lsm6dsl_reg.c

/**
  ******************************************************************************
  * @file    lsm6dsl_reg.c
  * @author  Sensors Software Solution Team
  * @brief   LSM6DSL driver file
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 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
  *
  ******************************************************************************
  */

#include "lsm6dsl_reg.h"

/**
  * @defgroup    LSM6DSL
  * @brief       This file provides a set of functions needed to drive the
  *              lsm6dsl enanced inertial module.
  * @{
  *
  */

/**
  * @defgroup    LSM6DSL_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.
  * @{
  *
  */

/**
  * @brief  Read generic device register
  *
  * @param  ctx   read / write interface definitions(ptr)
  * @param  reg   register to read
  * @param  data  pointer to buffer that store the data read(ptr)
  * @param  len   number of consecutive register to read
  * @retval       interface status (MANDATORY: return 0 -> no Error)
  *
  */
int32_t __weak lsm6dsl_read_reg(const stmdev_ctx_t *ctx, uint8_t reg,
                                uint8_t *data,
                                uint16_t len)
{
  int32_t ret;

  if (ctx == NULL)
  {
    return -1;
  }

  ret = ctx->read_reg(ctx->handle, reg, data, len);

  return ret;
}

/**
  * @brief  Write generic device register
  *
  * @param  ctx   read / write interface definitions(ptr)
  * @param  reg   register to write
  * @param  data  pointer to data to write in register reg(ptr)
  * @param  len   number of consecutive register to write
  * @retval       interface status (MANDATORY: return 0 -> no Error)
  *
  */
int32_t __weak lsm6dsl_write_reg(const stmdev_ctx_t *ctx, uint8_t reg,
                                 uint8_t *data,
                                 uint16_t len)
{
  int32_t ret;

  if (ctx == NULL)
  {
    return -1;
  }

  ret = ctx->write_reg(ctx->handle, reg, data, len);

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup    LSM6DSL_Sensitivity
  * @brief       These functions convert raw-data into engineering units.
  * @{
  *
  */

float_t lsm6dsl_from_fs2g_to_mg(int16_t lsb)
{
  return ((float_t)lsb * 0.061f);
}

float_t lsm6dsl_from_fs4g_to_mg(int16_t lsb)
{
  return ((float_t)lsb * 0.122f);
}

float_t lsm6dsl_from_fs8g_to_mg(int16_t lsb)
{
  return ((float_t)lsb * 0.244f);
}

float_t lsm6dsl_from_fs16g_to_mg(int16_t lsb)
{
  return ((float_t)lsb * 0.488f);
}

float_t lsm6dsl_from_fs125dps_to_mdps(int16_t lsb)
{
  return ((float_t)lsb * 4.375f);
}

float_t lsm6dsl_from_fs250dps_to_mdps(int16_t lsb)
{
  return ((float_t)lsb * 8.750f);
}

float_t lsm6dsl_from_fs500dps_to_mdps(int16_t lsb)
{
  return ((float_t)lsb * 17.50f);
}

float_t lsm6dsl_from_fs1000dps_to_mdps(int16_t lsb)
{
  return ((float_t)lsb * 35.0f);
}

float_t lsm6dsl_from_fs2000dps_to_mdps(int16_t lsb)
{
  return ((float_t)lsb * 70.0f);
}

float_t lsm6dsl_from_lsb_to_celsius(int16_t lsb)
{
  return (((float_t)lsb / 256.0f) + 25.0f);
}

/**
  * @}
  *
  */


/**
  * @defgroup    LSM6DSL_data_generation
  * @brief       This section groups all the functions concerning data
  *              generation
  * @{
  *
  */

/**
  * @brief  Accelerometer full-scale selection.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of fs_xl in reg CTRL1_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_full_scale_set(const stmdev_ctx_t *ctx,
                                  lsm6dsl_fs_xl_t val)
{
  lsm6dsl_ctrl1_xl_t ctrl1_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)&ctrl1_xl, 1);

  if (ret == 0)
  {
    ctrl1_xl.fs_xl = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)&ctrl1_xl, 1);
  }

  return ret;
}

/**
  * @brief  Accelerometer full-scale selection.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of fs_xl in reg CTRL1_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_full_scale_get(const stmdev_ctx_t *ctx,
                                  lsm6dsl_fs_xl_t *val)
{
  lsm6dsl_ctrl1_xl_t ctrl1_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)&ctrl1_xl, 1);

  switch (ctrl1_xl.fs_xl)
  {
    case LSM6DSL_2g:
      *val = LSM6DSL_2g;
      break;

    case LSM6DSL_16g:
      *val = LSM6DSL_16g;
      break;

    case LSM6DSL_4g:
      *val = LSM6DSL_4g;
      break;

    case LSM6DSL_8g:
      *val = LSM6DSL_8g;
      break;

    default:
      *val = LSM6DSL_XL_FS_ND;
      break;
  }

  return ret;
}

/**
  * @brief  Accelerometer data rate selection.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of odr_xl in reg CTRL1_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_data_rate_set(const stmdev_ctx_t *ctx,
                                 lsm6dsl_odr_xl_t val)
{
  lsm6dsl_ctrl1_xl_t ctrl1_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)&ctrl1_xl, 1);

  if (ret == 0)
  {
    ctrl1_xl.odr_xl = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)&ctrl1_xl, 1);
  }

  return ret;
}

/**
  * @brief  Accelerometer data rate selection.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of odr_xl in reg CTRL1_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_data_rate_get(const stmdev_ctx_t *ctx,
                                 lsm6dsl_odr_xl_t *val)
{
  lsm6dsl_ctrl1_xl_t ctrl1_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)&ctrl1_xl, 1);

  switch (ctrl1_xl.odr_xl)
  {
    case LSM6DSL_XL_ODR_OFF:
      *val = LSM6DSL_XL_ODR_OFF;
      break;

    case LSM6DSL_XL_ODR_12Hz5:
      *val = LSM6DSL_XL_ODR_12Hz5;
      break;

    case LSM6DSL_XL_ODR_26Hz:
      *val = LSM6DSL_XL_ODR_26Hz;
      break;

    case LSM6DSL_XL_ODR_52Hz:
      *val = LSM6DSL_XL_ODR_52Hz;
      break;

    case LSM6DSL_XL_ODR_104Hz:
      *val = LSM6DSL_XL_ODR_104Hz;
      break;

    case LSM6DSL_XL_ODR_208Hz:
      *val = LSM6DSL_XL_ODR_208Hz;
      break;

    case LSM6DSL_XL_ODR_416Hz:
      *val = LSM6DSL_XL_ODR_416Hz;
      break;

    case LSM6DSL_XL_ODR_833Hz:
      *val = LSM6DSL_XL_ODR_833Hz;
      break;

    case LSM6DSL_XL_ODR_1k66Hz:
      *val = LSM6DSL_XL_ODR_1k66Hz;
      break;

    case LSM6DSL_XL_ODR_3k33Hz:
      *val = LSM6DSL_XL_ODR_3k33Hz;
      break;

    case LSM6DSL_XL_ODR_6k66Hz:
      *val = LSM6DSL_XL_ODR_6k66Hz;
      break;

    case LSM6DSL_XL_ODR_1Hz6:
      *val = LSM6DSL_XL_ODR_1Hz6;
      break;

