3  * SPDX-License-Identifier: Apache-2.0
31 	struct icm42688_emul_data *data = target->data;  in icm42688_emul_set_reg()
34 	memcpy(data->reg + reg_addr, val, count);  in icm42688_emul_set_reg()
39 	struct icm42688_emul_data *data = target->data;  in icm42688_emul_get_reg()
42 	memcpy(val, data->reg + reg_addr, count);  in icm42688_emul_get_reg()
47 	struct icm42688_emul_data *data = target->data;  in icm42688_emul_handle_write()
53 			memset(data->reg, 0, NUM_REGS);  in icm42688_emul_handle_write()
54 			/* Initialized the who-am-i register */  in icm42688_emul_handle_write()
55 			data->reg[REG_WHO_AM_I] = WHO_AM_I_ICM42688;  in icm42688_emul_handle_write()
57 			data->reg[REG_INT_STATUS] |= BIT_INT_STATUS_RESET_DONE;  in icm42688_emul_handle_write()
67 	struct icm42688_emul_data *data = target->data;  in icm42688_emul_io_spi()
75 	tx = tx_bufs->buffers;  in icm42688_emul_io_spi()
77 	__ASSERT_NO_MSG(tx->len > 0);  in icm42688_emul_io_spi()
79 	regn = *(uint8_t *)tx->buf;  in icm42688_emul_io_spi()
84 		__ASSERT_NO_MSG(rx_bufs->count > 1);  in icm42688_emul_io_spi()
86 		rx = &rx_bufs->buffers[1];  in icm42688_emul_io_spi()
87 		__ASSERT_NO_MSG(rx->buf != NULL);  in icm42688_emul_io_spi()
88 		__ASSERT_NO_MSG(rx->len > 0);  in icm42688_emul_io_spi()
89 		for (uint16_t i = 0; i < rx->len; ++i) {  in icm42688_emul_io_spi()
90 			((uint8_t *)rx->buf)[i] = data->reg[regn + i];  in icm42688_emul_io_spi()
96 		__ASSERT_NO_MSG(tx_bufs->count > 1);  in icm42688_emul_io_spi()
97 		tx = &tx_bufs->buffers[1];  in icm42688_emul_io_spi()
99 		__ASSERT_NO_MSG(tx->len > 0);  in icm42688_emul_io_spi()
100 		value = ((uint8_t *)tx->buf)[0];  in icm42688_emul_io_spi()
109 	struct icm42688_emul_data *data = target->data;  in icm42688_emul_init()
111 	/* Initialized the who-am-i register */  in icm42688_emul_init()
112 	data->reg[REG_WHO_AM_I] = WHO_AM_I_ICM42688;  in icm42688_emul_init()
124  * @brief Get current full-scale range in g's based on register config, along with corresponding
177  * @brief Helper function for calculating accelerometer ranges. Considers the current full-scale
178  *        register config (i.e. +/-2g, +/-4g, etc...)
188 	/* Epsilon is equal to 1.5 bit-counts worth of error. */  in icm42688_emul_get_accel_ranges()
191 	*lower = -*upper;  in icm42688_emul_get_accel_ranges()
195  * @brief Get current full-scale gyro range in milli-degrees per second based on register config,
210 		/* Milli-degrees per second */  in icm42688_emul_get_gyro_settings()
215 		shift_out = 6; /* +/- 34.90659 */  in icm42688_emul_get_gyro_settings()
220 		shift_out = 5; /* +/- 17.44444 */  in icm42688_emul_get_gyro_settings()
225 		shift_out = 4; /* +/- 8.72222 */  in icm42688_emul_get_gyro_settings()
230 		shift_out = 3; /* +/- 4.36111 */  in icm42688_emul_get_gyro_settings()
235 		shift_out = 2; /* +/- 2.18055 */  in icm42688_emul_get_gyro_settings()
240 		shift_out = 1; /* +/- 1.09027 */  in icm42688_emul_get_gyro_settings()
245 		shift_out = 0; /* +/- 0.54513 */  in icm42688_emul_get_gyro_settings()
250 		shift_out = -1; /* +/- 0.27256 */  in icm42688_emul_get_gyro_settings()
268  * @brief Helper function for calculating gyroscope ranges. Considers the current full-scale
281 	/* Reduce the actual range of gyroscope values. Some full-scale ranges actually exceed the  in icm42688_emul_get_gyro_ranges()
282 	 * size of an int16 by a small margin. For example, FS_SEL=0 has a +/-2000 deg/s range with  in icm42688_emul_get_gyro_ranges()
284 	 * +/-2000 * 16.4 = +/-32800. This will cause the expected value to get clipped when  in icm42688_emul_get_gyro_ranges()
285 	 * setting the register and throw off the actual reading. Therefore, scale down the range  in icm42688_emul_get_gyro_ranges()
291 	/* Epsilon is equal to 1.5 bit-counts worth of error. */  in icm42688_emul_get_gyro_ranges()
295 	*lower = -*upper;  in icm42688_emul_get_gyro_ranges()
303 		return -EINVAL;  in icm42688_emul_backend_get_sample_range()
308 		/* degrees C = ([16-bit signed temp_data register] / 132.48) + 25 */  in icm42688_emul_backend_get_sample_range()
310 		*lower = (int64_t)(-222.342995169 * Q31_SCALE) >> *shift;  in icm42688_emul_backend_get_sample_range()
325 		return -ENOTSUP;  in icm42688_emul_backend_get_sample_range()
334 	if (!target || !target->data) {  in icm42688_emul_backend_set_channel()
335 		return -EINVAL;  in icm42688_emul_backend_set_channel()
338 	struct icm42688_emul_data *data = target->data;  in icm42688_emul_backend_set_channel()
344 		shift < 0 ? ((int64_t)*value >> -shift) : ((int64_t)*value << shift);  in icm42688_emul_backend_set_channel()
349 		reg_val = ((value_unshifted - (25 * Q31_SCALE)) * 13248) / (100 * Q31_SCALE);  in icm42688_emul_backend_set_channel()
393 		return -ENOTSUP;  in icm42688_emul_backend_set_channel()
396 	data->reg[reg_addr] = (reg_val >> 8) & 0xFF;  in icm42688_emul_backend_set_channel()
397 	data->reg[reg_addr + 1] = reg_val & 0xFF;  in icm42688_emul_backend_set_channel()
400 	data->reg[REG_INT_STATUS] |= BIT_INT_STATUS_DATA_RDY;  in icm42688_emul_backend_set_channel()