IA (1 << 5)
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#define LSM6DSL_TAP_SRC_Z_TAP (1 << 0)
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#define LSM6DSL_TAP_SRC_Y_TAP (1 << 1)
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#define LSM6DSL_TAP_SRC_X_TAP (1 << 2)
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#define LSM6DSL_TAP_SRC_TAP_SIGN (1 << 3)
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#define LSM6DSL_TAP_SRC_DOUBLE_TAP (1 << 4)
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#define LSM6DSL_TAP_SRC_SINGLE_TAP (1 << 5)
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#define LSM6DSL_TAP_SRC_TAP_IA (1 << 6)
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#define LSM6DSL_D6D_SRC_XL (1 << 0)
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#define LSM6DSL_D6D_SRC_XH (1 << 1)
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#define LSM6DSL_D6D_SRC_YL (1 << 2)
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#define LSM6DSL_D6D_SRC_YH (1 << 3)
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#define LSM6DSL_D6D_SRC_ZL (1 << 4)
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#define LSM6DSL_D6D_SRC_ZH (1 << 5)
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#define LSM6DSL_D6D_SRC_D6D_IA (1 << 6)
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#define LSM6DSL_D6D_SRC_DEN_DRDY (1 << 7)
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#define LSM6DSL_STATUS_REG_SHIFT 0
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#define LSM6DSL_STATUS_REG_MASK (0 << LSM6DSL_STATUS_REG_SHIFT)
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#define LSM6DSL_STATUS_REG_XLDA (1 << 0)
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#define LSM6DSL_STATUS_REG_GDA (1 << 1)
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#define LSM6DSL_STATUS_REG_TDA (1 << 2)
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#define LSM6DSL_CTRL5_C_SHIFT 0
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#define LSM6DSL_CTRL5_C_ST_XL_MASK (3 << LSM6DSL_CTRL5_C_SHIFT)
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#define LSM6DSL_OUT_TEMP_L_TEMP_SHIFT 0
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#define LSM6DSL_OUT_TEMP_L_TEMP_MASK (255 << LSM6DSL_OUT_TEMP_L_TEMP_SHIFT)
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#define LSM6DSL_OUT_TEMP_H_TEMP_SHIFT 0
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#define LSM6DSL_OUT_TEMP_H_TEMP_MASK (255 << LSM6DSL_OUT_TEMP_H_TEMP_SHIFT)
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#define LSM6DSL_OUTX_L_G_SHIFT 0
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#define LSM6DSL_OUTX_L_G_MASK (255 << LSM6DSL_OUTX_L_G_SHIFT)
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#define LSM6DSL_OUTX_H_G_SHIFT 0
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#define LSM6DSL_OUTX_H_G_MASK (255 << LSM6DSL_OUTX_H_G_SHIFT)
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#define LSM6DSL_OUTY_L_G_SHIFT 0
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#define LSM6DSL_OUTY_L_G_MASK (255 << LSM6DSL_OUTY_L_G_SHIFT)
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#define LSM6DSL_OUTY_H_G_SHIFT 0
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#define LSM6DSL_OUTY_H_G_MASK (255 << LSM6DSL_OUTY_H_G_SHIFT)
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#define LSM6DSL_OUTZ_L_G_SHIFT 0
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#define LSM6DSL_OUTZ_L_G_MASK (255 << LSM6DSL_OUTZ_L_G_SHIFT)
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#define LSM6DSL_OUTZ_H_G_SHIFT 0
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#define LSM6DSL_OUTZ_H_G_MASK (255 << LSM6DSL_OUTZ_H_G_SHIFT)
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#define LSM6DSL_OUTX_L_XL_SHIFT 0
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#define LSM6DSL_OUTX_L_XL_MASK (255 << LSM6DSL_OUTX_L_XL_SHIFT)
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#define LSM6DSL_OUTX_H_XL_SHIFT 0
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#define LSM6DSL_OUTX_H_XL_MASK (255 << LSM6DSL_OUTX_H_XL_SHIFT)
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#define LSM6DSL_OUTY_L_XL_SHIFT 0
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#define LSM6DSL_OUTY_L_XL_MASK (255 << LSM6DSL_OUTY_L_XL_SHIFT)
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#define LSM6DSL_OUTY_H_XL_SHIFT 0