    default:
      *val = LSM6DSL_XL_ODR_ND;
      break;
  }

  return ret;
}

/**
  * @brief  Gyroscope chain full-scale selection.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of fs_g in reg CTRL2_G
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_gy_full_scale_set(const stmdev_ctx_t *ctx,
                                  lsm6dsl_fs_g_t val)
{
  lsm6dsl_ctrl2_g_t ctrl2_g;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL2_G, (uint8_t *)&ctrl2_g, 1);

  if (ret == 0)
  {
    ctrl2_g.fs_g = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL2_G, (uint8_t *)&ctrl2_g, 1);
  }

  return ret;
}

/**
  * @brief  Gyroscope chain full-scale selection.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of fs_g in reg CTRL2_G
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_gy_full_scale_get(const stmdev_ctx_t *ctx,
                                  lsm6dsl_fs_g_t *val)
{
  lsm6dsl_ctrl2_g_t ctrl2_g;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL2_G, (uint8_t *)&ctrl2_g, 1);

  switch (ctrl2_g.fs_g)
  {
    case LSM6DSL_250dps:
      *val = LSM6DSL_250dps;
      break;

    case LSM6DSL_125dps:
      *val = LSM6DSL_125dps;
      break;

    case LSM6DSL_500dps:
      *val = LSM6DSL_500dps;
      break;

    case LSM6DSL_1000dps:
      *val = LSM6DSL_1000dps;
      break;

    case LSM6DSL_2000dps:
      *val = LSM6DSL_2000dps;
      break;

    default:
      *val = LSM6DSL_GY_FS_ND;
      break;
  }

  return ret;
}

/**
  * @brief  Gyroscope data rate selection.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of odr_g in reg CTRL2_G
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_gy_data_rate_set(const stmdev_ctx_t *ctx,
                                 lsm6dsl_odr_g_t val)
{
  lsm6dsl_ctrl2_g_t ctrl2_g;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL2_G, (uint8_t *)&ctrl2_g, 1);

  if (ret == 0)
  {
    ctrl2_g.odr_g = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL2_G, (uint8_t *)&ctrl2_g, 1);
  }

  return ret;
}

/**
  * @brief  Gyroscope data rate selection.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of odr_g in reg CTRL2_G
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_gy_data_rate_get(const stmdev_ctx_t *ctx,
                                 lsm6dsl_odr_g_t *val)
{
  lsm6dsl_ctrl2_g_t ctrl2_g;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL2_G, (uint8_t *)&ctrl2_g, 1);

  switch (ctrl2_g.odr_g)
  {
    case LSM6DSL_GY_ODR_OFF:
      *val = LSM6DSL_GY_ODR_OFF;
      break;

    case LSM6DSL_GY_ODR_12Hz5:
      *val = LSM6DSL_GY_ODR_12Hz5;
      break;

    case LSM6DSL_GY_ODR_26Hz:
      *val = LSM6DSL_GY_ODR_26Hz;
      break;

    case LSM6DSL_GY_ODR_52Hz:
      *val = LSM6DSL_GY_ODR_52Hz;
      break;

    case LSM6DSL_GY_ODR_104Hz:
      *val = LSM6DSL_GY_ODR_104Hz;
      break;

    case LSM6DSL_GY_ODR_208Hz:
      *val = LSM6DSL_GY_ODR_208Hz;
      break;

    case LSM6DSL_GY_ODR_416Hz:
      *val = LSM6DSL_GY_ODR_416Hz;
      break;

    case LSM6DSL_GY_ODR_833Hz:
      *val = LSM6DSL_GY_ODR_833Hz;
      break;

    case LSM6DSL_GY_ODR_1k66Hz:
      *val = LSM6DSL_GY_ODR_1k66Hz;
      break;

    case LSM6DSL_GY_ODR_3k33Hz:
      *val = LSM6DSL_GY_ODR_3k33Hz;
      break;

    case LSM6DSL_GY_ODR_6k66Hz:
      *val = LSM6DSL_GY_ODR_6k66Hz;
      break;

    default:
      *val = LSM6DSL_GY_ODR_ND;
      break;
  }

  return ret;
}

/**
  * @brief  Block data update.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of bdu in reg CTRL3_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_block_data_update_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_ctrl3_c_t ctrl3_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);

  if (ret == 0)
  {
    ctrl3_c.bdu = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);
  }

  return ret;
}

/**
  * @brief  Block data update.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of bdu in reg CTRL3_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_block_data_update_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_ctrl3_c_t ctrl3_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);
  *val = ctrl3_c.bdu;

  return ret;
}

/**
  * @brief  Weight of XL user offset bits of registers
  *         X_OFS_USR(73h), Y_OFS_USR(74h), Z_OFS_USR(75h).[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of usr_off_w in reg CTRL6_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_offset_weight_set(const stmdev_ctx_t *ctx,
                                     lsm6dsl_usr_off_w_t val)
{
  lsm6dsl_ctrl6_c_t ctrl6_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)&ctrl6_c, 1);

  if (ret == 0)
  {
    ctrl6_c.usr_off_w = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)&ctrl6_c, 1);
  }

  return ret;
}

/**
  * @brief  Weight of XL user offset bits of registers
  *         X_OFS_USR(73h), Y_OFS_USR(74h), Z_OFS_USR(75h).[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of usr_off_w in reg CTRL6_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_offset_weight_get(const stmdev_ctx_t *ctx,
                                     lsm6dsl_usr_off_w_t *val)
{
  lsm6dsl_ctrl6_c_t ctrl6_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)&ctrl6_c, 1);

  switch (ctrl6_c.usr_off_w)
  {
    case LSM6DSL_LSb_1mg:
      *val = LSM6DSL_LSb_1mg;
      break;

    case LSM6DSL_LSb_16mg:
      *val = LSM6DSL_LSb_16mg;
      break;

    default:
      *val = LSM6DSL_WEIGHT_ND;
      break;
  }

  return ret;
}

/**
  * @brief  High-performance operating mode for accelerometer[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of xl_hm_mode in reg CTRL6_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_power_mode_set(const stmdev_ctx_t *ctx,
                                  lsm6dsl_xl_hm_mode_t val)
{
  lsm6dsl_ctrl6_c_t ctrl6_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)&ctrl6_c, 1);

  if (ret == 0)
  {
    ctrl6_c.xl_hm_mode = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)&ctrl6_c, 1);
  }

  return ret;
}

/**
  * @brief  High-performance operating mode for accelerometer.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of xl_hm_mode in reg CTRL6_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_power_mode_get(const stmdev_ctx_t *ctx,
                                  lsm6dsl_xl_hm_mode_t *val)
{
  lsm6dsl_ctrl6_c_t ctrl6_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)&ctrl6_c, 1);

  switch (ctrl6_c.xl_hm_mode)
  {
    case LSM6DSL_XL_HIGH_PERFORMANCE:
      *val = LSM6DSL_XL_HIGH_PERFORMANCE;
      break;

    case LSM6DSL_XL_NORMAL:
      *val = LSM6DSL_XL_NORMAL;
      break;

    default:
      *val = LSM6DSL_XL_PW_MODE_ND;
      break;
  }

  return ret;
}

/**
  * @brief  Source register rounding function on WAKE_UP_SRC (1Bh),
  *         TAP_SRC (1Ch), D6D_SRC (1Dh), STATUS_REG (1Eh) and
  *         FUNC_SRC1 (53h) registers in the primary interface.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of rounding_status in reg CTRL7_G
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_rounding_on_status_set(const stmdev_ctx_t *ctx,
                                       lsm6dsl_rounding_status_t val)
{
  lsm6dsl_ctrl7_g_t ctrl7_g;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t *)&ctrl7_g, 1);

