1 /* ST Microelectronics LSM6DSV16X 6-axis IMU sensor driver 2 * 3 * Copyright (c) 2023 Google LLC 4 * Copyright (c) 2024 STMicroelectronics 5 * 6 * SPDX-License-Identifier: Apache-2.0 7 */ 8 9 #ifndef ZEPHYR_DRIVERS_SENSOR_LSM6DSV16X_DECODER_H_ 10 #define ZEPHYR_DRIVERS_SENSOR_LSM6DSV16X_DECODER_H_ 11 12 #include <stdint.h> 13 #include <zephyr/drivers/sensor.h> 14 15 struct lsm6dsv16x_decoder_header { 16 uint64_t timestamp; 17 uint8_t is_fifo: 1; 18 uint8_t gyro_fs: 4; 19 uint8_t accel_fs: 2; 20 uint8_t reserved: 1; 21 } __attribute__((__packed__)); 22 23 struct lsm6dsv16x_fifo_data { 24 struct lsm6dsv16x_decoder_header header; 25 uint8_t int_status; 26 uint16_t gyro_odr: 4; 27 uint16_t accel_odr: 4; 28 uint16_t fifo_count: 11; 29 uint16_t reserved_1: 5; 30 uint16_t gyro_batch_odr: 4; 31 uint16_t accel_batch_odr: 4; 32 uint16_t temp_batch_odr: 4; 33 uint16_t sflp_batch_odr: 3; 34 uint16_t reserved_2: 1; 35 } __attribute__((__packed__)); 36 37 struct lsm6dsv16x_rtio_data { 38 struct lsm6dsv16x_decoder_header header; 39 struct { 40 uint8_t has_accel: 1; /* set if accel channel has data */ 41 uint8_t has_gyro: 1; /* set if gyro channel has data */ 42 uint8_t has_temp: 1; /* set if temp channel has data */ 43 uint8_t reserved: 5; 44 } __attribute__((__packed__)); 45 int16_t acc[3]; 46 int16_t gyro[3]; 47 int16_t temp; 48 }; 49 50 int lsm6dsv16x_encode(const struct device *dev, const struct sensor_chan_spec *const channels, 51 const size_t num_channels, uint8_t *buf); 52 53 int lsm6dsv16x_get_decoder(const struct device *dev, const struct sensor_decoder_api **decoder); 54 55 #endif /* ZEPHYR_DRIVERS_SENSOR_LSM6DSV16X_DECODER_H_ */ 56