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#define LSM6DSL_OUTY_H_XL_MASK (255 << LSM6DSL_OUTY_H_XL_SHIFT)
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#define LSM6DSL_OUTZ_L_XL_SHIFT 0
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#define LSM6DSL_OUTZ_L_XL_MASK (255 << LSM6DSL_OUTZ_L_XL_SHIFT)
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#define LSM6DSL_OUTZ_H_XL_SHIFT 0
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#define LSM6DSL_OUTZ_H_XL_MASK (255 << LSM6DSL_OUTZ_H_XL_SHIFT)
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#define LSM6DSL_SENSORHUB1_REG_SHIFT 0
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#define LSM6DSL_SENSORHUB1_REG_MASK (255 << LSM6DSL_SENSORHUB1_REG_SHIFT)
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#define LSM6DSL_SENSORHUB2_REG_SHIFT 0
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#define LSM6DSL_SENSORHUB2_REG_MASK (255 << LSM6DSL_SENSORHUB2_REG_SHIFT)
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#define LSM6DSL_SENSORHUB3_REG_SHIFT 0
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#define LSM6DSL_SENSORHUB3_REG_MASK (255 << LSM6DSL_SENSORHUB3_REG_SHIFT)
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#define LSM6DSL_SENSORHUB4_REG_SHIFT 0
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#define LSM6DSL_SENSORHUB4_REG_MASK (255 << LSM6DSL_SENSORHUB4_REG_SHIFT)
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#define LSM6DSL_SENSORHUB5_REG_SHIFT 0
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#define LSM6DSL_SENSORHUB5_REG_MASK (255 << LSM6DSL_SENSORHUB5_REG_SHIFT)
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#define LSM6DSL_SENSORHUB6_REG_SHIFT 0
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#define LSM6DSL_SENSORHUB6_REG_MASK (255 << LSM6DSL_SENSORHUB6_REG_SHIFT)
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#define LSM6DSL_SENSORHUB7_REG_SHIFT 0
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#define LSM6DSL_SENSORHUB7_REG_MASK (255 << LSM6DSL_SENSORHUB7_REG_SHIFT)
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#define LSM6DSL_SENSORHUB8_REG_SHIFT 0
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#define LSM6DSL_SENSORHUB8_REG_MASK (255 << LSM6DSL_SENSORHUB8_REG_SHIFT)
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#define LSM6DSL_SENSORHUB9_REG_SHIFT 0
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#define LSM6DSL_SENSORHUB9_REG_MASK (255 << LSM6DSL_SENSORHUB9_REG_SHIFT)
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#define LSM6DSL_SENSORHUB10_REG_SHIFT 0
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#define LSM6DSL_SENSORHUB10_REG_MASK (255 << LSM6DSL_SENSORHUB10_REG_SHIFT)
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#define LSM6DSL_SENSORHUB11_REG_SHIFT 0
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#define LSM6DSL_SENSORHUB11_REG_MASK (255 << LSM6DSL_SENSORHUB11_REG_SHIFT)
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#define LSM6DSL_SENSORHUB12_REG_SHIFT 0
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#define LSM6DSL_SENSORHUB12_REG_MASK (255 << LSM6DSL_SENSORHUB12_REG_SHIFT)
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#define LSM6DSL_FIFO_STATUS1_SHIFT 0
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#define LSM6DSL_FIFO_STATUS1_MASK (255 << LSM6DSL_FIFO_STATUS1_SHIFT)
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#define LSM6DSL_FIFO_STATUS2_DIFF_FIFO_SHIFT 0
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#define LSM6DSL_FIFO_STATUS2_DIFF_FIFO_MASK (7 << LSM6DSL_FIFO_STATUS2_DIFF_FIFO_SHIFT)
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#define LSM6DSL_FIFO_STATUS2_FIFO_EMPTY (1 << 1)
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#define LSM6DSL_FIFO_STATUS2_FIFO_FULL_ART (1 << 1)
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#define LSM6DSL_FIFO_STATUS2_OVER_RUN (1 << 2)
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#define LSM6DSL_FIFO_STATUS2_WaterM (1 << 3)
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#define LSM6DSL_FIFO_STATUS3_SHIFT 0
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#define LSM6DSL_FIFO_STATUS3_MASK (255 << LSM6DSL_FIFO_STATUS3_SHIFT)
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#define LSM6DSL_FIFO_STATUS4_SHIFT 0
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#define LSM6DSL_FIFO_STATUS4_MASK (3 << LSM6DSL_FIFO_STATUS4_SHIFT)