  if (ret == 0)
  {
    ctrl7_g.rounding_status = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t *)&ctrl7_g, 1);
  }

  return ret;
}

/**
  * @brief  Source register rounding function on WAKE_UP_SRC (1Bh),
  *         TAP_SRC (1Ch), D6D_SRC (1Dh), STATUS_REG (1Eh) and
  *         FUNC_SRC1 (53h) registers in the primary interface.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of rounding_status in reg CTRL7_G
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_rounding_on_status_get(const stmdev_ctx_t *ctx,
                                       lsm6dsl_rounding_status_t *val)
{
  lsm6dsl_ctrl7_g_t ctrl7_g;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t *)&ctrl7_g, 1);

  switch (ctrl7_g.rounding_status)
  {
    case LSM6DSL_STAT_RND_DISABLE:
      *val = LSM6DSL_STAT_RND_DISABLE;
      break;

    case LSM6DSL_STAT_RND_ENABLE:
      *val = LSM6DSL_STAT_RND_ENABLE;
      break;

    default:
      *val = LSM6DSL_STAT_RND_ND;
      break;
  }

  return ret;
}

/**
  * @brief  High-performance operating mode disable for gyroscope.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of g_hm_mode in reg CTRL7_G
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_gy_power_mode_set(const stmdev_ctx_t *ctx,
                                  lsm6dsl_g_hm_mode_t val)
{
  lsm6dsl_ctrl7_g_t ctrl7_g;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t *)&ctrl7_g, 1);

  if (ret == 0)
  {
    ctrl7_g.g_hm_mode = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t *)&ctrl7_g, 1);
  }

  return ret;
}

/**
  * @brief  High-performance operating mode disable for gyroscope.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of g_hm_mode in reg CTRL7_G
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_gy_power_mode_get(const stmdev_ctx_t *ctx,
                                  lsm6dsl_g_hm_mode_t *val)
{
  lsm6dsl_ctrl7_g_t ctrl7_g;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t *)&ctrl7_g, 1);

  switch (ctrl7_g.g_hm_mode)
  {
    case LSM6DSL_GY_HIGH_PERFORMANCE:
      *val = LSM6DSL_GY_HIGH_PERFORMANCE;
      break;

    case LSM6DSL_GY_NORMAL:
      *val = LSM6DSL_GY_NORMAL;
      break;

    default:
      *val = LSM6DSL_GY_PW_MODE_ND;
      break;
  }

  return ret;
}

/**
  * @brief  Read all the interrupt/status flag of the device.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    WAKE_UP_SRC, TAP_SRC, D6D_SRC, STATUS_REG,
  *                FUNC_SRC1, FUNC_SRC2, WRIST_TILT_IA, A_WRIST_TILT_Mask
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_all_sources_get(const stmdev_ctx_t *ctx,
                                lsm6dsl_all_sources_t *val)
{
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_SRC,
                         (uint8_t *) & (val->wake_up_src), 1);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_SRC,
                           (uint8_t *) & (val->tap_src), 1);
  }

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_D6D_SRC,
                           (uint8_t *) & (val->d6d_src), 1);
  }

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_STATUS_REG,
                           (uint8_t *) & (val->status_reg), 1);
  }

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_FUNC_SRC1,
                           (uint8_t *) & (val->func_src1), 1);
  }

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_FUNC_SRC2,
                           (uint8_t *) & (val->func_src2), 1);
  }

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_WRIST_TILT_IA,
                           (uint8_t *) & (val->wrist_tilt_ia), 1);
  }

  if (ret == 0)
  {
    ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_B);
  }

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_A_WRIST_TILT_MASK,
                           (uint8_t *) & (val->a_wrist_tilt_mask), 1);
  }

  if (ret == 0)
  {
    ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
  }

  return ret;
}
/**
  * @brief  The STATUS_REG register is read by the primary interface[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Registers STATUS_REG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_status_reg_get(const stmdev_ctx_t *ctx,
                               lsm6dsl_status_reg_t *val)
{
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_STATUS_REG, (uint8_t *) val, 1);

  return ret;
}

/**
  * @brief  Accelerometer new data available.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of xlda in reg STATUS_REG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_flag_data_ready_get(const stmdev_ctx_t *ctx,
                                       uint8_t *val)
{
  lsm6dsl_status_reg_t status_reg;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_STATUS_REG,
                         (uint8_t *)&status_reg, 1);
  *val = status_reg.xlda;

  return ret;
}

/**
  * @brief  Gyroscope new data available.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of gda in reg STATUS_REG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_gy_flag_data_ready_get(const stmdev_ctx_t *ctx,
                                       uint8_t *val)
{
  lsm6dsl_status_reg_t status_reg;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_STATUS_REG,
                         (uint8_t *)&status_reg, 1);
  *val = status_reg.gda;

  return ret;
}

/**
  * @brief  Temperature new data available.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of tda in reg STATUS_REG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_temp_flag_data_ready_get(const stmdev_ctx_t *ctx,
                                         uint8_t *val)
{
  lsm6dsl_status_reg_t status_reg;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_STATUS_REG,
                         (uint8_t *)&status_reg, 1);
  *val = status_reg.tda;

  return ret;
}

/**
  * @brief  Accelerometer axis user offset correction expressed in two’s
  *         complement, weight depends on USR_OFF_W in CTRL6_C.
  *         The value must be in the range [-127 127].[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  buff   Buffer that contains data to write
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_usr_offset_set(const stmdev_ctx_t *ctx, uint8_t *buff)
{
  int32_t ret;

  ret = lsm6dsl_write_reg(ctx, LSM6DSL_X_OFS_USR, buff, 3);

  return ret;
}

/**
  * @brief  Accelerometer axis user offset correction xpressed in two’s
  *         complement, weight depends on USR_OFF_W in CTRL6_C.
  *         The value must be in the range [-127 127].[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  buff   Buffer that stores data read
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_usr_offset_get(const stmdev_ctx_t *ctx, uint8_t *buff)
{
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_X_OFS_USR, buff, 3);

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup    LSM6DSL_Timestamp
  * @brief       This section groups all the functions that manage the
  *              timestamp generation.
  * @{
  *
  */

/**
  * @brief  Enable timestamp count. The count is saved in TIMESTAMP0_REG (40h),
  *         TIMESTAMP1_REG (41h) and TIMESTAMP2_REG (42h).[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of timer_en in reg CTRL10_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_timestamp_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_ctrl10_c_t ctrl10_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)&ctrl10_c, 1);

  if (ret == 0)
  {
    ctrl10_c.timer_en = val;

    if (val != 0x00U)
    {
      ctrl10_c.func_en = val;
      ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)&ctrl10_c, 1);
    }
  }

  return ret;
}

/**
  * @brief  Enable timestamp count. The count is saved in TIMESTAMP0_REG (40h),
  *         TIMESTAMP1_REG (41h) and TIMESTAMP2_REG (42h).[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of timer_en in reg CTRL10_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_timestamp_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_ctrl10_c_t ctrl10_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)&ctrl10_c, 1);
  *val = ctrl10_c.timer_en;

  return ret;
}

/**
  * @brief  Timestamp register resolution setting.
  *         Configuration of this bit affects
  *         TIMESTAMP0_REG(40h), TIMESTAMP1_REG(41h),
  *         TIMESTAMP2_REG(42h), STEP_TIMESTAMP_L(49h),
  *         STEP_TIMESTAMP_H(4Ah) and
  *         STEP_COUNT_DELTA(15h) registers.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of timer_hr in reg WAKE_UP_DUR
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_timestamp_res_set(const stmdev_ctx_t *ctx,
                                  lsm6dsl_timer_hr_t val)
{
  lsm6dsl_wake_up_dur_t wake_up_dur;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR,
                         (uint8_t *)&wake_up_dur, 1);