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#define LSM6DSL_FIFO_DATA_OUT_L_SHIFT 0
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#define LSM6DSL_FIFO_DATA_OUT_L_MASK (255 << LSM6DSL_FIFO_DATA_OUT_L_SHIFT)
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#define LSM6DSL_FIFO_DATA_OUT_H_SHIFT 0
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#define LSM6DSL_FIFO_DATA_OUT_H_MASK (255 << LSM6DSL_FIFO_DATA_OUT_H_SHIFT)
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#define LSM6DSL_TIMESTAMP0_REG_SHIFT 0
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#define LSM6DSL_TIMESTAMP0_REG_MASK (255 << LSM6DSL_TIMESTAMP0_REG_SHIFT)
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#define LSM6DSL_TIMESTAMP1_REG_SHIFT 0
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#define LSM6DSL_TIMESTAMP1_REG_MASK (255 << LSM6DSL_TIMESTAMP1_REG_SHIFT)
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#define LSM6DSL_TIMESTAMP2_REG_SHIFT 0
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#define LSM6DSL_TIMESTAMP2_REG_MASK (255 << LSM6DSL_TIMESTAMP2_REG_SHIFT)
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#define LSM6DSL_STEP_TIMESTAMP_L_SHIFT 0
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#define LSM6DSL_STEP_TIMESTAMP_L_MASK (255 << LSM6DSL_STEP_TIMESTAMP_L_SHIFT)
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#define LSM6DSL_STEP_TIMESTAMP_H_SHIFT 0
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#define LSM6DSL_STEP_TIMESTAMP_H_MASK (255 << LSM6DSL_STEP_TIMESTAMP_H_SHIFT)
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#define LSM6DSL_STEP_COUNTER_L_SHIFT 0
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#define LSM6DSL_STEP_COUNTER_L_MASK (255 << LSM6DSL_STEP_COUNTER_L_SHIFT)
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#define LSM6DSL_SENSORHUB13_REG_SHIFT 0
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#define LSM6DSL_SENSORHUB13_REG_MASK (255 << LSM6DSL_SENSORHUB13_REG_SHIFT)
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#define LSM6DSL_SENSORHUB14_REG_SHIFT 0
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#define LSM6DSL_SENSORHUB14_REG_MASK (255 << LSM6DSL_SENSORHUB14_REG_SHIFT)
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#define LSM6DSL_SENSORHUB15_REG_SHIFT 0
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#define LSM6DSL_SENSORHUB15_REG_MASK (255 << LSM6DSL_SENSORHUB15_REG_SHIFT)
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#define LSM6DSL_SENSORHUB16_REG_SHIFT 0
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#define LSM6DSL_SENSORHUB16_REG_MASK (255 << LSM6DSL_SENSORHUB16_REG_SHIFT)
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#define LSM6DSL_SENSORHUB17_REG_SHIFT 0
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#define LSM6DSL_SENSORHUB17_REG_MASK (255 << LSM6DSL_SENSORHUB17_REG_SHIFT)
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#define LSM6DSL_SENSORHUB18_REG_SHIFT 0
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#define LSM6DSL_SENSORHUB18_REG_MASK (255 << LSM6DSL_SENSORHUB18_REG_SHIFT)
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#define LSM6DSL_FUNC_SRC1_SENSORHUB_END_OP (1 << 0)
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#define LSM6DSL_FUNC_SRC1_SI_END_OP (1 << 1)
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#define LSM6DSL_FUNC_SRC1_HI_FAIL (1 << 2)
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#define LSM6DSL_FUNC_SRC1_STEP_OVERFLOW (1 << 3)
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#define LSM6DSL_FUNC_SRC1_STEP_DETECTED (1 << 4)
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#define LSM6DSL_FUNC_SRC1_TILT_IA (1 << 5)
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#define LSM6DSL_FUNC_SRC1_SIGN_MOTION_IA (1 << 6)
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#define LSM6DSL_FUNC_SRC1_STEP_COUNT_DELTA_IA (1 << 7)
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#define LSM6DSL_FUNC_SRC2_WRIST_TILT_IA (1 << 0)
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#define LSM6DSL_FUNC_SRC2_SLAVE0_NACK (1 << 3)
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#define LSM6DSL_FUNC_SRC2_SLAVE1_NACK (1 << 4)
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#define LSM6DSL_FUNC_SRC2_SLAVE2_NACK (1 << 5)
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#define LSM6DSL_FUNC_SRC2_SLAVE3_NACK (1 << 6)