  if (ret == 0)
  {
    wake_up_dur.timer_hr = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_WAKE_UP_DUR,
                            (uint8_t *)&wake_up_dur, 1);
  }

  return ret;
}

/**
  * @brief  Timestamp register resolution setting.
  *         Configuration of this bit affects
  *         TIMESTAMP0_REG(40h), TIMESTAMP1_REG(41h),
  *         TIMESTAMP2_REG(42h), STEP_TIMESTAMP_L(49h),
  *         STEP_TIMESTAMP_H(4Ah) and
  *         STEP_COUNT_DELTA(15h) registers.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of timer_hr in reg WAKE_UP_DUR
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_timestamp_res_get(const stmdev_ctx_t *ctx,
                                  lsm6dsl_timer_hr_t *val)
{
  lsm6dsl_wake_up_dur_t wake_up_dur;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR,
                         (uint8_t *)&wake_up_dur, 1);

  switch (wake_up_dur.timer_hr)
  {
    case LSM6DSL_LSB_6ms4:
      *val = LSM6DSL_LSB_6ms4;
      break;

    case LSM6DSL_LSB_25us:
      *val = LSM6DSL_LSB_25us;
      break;

    default:
      *val = LSM6DSL_TS_RES_ND;
      break;
  }

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup    LSM6DSL_Dataoutput
  * @brief       This section groups all the data output functions.
  * @{
  *
  */

/**
  * @brief  Circular burst-mode (rounding) read from output registers
  *         through the primary interface.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of rounding in reg CTRL5_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_rounding_mode_set(const stmdev_ctx_t *ctx,
                                  lsm6dsl_rounding_t val)
{
  lsm6dsl_ctrl5_c_t ctrl5_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)&ctrl5_c, 1);

  if (ret == 0)
  {
    ctrl5_c.rounding = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)&ctrl5_c, 1);
  }

  return ret;
}

/**
  * @brief  Circular burst-mode (rounding) read from output registers
  *         through the primary interface.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of rounding in reg CTRL5_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_rounding_mode_get(const stmdev_ctx_t *ctx,
                                  lsm6dsl_rounding_t *val)
{
  lsm6dsl_ctrl5_c_t ctrl5_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)&ctrl5_c, 1);

  switch (ctrl5_c.rounding)
  {
    case LSM6DSL_ROUND_DISABLE:
      *val = LSM6DSL_ROUND_DISABLE;
      break;

    case LSM6DSL_ROUND_XL:
      *val = LSM6DSL_ROUND_XL;
      break;

    case LSM6DSL_ROUND_GY:
      *val = LSM6DSL_ROUND_GY;
      break;

    case LSM6DSL_ROUND_GY_XL:
      *val = LSM6DSL_ROUND_GY_XL;
      break;

    case LSM6DSL_ROUND_SH1_TO_SH6:
      *val = LSM6DSL_ROUND_SH1_TO_SH6;
      break;

    case LSM6DSL_ROUND_XL_SH1_TO_SH6:
      *val = LSM6DSL_ROUND_XL_SH1_TO_SH6;
      break;

    case LSM6DSL_ROUND_GY_XL_SH1_TO_SH12:
      *val = LSM6DSL_ROUND_GY_XL_SH1_TO_SH12;
      break;

    case LSM6DSL_ROUND_GY_XL_SH1_TO_SH6:
      *val = LSM6DSL_ROUND_GY_XL_SH1_TO_SH6;
      break;

    default:
      *val = LSM6DSL_ROUND_OUT_ND;
      break;
  }

  return ret;
}

/**
  * @brief  Temperature data output register (r). L and H registers together
  *         express a 16-bit word in two’s complement.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  buff   Buffer that stores data read
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_temperature_raw_get(const stmdev_ctx_t *ctx, int16_t *val)
{
  uint8_t buff[2];
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_OUT_TEMP_L, buff, 2);
  val[0] = (int16_t)buff[1];
  val[0] = (val[0] * 256) + (int16_t)buff[0];

  return ret;
}

/**
  * @brief  Angular rate sensor. The value is expressed as a 16-bit word in
  *         two’s complement.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  buff   Buffer that stores data read
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_angular_rate_raw_get(const stmdev_ctx_t *ctx, int16_t *val)
{
  uint8_t buff[6];
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_OUTX_L_G, buff, 6);
  val[0] = (int16_t)buff[1];
  val[0] = (val[0] * 256) + (int16_t)buff[0];
  val[1] = (int16_t)buff[3];
  val[1] = (val[1] * 256) + (int16_t)buff[2];
  val[2] = (int16_t)buff[5];
  val[2] = (val[2] * 256) + (int16_t)buff[4];

  return ret;
}

/**
  * @brief  Linear acceleration output register. The value is expressed
  *         as a 16-bit word in two’s complement.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  buff   Buffer that stores data read
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_acceleration_raw_get(const stmdev_ctx_t *ctx, int16_t *val)
{
  uint8_t buff[6];
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_OUTX_L_XL, buff, 6);
  val[0] = (int16_t)buff[1];
  val[0] = (val[0] * 256) + (int16_t)buff[0];
  val[1] = (int16_t)buff[3];
  val[1] = (val[1] * 256) + (int16_t)buff[2];
  val[2] = (int16_t)buff[5];
  val[2] = (val[2] * 256) + (int16_t)buff[4];

  return ret;
}

/**
  * @brief  External magnetometer raw data.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  buff   Buffer that stores data read
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_mag_calibrated_raw_get(const stmdev_ctx_t *ctx,
                                       int16_t *val)
{
  uint8_t buff[6];
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_OUT_MAG_RAW_X_L, buff, 6);
  val[0] = (int16_t)buff[1];
  val[0] = (val[0] * 256) + (int16_t)buff[0];
  val[1] = (int16_t)buff[3];
  val[1] = (val[1] * 256) + (int16_t)buff[2];
  val[2] = (int16_t)buff[5];
  val[2] = (val[2] * 256) + (int16_t)buff[4];

  return ret;
}

/**
  * @brief  Read data in FIFO.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  buffer Data buffer to store FIFO data.
  * @param  len    Number of data to read from FIFO.
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_raw_data_get(const stmdev_ctx_t *ctx, uint8_t *buffer,
                                  uint8_t len)
{
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_DATA_OUT_L, buffer, len);

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup    LSM6DSL_common
  * @brief       This section groups common useful functions.
  * @{
  *
  */