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#define LSM6DSL_WRIST_TILT_IA_SHIFT 2
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#define LSM6DSL_WRIST_TILT_IA_MASK (63 << LSM6DSL_WRIST_TILT_IA_SHIFT)
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#define LSM6DSL_TAP_CFG_LIR (1 << 0)
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#define LSM6DSL_TAP_CFG_TAP_Z_EN (1 << 1)
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#define LSM6DSL_TAP_CFG_TAP_Y_EN (1 << 2)
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#define LSM6DSL_TAP_CFG_TAP_X_EN (1 << 3)
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#define LSM6DSL_TAP_CFG_SLOPE_FDS (1 << 4)
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#define LSM6DSL_TAP_CFG_INACT_EN_SHIFT 2
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#define LSM6DSL_TAP_CFG_INACT_EN_MASK (3 << LSM6DSL_TAP_CFG_INACT_EN_SHIFT)
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#define LSM6DSL_TAP_CFG_INTERRUPTS_ENABLE (1 << 7)
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#define LSM6DSL_TAP_THS_6D_TAP_THS_SHIFT 0
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#define LSM6DSL_TAP_THS_6D_TAP_THS_MASK (31 << LSM6DSL_TAP_THS_6D_TAP_THS_SHIFT)
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#define LSM6DSL_TAP_THS_6D_SIXD_THS_SHIFT 5
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#define LSM6DSL_TAP_THS_6D_SIXD_THS_MASK (3 << LSM6DSL_TAP_THS_6D_SIXD_THS_SHIFT)
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#define LSM6DSL_TAP_THS_6D_SIXD_THS_80DEGR (0 << LSM6DSL_TAP_THS_6D_SIXD_THS_SHIFT)
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#define LSM6DSL_TAP_THS_6D_SIXD_THS_70DEGR (1 << LSM6DSL_TAP_THS_6D_SIXD_THS_SHIFT)
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#define LSM6DSL_TAP_THS_6D_SIXD_THS_60DEGR (2 << LSM6DSL_TAP_THS_6D_SIXD_THS_SHIFT)
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#define LSM6DSL_TAP_THS_6D_SIXD_THS_50DEGR (3 << LSM6DSL_TAP_THS_6D_SIXD_THS_SHIFT)
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#define LSM6DSL_TAP_THS_6D_D4D_EN (1 << 7)
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#define LSM6DSL_INT_DUR2_SHOCK_SHIFT 0
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#define LSM6DSL_INT_DUR2_SHOCK_MASK (3 << LSM6DSL_INT_DUR2_SHOCK_SHIFT)
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#define LSM6DSL_INT_DUR2_QUIET_SHIFT 2
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#define LSM6DSL_INT_DUR2_QUIET_MASK (3 << LSM6DSL_INT_DUR2_QUIET_SHIFT)
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#define LSM6DSL_INT_DUR2_DUR_SHIFT 4
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#define LSM6DSL_INT_DUR2_DUR_MASK (7 << LSM6DSL_INT_DUR2_QUIET_SHIFT)
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#define LSM6DSL_WAKE_UP_THS_WK_THS_SHIFT 0
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#define LSM6DSL_WAKE_UP_THS_WK_THS_MASK (31 << LSM6DSL_WAKE_UP_THS_WK_THS_SHIFT)
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#define LSM6DSL_WAKE_UP_THS_SINGLE_DOUBLE_TAP4D_EN (1 << 7)
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#define LSM6DSL_WAKE_UP_DUR_SLEEP_DUR_SHIFT 0
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#define LSM6DSL_WAKE_UP_DUR_SLEEP_DUR_MASK (15 << LSM6DSL_WAKE_UP_DUR_SLEEP_DUR_SHIFT)
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#define LSM6DSL_WAKE_UP_DUR_TIMER_HR (1 << 4)
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#define LSM6DSL_WAKE_UP_DUR_WAKE_DUR_SHIFT 5
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#define LSM6DSL_WAKE_UP_DUR_WAKE_DUR_MASK (15 << LSM6DSL_WAKE_UP_DUR_WAKE_DUR_SHIFT)
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#define LSM6DSL_WAKE_UP_DUR_FF_DUR5 (1 << 7)
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#define LSM6DSL_FREE_FALL_FF_THS_SHIFT 0
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#define LSM6DSL_FREE_FALL_FF_THS_MASK (7 << LSM6DSL_FREE_FALL_FF_THS_SHIFT)
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#define LSM6DSL_FREE_FALL_FF_DUR_SHIFT 4
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#define LSM6DSL_FREE_FALL_FF_DUR_MASK (31 << LSM6DSL_FREE_FALL_FF_DUR_SHIFT)
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#define LSM6DSL_MD1_CFG_INT1_TIMER (1 << 0)
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#define LSM6DSL_MD1_CFG_INT1_TILT (1 << 1)
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#define LSM6DSL_MD1_CFG_INT1_6D (1 << 2)
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#define LSM6DSL_MD1_CFG_INT1_DOUBLE_TAP (1 << 3)
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#define LSM6DSL_MD1_CFG_INT1_FF (1 << 4)
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#define LSM6DSL_MD1_CFG_INT1_WU (1 << 5)
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#define LSM6DSL_MD1_CFG_INT1_SINGLE_TAP (1 << 6)
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#define LSM6DSL_MD1_CFG_INT1_INACT_STATE (1 << 7)
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#define LSM6DSL_MD2_CFG_INT1_IRON (1 << 0)
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#define LSM6DSL_MD2_CFG_INT1_TILT (1 << 1)
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#define LSM6DSL_MD2_CFG_INT1_6D (1 << 2)
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#define LSM6DSL_MD2_CFG_INT1_DOUBLE_TAP (1 << 3)
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#define LSM6DSL_MD2_CFG_INT1_FF (1 << 4)
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#define LSM6DSL_MD2_CFG_INT1_WU (1 << 5)
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#define LSM6DSL_MD2_CFG_INT1_SINGLE_TAP (1 << 6)
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#define LSM6DSL_MD2_CFG_INT1_INACT_STATE (1 << 7)
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#define LSM6DSL_MASTER_CMD_CODE_SHIFT 0
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#define LSM6DSL_MASTER_CMD_CODE_MASK (255 << LSM6DSL_MASTER_CMD_CODE_SHIFT)
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#define LSM6DSL_SENS_SYNC_SPI_ERROR_CODE_SHIFT 0
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#define LSM6DSL_SENS_SYNC_SPI_ERROR_CODE_MASK (255 << LSM6DSL_SENS_SYNC_SPI_ERROR_CODE_SHIFT)
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#define LSM6DSL_OUT_MAG_RAW_X_L_SHIFT 0
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#define LSM6DSL_OUT_MAG_RAW_X_L_MASK (255 << LSM6DSL_OUT_MAG_RAW_X_L_SHIFT)
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#define LSM6DSL_OUT_MAG_RAW_X_H_SHIFT 0
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#define LSM6DSL_OUT_MAG_RAW_X_H_MASK (255 << LSM6DSL_OUT_MAG_RAW_X_H_SHIFT)
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#define LSM6DSL_OUT_MAG_RAW_Y_L_SHIFT 0
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#define LSM6DSL_OUT_MAG_RAW_Y_L_MASK (255 << LSM6DSL_OUT_MAG_RAW_Y_L_SHIFT)
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#define LSM6DSL_OUT_MAG_RAW_Y_H_SHIFT 0
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#define LSM6DSL_OUT_MAG_RAW_Y_H_MASK (255 << LSM6DSL_OUT_MAG_RAW_Y_H_SHIFT)
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#define LSM6DSL_OUT_MAG_RAW_Z_L_SHIFT 0
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#define LSM6DSL_OUT_MAG_RAW_Z_L_MASK (255 << LSM6DSL_OUT_MAG_RAW_Z_L_SHIFT)
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#define LSM6DSL_OUT_MAG_RAW_Z_H_SHIFT 0
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#define LSM6DSL_OUT_MAG_RAW_Z_H_MASK (255 << LSM6DSL_OUT_MAG_RAW_Z_H_SHIFT)
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#define LSM6DSL_X_OFS_USR_SHIFT 0
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#define LSM6DSL_X_OFS_USR_MASK (255 << LSM6DSL_X_OFS_USR_SHIFT)
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#define LSM6DSL_Y_OFS_USR_SHIFT 0
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#define LSM6DSL_Y_OFS_USR_MASK (255 << LSM6DSL_Y_OFS_USR_SHIFT)
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#define LSM6DSL_Z_OFS_USR_SHIFT 0
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#define LSM6DSL_Z_OFS_USR_MASK (255 << LSM6DSL_Z_OFS_USR_SHIFT)
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/* Embedded functions registers description - Bank A */
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#define LSM6DSL_SLV0_ADD_rw_0 (1 << 0)
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#define LSM6DSL_SLV0_ADD_Slave0_add_SHIFT 1
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#define LSM6DSL_SLV0_ADD_Slave0_add_MASK (127 << LSM6DSL_SLV0_ADD_Slave0_add_SHIFT)
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#define LSM6DSL_SLV0_SUBADD_SHIFT 0
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#define LSM6DSL_SLV0_SUBADD_MASK (255 << LSM6DSL_SLV0_SUBADD_SHIFT)
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#define LSM6DSL_SLAVE0_CONFIG_Slave0_numop_SHIFT 0