/**
  * @brief  Enable access to the embedded functions/sensor hub
  *         configuration registers[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of func_cfg_en in reg FUNC_CFG_ACCESS
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_mem_bank_set(const stmdev_ctx_t *ctx,
                             lsm6dsl_func_cfg_en_t val)
{
  lsm6dsl_func_cfg_access_t func_cfg_access;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FUNC_CFG_ACCESS,
                         (uint8_t *)&func_cfg_access, 1);

  if (ret == 0)
  {
    func_cfg_access.func_cfg_en = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_FUNC_CFG_ACCESS,
                            (uint8_t *)&func_cfg_access, 1);
  }

  return ret;
}

/**
  * @brief  Enable access to the embedded functions/sensor hub configuration
  *         registers[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of func_cfg_en in reg FUNC_CFG_ACCESS
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_mem_bank_get(const stmdev_ctx_t *ctx,
                             lsm6dsl_func_cfg_en_t *val)
{
  lsm6dsl_func_cfg_access_t func_cfg_access;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FUNC_CFG_ACCESS,
                         (uint8_t *)&func_cfg_access, 1);

  switch (func_cfg_access.func_cfg_en)
  {
    case LSM6DSL_USER_BANK:
      *val = LSM6DSL_USER_BANK;
      break;

    case LSM6DSL_BANK_B:
      *val = LSM6DSL_BANK_B;
      break;

    default:
      *val = LSM6DSL_BANK_ND;
      break;
  }

  return ret;
}

/**
  * @brief  Data-ready pulsed / letched mode[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of drdy_pulsed in reg DRDY_PULSE_CFG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_data_ready_mode_set(const stmdev_ctx_t *ctx,
                                    lsm6dsl_drdy_pulsed_g_t val)
{
  lsm6dsl_drdy_pulse_cfg_g_t drdy_pulse_cfg_g;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_DRDY_PULSE_CFG_G,
                         (uint8_t *)&drdy_pulse_cfg_g, 1);

  if (ret == 0)
  {
    drdy_pulse_cfg_g.drdy_pulsed = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_DRDY_PULSE_CFG_G,
                            (uint8_t *)&drdy_pulse_cfg_g, 1);
  }

  return ret;
}

/**
  * @brief  Data-ready pulsed / letched mode[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of drdy_pulsed in reg DRDY_PULSE_CFG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_data_ready_mode_get(const stmdev_ctx_t *ctx,
                                    lsm6dsl_drdy_pulsed_g_t *val)
{
  lsm6dsl_drdy_pulse_cfg_g_t drdy_pulse_cfg_g;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_DRDY_PULSE_CFG_G,
                         (uint8_t *)&drdy_pulse_cfg_g, 1);

  switch (drdy_pulse_cfg_g.drdy_pulsed)
  {
    case LSM6DSL_DRDY_LATCHED:
      *val = LSM6DSL_DRDY_LATCHED;
      break;

    case LSM6DSL_DRDY_PULSED:
      *val = LSM6DSL_DRDY_PULSED;
      break;

    default:
      *val = LSM6DSL_DRDY_ND;
      break;
  }

  return ret;
}

/**
  * @brief  DeviceWhoamI.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  buff   Buffer that stores data read
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_device_id_get(const stmdev_ctx_t *ctx, uint8_t *buff)
{
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_WHO_AM_I, buff, 1);

  return ret;
}

/**
  * @brief  Software reset. Restore the default values in user registers[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of sw_reset in reg CTRL3_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_reset_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_ctrl3_c_t ctrl3_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);

  if (ret == 0)
  {
    ctrl3_c.sw_reset = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);
  }

  return ret;
}

/**
  * @brief  Software reset. Restore the default values in user registers[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of sw_reset in reg CTRL3_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_reset_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_ctrl3_c_t ctrl3_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);
  *val = ctrl3_c.sw_reset;

  return ret;
}

/**
  * @brief  Big/Little Endian Data selection.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of ble in reg CTRL3_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_data_format_set(const stmdev_ctx_t *ctx, lsm6dsl_ble_t val)
{
  lsm6dsl_ctrl3_c_t ctrl3_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);

  if (ret == 0)
  {
    ctrl3_c.ble = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);
  }

  return ret;
}

/**
  * @brief  Big/Little Endian Data selection.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of ble in reg CTRL3_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_data_format_get(const stmdev_ctx_t *ctx, lsm6dsl_ble_t *val)
{
  lsm6dsl_ctrl3_c_t ctrl3_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);

  switch (ctrl3_c.ble)
  {
    case LSM6DSL_LSB_AT_LOW_ADD:
      *val = LSM6DSL_LSB_AT_LOW_ADD;
      break;

    case LSM6DSL_MSB_AT_LOW_ADD:
      *val = LSM6DSL_MSB_AT_LOW_ADD;
      break;

    default:
      *val = LSM6DSL_DATA_FMT_ND;
      break;
  }

  return ret;
}

/**
  * @brief  Register address automatically incremented during a multiple byte
  *         access with a serial interface.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of if_inc in reg CTRL3_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_auto_increment_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_ctrl3_c_t ctrl3_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);

  if (ret == 0)
  {
    ctrl3_c.if_inc = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);
  }

  return ret;
}

/**
  * @brief  Register address automatically incremented during a multiple byte
  *         access with a serial interface.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of if_inc in reg CTRL3_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_auto_increment_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_ctrl3_c_t ctrl3_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);
  *val = ctrl3_c.if_inc;

  return ret;
}

/**
  * @brief  Reboot memory content. Reload the calibration parameters.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of boot in reg CTRL3_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_boot_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_ctrl3_c_t ctrl3_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);

  if (ret == 0)
  {
    ctrl3_c.boot = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);
  }

  return ret;
}

/**
  * @brief  Reboot memory content. Reload the calibration parameters.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of boot in reg CTRL3_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_boot_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_ctrl3_c_t ctrl3_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);
  *val = ctrl3_c.boot;

  return ret;
}

/**
  * @brief  Linear acceleration sensor self-test enable.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of st_xl in reg CTRL5_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_self_test_set(const stmdev_ctx_t *ctx,
                                 lsm6dsl_st_xl_t val)
{
  lsm6dsl_ctrl5_c_t ctrl5_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)&ctrl5_c, 1);

  if (ret == 0)
  {
    ctrl5_c.st_xl = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)&ctrl5_c, 1);
  }

  return ret;
}

/**
  * @brief  Linear acceleration sensor self-test enable.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of st_xl in reg CTRL5_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_self_test_get(const stmdev_ctx_t *ctx,
                                 lsm6dsl_st_xl_t *val)
{
  lsm6dsl_ctrl5_c_t ctrl5_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)&ctrl5_c, 1);

  switch (ctrl5_c.st_xl)
  {
    case LSM6DSL_XL_ST_DISABLE:
      *val = LSM6DSL_XL_ST_DISABLE;
      break;

    case LSM6DSL_XL_ST_POSITIVE:
      *val = LSM6DSL_XL_ST_POSITIVE;
      break;

    case LSM6DSL_XL_ST_NEGATIVE:
      *val = LSM6DSL_XL_ST_NEGATIVE;
      break;

    default:
      *val = LSM6DSL_XL_ST_ND;
      break;
  }

  return ret;
}

/**
  * @brief  Angular rate sensor self-test enable.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of st_g in reg CTRL5_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_gy_self_test_set(const stmdev_ctx_t *ctx,
                                 lsm6dsl_st_g_t val)
{
  lsm6dsl_ctrl5_c_t ctrl5_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)&ctrl5_c, 1);

  if (ret == 0)
  {
    ctrl5_c.st_g = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)&ctrl5_c, 1);
  }

  return ret;
}

/**
  * @brief  Angular rate sensor self-test enable.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of st_g in reg CTRL5_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_gy_self_test_get(const stmdev_ctx_t *ctx,
                                 lsm6dsl_st_g_t *val)
{
  lsm6dsl_ctrl5_c_t ctrl5_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)&ctrl5_c, 1);

  switch (ctrl5_c.st_g)
  {
    case LSM6DSL_GY_ST_DISABLE:
      *val = LSM6DSL_GY_ST_DISABLE;
      break;

    case LSM6DSL_GY_ST_POSITIVE:
      *val = LSM6DSL_GY_ST_POSITIVE;
      break;

    case LSM6DSL_GY_ST_NEGATIVE:
      *val = LSM6DSL_GY_ST_NEGATIVE;
      break;

    default:
      *val = LSM6DSL_GY_ST_ND;
      break;
  }

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup    LSM6DSL_filters
  * @brief       This section group all the functions concerning the filters
  *              configuration that impact both accelerometer and gyro.
  * @{
  *
  */