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#define LSM6DSL_SLAVE0_CONFIG_Slave0_numop_MASK (7 << LSM6DSL_SLAVE0_CONFIG_Slave0_numop_SHIFT)
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#define LSM6DSL_SLAVE0_CONFIG_Src_mode (1 << 3)
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#define LSM6DSL_SLAVE0_CONFIG_Aux_sens_on_SHIFT 4
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#define LSM6DSL_SLAVE0_CONFIG_Aux_sens_on_MASK (3 << LSM6DSL_SLAVE0_CONFIG_Aux_sens_on_SHIFT)
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#define LSM6DSL_SLAVE0_CONFIG_Slave0_rate_SHIFT 6
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#define LSM6DSL_SLAVE0_CONFIG_Slave0_rate_MASK (3 << LSM6DSL_SLAVE0_CONFIG_Slave0_rate_SHIFT)
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#define LSM6DSL_SLV1_ADD_r_1 (1 << 0)
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#define LSM6DSL_SLV1_ADD_Slave1_add_SHIFT 1
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#define LSM6DSL_SLV1_ADD_Slave1_add_MASK (127 << LSM6DSL_SLV1_ADD_Slave1_add_SHIFT)
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#define LSM6DSL_SLV1_SUBADD_SHIFT 0
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#define LSM6DSL_SLV1_SUBADD_MASK (255 << LSM6DSL_SLV1_SUBADD_SHIFT)
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#define LSM6DSL_SLAVE1_CONFIG_Slave1_numop_SHIFT 0
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#define LSM6DSL_SLAVE1_CONFIG_Slave1_numop_MASK (7 << LSM6DSL_SLAVE1_CONFIG_Slave1_numop_SHIFT)
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#define LSM6DSL_SLAVE1_CONFIG_write_once (1 << 5)
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#define LSM6DSL_SLAVE1_CONFIG_Slave1_rate_SHIFT 6
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#define LSM6DSL_SLAVE1_CONFIG_Slave1_rate_MASK (3 << LSM6DSL_SLAVE1_CONFIG_Slave1_rate_SHIFT)
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#define LSM6DSL_SLV2_ADD_r_2 (1 << 0)
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#define LSM6DSL_SLV2_ADD_Slave2_add_SHIFT 1
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#define LSM6DSL_SLV2_ADD_Slave2_add_MASK (127 << LSM6DSL_SLV2_ADD_Slave2_add_SHIFT)
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#define LSM6DSL_SLV2_SUBADD_SHIFT 0
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#define LSM6DSL_SLV2_SUBADD_MASK (255 << LSM6DSL_SLV2_SUBADD_SHIFT)
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#define LSM6DSL_SLAVE2_CONFIG_Slave2_numop_SHIFT 0
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#define LSM6DSL_SLAVE2_CONFIG_Slave2_numop_MASK (7 << LSM6DSL_SLAVE1_CONFIG_Slave1_numop_SHIFT)
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#define LSM6DSL_SLAVE2_CONFIG_Slave2_rate_SHIFT 6
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#define LSM6DSL_SLAVE2_CONFIG_Slave2_rate_MASK (3 << LSM6DSL_SLAVE1_CONFIG_Slave1_rate_SHIFT)
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#define LSM6DSL_SLV3_ADD_r_3 (1 << 0)
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#define LSM6DSL_SLV3_ADD_Slave3_add_SHIFT 1
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#define LSM6DSL_SLV3_ADD_Slave3_add_MASK (127 << LSM6DSL_SLV3_ADD_Slave3_add_SHIFT)
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#define LSM6DSL_SLV3_SUBADD_SHIFT 0
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#define LSM6DSL_SLV3_SUBADD_MASK (255 << LSM6DSL_SLV2_SUBADD_SHIFT)
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#define LSM6DSL_SLAVE3_CONFIG_Slave3_numop_SHIFT 0
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#define LSM6DSL_SLAVE3_CONFIG_Slave3_numop_MASK (7 << LSM6DSL_SLAVE1_CONFIG_Slave1_numop_SHIFT)
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#define LSM6DSL_SLAVE3_CONFIG_Slave3_rate_SHIFT 6
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#define LSM6DSL_SLAVE3_CONFIG_Slave3_rate_MASK (3 << LSM6DSL_SLAVE1_CONFIG_Slave1_rate_SHIFT)
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#define LSM6DSL_DATAWRITE_SRC_MODE_SUB_SLV0_SHIFT 0
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#define LSM6DSL_DATAWRITE_SRC_MODE_SUB_SLV0_MASK (255 << LSM6DSL_DATAWRITE_SRC_MODE_SUB_SLV0_SHIFT)
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#define LSM6DSL_CONFIG_PEDO_THS_MIN_ths_min_SHIFT 0