/**
  * @brief  Mask DRDY on pin (both XL & Gyro) until filter settling ends
  *         (XL and Gyro independently masked).[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of drdy_mask in reg CTRL4_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_filter_settling_mask_set(const stmdev_ctx_t *ctx,
                                         uint8_t val)
{
  lsm6dsl_ctrl4_c_t ctrl4_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)&ctrl4_c, 1);

  if (ret == 0)
  {
    ctrl4_c.drdy_mask = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)&ctrl4_c, 1);
  }

  return ret;
}

/**
  * @brief  Mask DRDY on pin (both XL & Gyro) until filter settling ends
  *         (XL and Gyro independently masked).[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of drdy_mask in reg CTRL4_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_filter_settling_mask_get(const stmdev_ctx_t *ctx,
                                         uint8_t *val)
{
  lsm6dsl_ctrl4_c_t ctrl4_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)&ctrl4_c, 1);
  *val = ctrl4_c.drdy_mask;

  return ret;
}

/**
  * @brief  HPF or SLOPE filter selection on wake-up and Activity/Inactivity
  *         functions.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of slope_fds in reg TAP_CFG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_hp_path_internal_set(const stmdev_ctx_t *ctx,
                                        lsm6dsl_slope_fds_t val)
{
  lsm6dsl_tap_cfg_t tap_cfg;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)&tap_cfg, 1);

  if (ret == 0)
  {
    tap_cfg.slope_fds = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)&tap_cfg, 1);
  }

  return ret;
}

/**
  * @brief  HPF or SLOPE filter selection on wake-up and Activity/Inactivity
  *         functions.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of slope_fds in reg TAP_CFG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_hp_path_internal_get(const stmdev_ctx_t *ctx,
                                        lsm6dsl_slope_fds_t *val)
{
  lsm6dsl_tap_cfg_t tap_cfg;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)&tap_cfg, 1);

  switch (tap_cfg.slope_fds)
  {
    case LSM6DSL_USE_SLOPE:
      *val = LSM6DSL_USE_SLOPE;
      break;

    case LSM6DSL_USE_HPF:
      *val = LSM6DSL_USE_HPF;
      break;

    default:
      *val = LSM6DSL_HP_PATH_ND;
      break;
  }

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup    LSM6DSL_accelerometer_filters
  * @brief       This section group all the functions concerning the filters
  *              configuration that impact accelerometer in every mode.
  * @{
  *
  */

/**
  * @brief  Accelerometer analog chain bandwidth selection (only for
  *         accelerometer ODR ≥ 1.67 kHz).[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of bw0_xl in reg CTRL1_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_filter_analog_set(const stmdev_ctx_t *ctx,
                                     lsm6dsl_bw0_xl_t val)
{
  lsm6dsl_ctrl1_xl_t ctrl1_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)&ctrl1_xl, 1);

  if (ret == 0)
  {
    ctrl1_xl.bw0_xl = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)&ctrl1_xl, 1);
  }

  return ret;
}

/**
  * @brief  Accelerometer analog chain bandwidth selection (only for
  *         accelerometer ODR ≥ 1.67 kHz).[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of bw0_xl in reg CTRL1_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_filter_analog_get(const stmdev_ctx_t *ctx,
                                     lsm6dsl_bw0_xl_t *val)
{
  lsm6dsl_ctrl1_xl_t ctrl1_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)&ctrl1_xl, 1);

  switch (ctrl1_xl.bw0_xl)
  {
    case LSM6DSL_XL_ANA_BW_1k5Hz:
      *val = LSM6DSL_XL_ANA_BW_1k5Hz;
      break;

    case LSM6DSL_XL_ANA_BW_400Hz:
      *val = LSM6DSL_XL_ANA_BW_400Hz;
      break;

    default:
      *val = LSM6DSL_XL_ANA_BW_ND;
      break;
  }

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup    LSM6DSL_accelerometer_filters
  * @brief       This section group all the functions concerning the filters
  *              configuration that impact accelerometer.
  * @{
  *
  */

/**
  * @brief  Accelerometer digital LPF (LPF1) bandwidth selection LPF2 is
  *         not used.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of lpf1_bw_sel in reg CTRL1_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_lp1_bandwidth_set(const stmdev_ctx_t *ctx,
                                     lsm6dsl_lpf1_bw_sel_t val)
{
  lsm6dsl_ctrl1_xl_t ctrl1_xl;
  lsm6dsl_ctrl8_xl_t ctrl8_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)&ctrl1_xl, 1);

  if (ret == 0)
  {
    ctrl1_xl.lpf1_bw_sel = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)&ctrl1_xl, 1);

    if (ret == 0)
    {
      ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)&ctrl8_xl, 1);

      if (ret == 0)
      {
        ctrl8_xl.lpf2_xl_en = 0;
        ctrl8_xl.hp_slope_xl_en = 0;
        ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)&ctrl8_xl, 1);
      }
    }
  }

  return ret;
}

/**
  * @brief  Accelerometer digital LPF (LPF1) bandwidth selection LPF2
  *         is not used.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of lpf1_bw_sel in reg CTRL1_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_lp1_bandwidth_get(const stmdev_ctx_t *ctx,
                                     lsm6dsl_lpf1_bw_sel_t *val)
{
  lsm6dsl_ctrl1_xl_t ctrl1_xl;
  lsm6dsl_ctrl8_xl_t ctrl8_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)&ctrl8_xl, 1);

  if (ret == 0)
  {
    if ((ctrl8_xl.lpf2_xl_en != 0x00U) ||
        (ctrl8_xl.hp_slope_xl_en != 0x00U))
    {
      *val = LSM6DSL_XL_LP1_NA;
    }

    else
    {
      ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)&ctrl1_xl, 1);

      switch (ctrl1_xl.lpf1_bw_sel)
      {
        case LSM6DSL_XL_LP1_ODR_DIV_2:
          *val = LSM6DSL_XL_LP1_ODR_DIV_2;
          break;

        case LSM6DSL_XL_LP1_ODR_DIV_4:
          *val = LSM6DSL_XL_LP1_ODR_DIV_4;
          break;

        default:
          *val = LSM6DSL_XL_LP1_NA;
          break;
      }
    }
  }

  return ret;
}

/**
  * @brief  LPF2 on outputs[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of input_composite in reg CTRL8_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_lp2_bandwidth_set(const stmdev_ctx_t *ctx,
                                     lsm6dsl_input_composite_t val)
{
  lsm6dsl_ctrl8_xl_t ctrl8_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)&ctrl8_xl, 1);

  if (ret == 0)
  {
    ctrl8_xl.input_composite = ((uint8_t) val & 0x10U) >> 4;
    ctrl8_xl.hpcf_xl = (uint8_t) val & 0x03U;
    ctrl8_xl.lpf2_xl_en = 1;
    ctrl8_xl.hp_slope_xl_en = 0;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)&ctrl8_xl, 1);
  }

  return ret;
}

/**
  * @brief  LPF2 on outputs[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of input_composite in reg CTRL8_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_lp2_bandwidth_get(const stmdev_ctx_t *ctx,
                                     lsm6dsl_input_composite_t *val)
{
  lsm6dsl_ctrl8_xl_t ctrl8_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)&ctrl8_xl, 1);