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#define LSM6DSL_CONFIG_PEDO_THS_MIN_ths_min_MASK (31 << LSM6DSL_CONFIG_PEDO_THS_MIN_ths_min_SHIFT)
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#define LSM6DSL_CONFIG_PEDO_THS_MIN_PEDO_FS (1 << 7>
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#define LSM6DSL_SM_THS_SHIFT 0
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#define LSM6DSL_SM_THS_MASK (255 << LSM6DSL_SM_THS_SHIFT)
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#define LSM6DSL_PEDO_DEB_REG_DEB_STEP_SHIFT 0
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#define LSM6DSL_PEDO_DEB_REG_DEB_STEP_MASK (7 << LSM6DSL_PEDO_DEB_REG_DEB_STEP_SHIFT)
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#define LSM6DSL_PEDO_DEB_REG_DEB_TIME_SHIFT 3
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#define LSM6DSL_PEDO_DEB_REG_DEB_TIME_MASK (31 << LSM6DSL_PEDO_DEB_REG_DEB_TIME_SHIFT)
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#define LSM6DSL_STEP_COUNT_DELTA_SHIFT 0
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#define LSM6DSL_STEP_COUNT_DELTA_MASK (255 << LSM6DSL_STEP_COUNT_DELTA_SHIFT)
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#define LSM6DSL_MAG_SI_XX_SHIFT 0
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#define LSM6DSL_MAG_SI_XX_MASK (255 << LSM6DSL_MAG_SI_XX_SHIFT)
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#define LSM6DSL_MAG_SI_XY_SHIFT 0
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#define LSM6DSL_MAG_SI_XY_MASK (255 << LSM6DSL_MAG_SI_XY_SHIFT)
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#define LSM6DSL_MAG_SI_XZ_SHIFT 0
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#define LSM6DSL_MAG_SI_XZ_MASK (255 << LSM6DSL_MAG_SI_XZ_SHIFT)
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#define LSM6DSL_MAG_SI_YX_SHIFT 0
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#define LSM6DSL_MAG_SI_YX_MASK (255 << LSM6DSL_MAG_SI_YX_SHIFT)
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#define LSM6DSL_MAG_SI_YY_SHIFT 0
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#define LSM6DSL_MAG_SI_YY_MASK (255 << LSM6DSL_MAG_SI_YY_SHIFT)
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#define LSM6DSL_MAG_SI_YZ_SHIFT 0
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#define LSM6DSL_MAG_SI_YZ_MASK (255 << LSM6DSL_MAG_SI_YZ_SHIFT)
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#define LSM6DSL_MAG_SI_ZX_SHIFT 0
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#define LSM6DSL_MAG_SI_ZX_MASK (255 << LSM6DSL_MAG_SI_ZX_SHIFT)
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#define LSM6DSL_MAG_SI_ZY_SHIFT 0
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#define LSM6DSL_MAG_SI_ZY_MASK (255 << LSM6DSL_MAG_SI_ZY_SHIFT)
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#define LSM6DSL_MAG_SI_ZZ_SHIFT 0
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#define LSM6DSL_MAG_SI_ZZ_MASK (255 << LSM6DSL_MAG_SI_ZZ_SHIFT)
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#define LSM6DSL_MAG_OFFX_L_SHIFT 0
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#define LSM6DSL_MAG_OFFX_L_MASK (255 << LSM6DSL_MAG_OFFX_L_SHIFT)
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#define LSM6DSL_MAG_OFFX_H_SHIFT 0
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#define LSM6DSL_MAG_OFFX_H_MASK (255 << LSM6DSL_MAG_OFFX_H_SHIFT)
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#define LSM6DSL_MAG_OFFY_L_SHIFT 0
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#define LSM6DSL_MAG_OFFY_L_MASK (255 << LSM6DSL_MAG_OFFY_L_SHIFT)
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#define LSM6DSL_MAG_OFFY_H_SHIFT 0
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#define LSM6DSL_MAG_OFFY_H_MASK (255 << LSM6DSL_MAG_OFFY_H_SHIFT)
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#define LSM6DSL_MAG_OFFZ_L_SHIFT 0
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#define LSM6DSL_MAG_OFFZ_L_MASK (255 << LSM6DSL_MAG_OFFZ_L_SHIFT)
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#define LSM6DSL_MAG_OFFZ_H_SHIFT 0
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#define LSM6DSL_MAG_OFFZ_H_MASK (255 << LSM6DSL_MAG_OFFZ_H_SHIFT)
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/* Embedded functions registers description - Bank B */
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#define LSM6DSL_A_WRIST_TILT_LAT_SHIFT 0
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#define LSM6DSL_A_WRIST_TILT_LAT_MASK (255 << LSM6DSL_A_WRIST_TILT_LAT_SHIFT)
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#define LSM6DSL_A_WRIST_TILT_THS_SHIFT 0
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#define LSM6DSL_A_WRIST_TILT_THS_MASK (255 << LSM6DSL_A_WRIST_TILT_THS_SHIFT)
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#define LSM6DSL_A_WRIST_TILT_Mask_SHIFT 2
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#define LSM6DSL_A_WRIST_TILT_Mask_MASK (63 << LSM6DSL_A_WRIST_TILT_Mask_SHIFT)
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/****************************************************************************
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* Public Types
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****************************************************************************/
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struct i2c_master_s;
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/* Container for sensor data */
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struct lsm6dsl_sensor_data_s
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{
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int16_t x_data;
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int16_t y_data;
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int16_t z_data;
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uint16_t temperature;
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int16_t g_x_data;
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int16_t g_y_data;
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int16_t g_z_data;
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uint16_t timestamp;
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};
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/****************************************************************************
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* Public Types
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****************************************************************************/
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struct lsm6dsl_dev_s;
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struct lsm6dsl_ops_s
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{
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CODE int (*config)(FAR struct lsm6dsl_dev_s *priv);
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CODE int (*start)(FAR struct lsm6dsl_dev_s *priv);
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CODE int (*stop)(FAR struct lsm6dsl_dev_s *priv);
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CODE int (*sensor_read)(FAR struct lsm6dsl_dev_s *priv,
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|
FAR struct lsm6dsl_sensor_data_s *sensor_data);
|
|
CODE int (*selftest)(FAR struct lsm6dsl_dev_s *priv,
|
|
uint32_t mode);
|
|
};
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|
|
|
struct lsm6dsl_dev_s
|
|
{
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|
FAR struct i2c_master_s *i2c; /* I2C interface */
|
|
uint8_t addr; /* I2C address */
|
|
|
|
FAR const struct lsm6dsl_ops_s *ops;
|
|
|
|
uint8_t datareg; /* Output data register of X low byte */
|
|
struct lsm6dsl_sensor_data_s sensor_data; /* Sensor data container */
|
|
};
|
|
|
|
/****************************************************************************
|
|
* Public Function Prototypes
|
|
****************************************************************************/
|
|
|
|
#ifdef __cplusplus
|
|
extern "C"
|
|
{
|
|
#endif
|
|
|
|
/****************************************************************************
|
|
* Name: lsm6dslaccel_register
|
|
*
|
|
* Description:
|
|
* Register the LSM6DSL accelerometer character device as 'devpath'.
|
|
*
|
|
* Input Parameters:
|
|
* devpath - The full path to the driver to register, e.g., "/dev/sensor0".
|
|
* i2c - An I2C driver instance.
|
|
* addr - The I2C address of the LSM9DS1 accelerometer.
|
|
*
|
|
* Returned Value:
|
|
* Zero (OK) on success; a negated errno value on failure.
|
|
*
|
|
****************************************************************************/
|
|
|
|
int lsm6dsl_sensor_register(FAR const char *devpath,
|
|
FAR struct i2c_master_s *i2c,
|
|
uint8_t addr);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* CONFIG_I2C && CONFIG_SENSORS_LSM9DS1 */
|
|
#endif /* __INCLUDE_NUTTX_SENSORS_LSM6DSL_H */
|