  if (ret == 0)
  {
    if ((ctrl8_xl.lpf2_xl_en == 0x00U) ||
        (ctrl8_xl.hp_slope_xl_en != 0x00U))
    {
      *val = LSM6DSL_XL_LP_NA;
    }

    else
    {
      switch ((ctrl8_xl.input_composite << 4) + ctrl8_xl.hpcf_xl)
      {
        case LSM6DSL_XL_LOW_LAT_LP_ODR_DIV_50:
          *val = LSM6DSL_XL_LOW_LAT_LP_ODR_DIV_50;
          break;

        case LSM6DSL_XL_LOW_LAT_LP_ODR_DIV_100:
          *val = LSM6DSL_XL_LOW_LAT_LP_ODR_DIV_100;
          break;

        case LSM6DSL_XL_LOW_LAT_LP_ODR_DIV_9:
          *val = LSM6DSL_XL_LOW_LAT_LP_ODR_DIV_9;
          break;

        case LSM6DSL_XL_LOW_LAT_LP_ODR_DIV_400:
          *val = LSM6DSL_XL_LOW_LAT_LP_ODR_DIV_400;
          break;

        case LSM6DSL_XL_LOW_NOISE_LP_ODR_DIV_50:
          *val = LSM6DSL_XL_LOW_NOISE_LP_ODR_DIV_50;
          break;

        case LSM6DSL_XL_LOW_NOISE_LP_ODR_DIV_100:
          *val = LSM6DSL_XL_LOW_NOISE_LP_ODR_DIV_100;
          break;

        case LSM6DSL_XL_LOW_NOISE_LP_ODR_DIV_9:
          *val = LSM6DSL_XL_LOW_NOISE_LP_ODR_DIV_9;
          break;

        case LSM6DSL_XL_LOW_NOISE_LP_ODR_DIV_400:
          *val = LSM6DSL_XL_LOW_NOISE_LP_ODR_DIV_400;
          break;

        default:
          *val = LSM6DSL_XL_LP_NA;
          break;
      }
    }
  }

  return ret;
}

/**
  * @brief  Enable HP filter reference mode.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of hp_ref_mode in reg CTRL8_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_reference_mode_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_ctrl8_xl_t ctrl8_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)&ctrl8_xl, 1);

  if (ret == 0)
  {
    ctrl8_xl.hp_ref_mode = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)&ctrl8_xl, 1);
  }

  return ret;
}

/**
  * @brief  Enable HP filter reference mode.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of hp_ref_mode in reg CTRL8_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_reference_mode_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_ctrl8_xl_t ctrl8_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)&ctrl8_xl, 1);
  *val = ctrl8_xl.hp_ref_mode;

  return ret;
}

/**
  * @brief  High pass/Slope on outputs.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of hpcf_xl in reg CTRL8_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_hp_bandwidth_set(const stmdev_ctx_t *ctx,
                                    lsm6dsl_hpcf_xl_t val)
{
  lsm6dsl_ctrl8_xl_t ctrl8_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)&ctrl8_xl, 1);

  if (ret == 0)
  {
    ctrl8_xl.input_composite = 0;
    ctrl8_xl.hpcf_xl = (uint8_t)val & 0x03U;
    ctrl8_xl.hp_slope_xl_en = 1;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)&ctrl8_xl, 1);
  }

  return ret;
}

/**
  * @brief  High pass/Slope on outputs.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of hpcf_xl in reg CTRL8_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_xl_hp_bandwidth_get(const stmdev_ctx_t *ctx,
                                    lsm6dsl_hpcf_xl_t *val)
{
  lsm6dsl_ctrl8_xl_t ctrl8_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)&ctrl8_xl, 1);

  if (ctrl8_xl.hp_slope_xl_en == 0x00U)
  {
    *val = LSM6DSL_XL_HP_NA;
  }

  switch (ctrl8_xl.hpcf_xl)
  {
    case LSM6DSL_XL_HP_ODR_DIV_4:
      *val = LSM6DSL_XL_HP_ODR_DIV_4;
      break;

    case LSM6DSL_XL_HP_ODR_DIV_100:
      *val = LSM6DSL_XL_HP_ODR_DIV_100;
      break;

    case LSM6DSL_XL_HP_ODR_DIV_9:
      *val = LSM6DSL_XL_HP_ODR_DIV_9;
      break;

    case LSM6DSL_XL_HP_ODR_DIV_400:
      *val = LSM6DSL_XL_HP_ODR_DIV_400;
      break;

    default:
      *val = LSM6DSL_XL_HP_NA;
      break;
  }

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup    LSM6DSL_gyroscope_filters
  * @brief       This section group all the functions concerning the filters
  *              configuration that impact gyroscope.
  * @{
  *
  */

/**
  * @brief  Gyroscope low pass path bandwidth.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    gyroscope filtering chain configuration.
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_gy_band_pass_set(const stmdev_ctx_t *ctx,
                                 lsm6dsl_lpf1_sel_g_t val)
{
  lsm6dsl_ctrl4_c_t ctrl4_c;
  lsm6dsl_ctrl6_c_t ctrl6_c;
  lsm6dsl_ctrl7_g_t ctrl7_g;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t *)&ctrl7_g, 1);

  if (ret == 0)
  {
    ctrl7_g.hpm_g  = ((uint8_t)val & 0x30U) >> 4;
    ctrl7_g.hp_en_g = ((uint8_t)val & 0x80U) >> 7;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t *)&ctrl7_g, 1);

    if (ret == 0)
    {
      ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)&ctrl6_c, 1);

      if (ret == 0)
      {
        ctrl6_c.ftype = (uint8_t)val & 0x03U;
        ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)&ctrl6_c, 1);

        if (ret == 0)
        {
          ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C,
                                 (uint8_t *)&ctrl4_c, 1);

          if (ret == 0)
          {
            ctrl4_c.lpf1_sel_g = ((uint8_t)val & 0x08U) >> 3;
            ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL4_C,
                                    (uint8_t *)&ctrl4_c, 1);
          }
        }
      }
    }
  }

  return ret;
}

/**
  * @brief  Gyroscope low pass path bandwidth.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    gyroscope filtering chain
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_gy_band_pass_get(const stmdev_ctx_t *ctx,
                                 lsm6dsl_lpf1_sel_g_t *val)
{
  lsm6dsl_ctrl4_c_t ctrl4_c;
  lsm6dsl_ctrl6_c_t ctrl6_c;
  lsm6dsl_ctrl7_g_t ctrl7_g;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)&ctrl6_c, 1);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)&ctrl4_c, 1);

    if (ret == 0)
    {
      ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t *)&ctrl7_g, 1);

      switch ((ctrl7_g.hp_en_g << 7) + (ctrl7_g.hpm_g << 4) +
              (ctrl4_c.lpf1_sel_g << 3) + ctrl6_c.ftype)
      {
        case LSM6DSL_HP_16mHz_LP2:
          *val = LSM6DSL_HP_16mHz_LP2;
          break;

        case LSM6DSL_HP_65mHz_LP2:
          *val = LSM6DSL_HP_65mHz_LP2;
          break;

        case LSM6DSL_HP_260mHz_LP2:
          *val = LSM6DSL_HP_260mHz_LP2;
          break;

        case LSM6DSL_HP_1Hz04_LP2:
          *val = LSM6DSL_HP_1Hz04_LP2;
          break;

        case LSM6DSL_HP_DISABLE_LP1_LIGHT:
          *val = LSM6DSL_HP_DISABLE_LP1_LIGHT;
          break;

        case LSM6DSL_HP_DISABLE_LP1_NORMAL:
          *val = LSM6DSL_HP_DISABLE_LP1_NORMAL;
          break;

        case LSM6DSL_HP_DISABLE_LP_STRONG:
          *val = LSM6DSL_HP_DISABLE_LP_STRONG;
          break;

        case LSM6DSL_HP_DISABLE_LP1_AGGRESSIVE:
          *val = LSM6DSL_HP_DISABLE_LP1_AGGRESSIVE;
          break;

        case LSM6DSL_HP_16mHz_LP1_LIGHT:
          *val = LSM6DSL_HP_16mHz_LP1_LIGHT;
          break;

        case LSM6DSL_HP_65mHz_LP1_NORMAL:
          *val = LSM6DSL_HP_65mHz_LP1_NORMAL;
          break;

        case LSM6DSL_HP_260mHz_LP1_STRONG:
          *val = LSM6DSL_HP_260mHz_LP1_STRONG;
          break;

        case LSM6DSL_HP_1Hz04_LP1_AGGRESSIVE:
          *val = LSM6DSL_HP_1Hz04_LP1_AGGRESSIVE;
          break;

        default:
          *val = LSM6DSL_HP_GY_BAND_NA;
          break;
      }
    }
  }

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup    LSM6DSL_serial_interface
  * @brief       This section groups all the functions concerning serial
  *              interface management
  * @{
  *
  */

/**
  * @brief  SPI Serial Interface Mode selection.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of sim in reg CTRL3_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_spi_mode_set(const stmdev_ctx_t *ctx, lsm6dsl_sim_t val)
{
  lsm6dsl_ctrl3_c_t ctrl3_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);

  if (ret == 0)
  {
    ctrl3_c.sim = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);
  }

  return ret;
}

/**
  * @brief  SPI Serial Interface Mode selection.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of sim in reg CTRL3_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_spi_mode_get(const stmdev_ctx_t *ctx, lsm6dsl_sim_t *val)
{
  lsm6dsl_ctrl3_c_t ctrl3_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);

  switch (ctrl3_c.sim)
  {
    case LSM6DSL_SPI_4_WIRE:
      *val = LSM6DSL_SPI_4_WIRE;
      break;

    case LSM6DSL_SPI_3_WIRE:
      *val = LSM6DSL_SPI_3_WIRE;
      break;

    default:
      *val = LSM6DSL_SPI_MODE_ND;
      break;
  }

  return ret;
}

/**
  * @brief  Disable / Enable I2C interface.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of i2c_disable in reg CTRL4_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_i2c_interface_set(const stmdev_ctx_t *ctx,
                                  lsm6dsl_i2c_disable_t val)
{
  lsm6dsl_ctrl4_c_t ctrl4_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)&ctrl4_c, 1);

  if (ret == 0)
  {
    ctrl4_c.i2c_disable = (uint8_t)val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)&ctrl4_c, 1);
  }

  return ret;
}

/**
  * @brief  Disable / Enable I2C interface.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of i2c_disable in reg CTRL4_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_i2c_interface_get(const stmdev_ctx_t *ctx,
                                  lsm6dsl_i2c_disable_t *val)
{
  lsm6dsl_ctrl4_c_t ctrl4_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)&ctrl4_c, 1);

  switch (ctrl4_c.i2c_disable)
  {
    case LSM6DSL_I2C_ENABLE:
      *val = LSM6DSL_I2C_ENABLE;
      break;

    case LSM6DSL_I2C_DISABLE:
      *val = LSM6DSL_I2C_DISABLE;
      break;

    default:
      *val = LSM6DSL_I2C_MODE_ND;
      break;
  }

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup    LSM6DSL_interrupt_pins
  * @brief       This section groups all the functions that manage
  *              interrupt pins
  * @{
  *
  */

/**
  * @brief  Select the signal that need to route on int1 pad[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    configure INT1_CTRL, MD1_CFG, CTRL4_C(den_drdy_int1),
  *                MASTER_CONFIG(drdy_on_int1)
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_pin_int1_route_set(const stmdev_ctx_t *ctx,
                                   lsm6dsl_int1_route_t val)
{
  lsm6dsl_master_config_t master_config;
  lsm6dsl_int1_ctrl_t int1_ctrl;
  lsm6dsl_md1_cfg_t md1_cfg;
  lsm6dsl_md2_cfg_t md2_cfg;
  lsm6dsl_ctrl4_c_t ctrl4_c;
  lsm6dsl_tap_cfg_t tap_cfg;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)&int1_ctrl, 1);

  if (ret == 0)
  {
    int1_ctrl.int1_drdy_xl        = val.int1_drdy_xl;
    int1_ctrl.int1_drdy_g         = val.int1_drdy_g;
    int1_ctrl.int1_boot           = val.int1_boot;
    int1_ctrl.int1_fth            = val.int1_fth;
    int1_ctrl.int1_fifo_ovr       = val.int1_fifo_ovr;
    int1_ctrl.int1_full_flag      = val.int1_full_flag;
    int1_ctrl.int1_sign_mot       = val.int1_sign_mot;
    int1_ctrl.int1_step_detector  = val.int1_step_detector;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)&int1_ctrl, 1);
  }

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_MD1_CFG, (uint8_t *)&md1_cfg, 1);
  }

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_MD2_CFG, (uint8_t *)&md2_cfg, 1);
  }

  if (ret == 0)
  {
    md1_cfg.int1_timer           = val.int1_timer;
    md1_cfg.int1_tilt            = val.int1_tilt;
    md1_cfg.int1_6d              = val.int1_6d;
    md1_cfg.int1_double_tap      = val.int1_double_tap;
    md1_cfg.int1_ff              = val.int1_ff;
    md1_cfg.int1_wu              = val.int1_wu;
    md1_cfg.int1_single_tap      = val.int1_single_tap;
    md1_cfg.int1_inact_state     = val.int1_inact_state;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_MD1_CFG, (uint8_t *)&md1_cfg, 1);
  }

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)&ctrl4_c, 1);
  }

  if (ret == 0)
  {
    ctrl4_c.den_drdy_int1 = val.den_drdy_int1;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)&ctrl4_c, 1);
  }

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
                           (uint8_t *)&master_config, 1);
  }

  if (ret == 0)
  {
    master_config.drdy_on_int1   = val.den_drdy_int1;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CONFIG,
                            (uint8_t *)&master_config, 1);
  }

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)&tap_cfg, 1);

    if ((val.int1_6d != 0x00U) ||
        (val.int1_ff != 0x00U) ||
        (val.int1_wu != 0x00U) ||
        (val.int1_single_tap != 0x00U) ||
        (val.int1_double_tap != 0x00U) ||
        (val.int1_inact_state != 0x00U) ||
        (md2_cfg.int2_6d != 0x00U) ||
        (md2_cfg.int2_ff != 0x00U) ||
        (md2_cfg.int2_wu != 0x00U) ||
        (md2_cfg.int2_single_tap != 0x00U) ||
        (md2_cfg.int2_double_tap != 0x00U) ||
        (md2_cfg.int2_inact_state != 0x00U))
    {
      tap_cfg.interrupts_enable = PROPERTY_ENABLE;
    }

    else
    {
      tap_cfg.interrupts_enable = PROPERTY_DISABLE;
    }
  }

  if (ret == 0)
  {
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)&tap_cfg, 1);
  }

  return ret;
}

/**
  * @brief  Select the signal that need to route on int1 pad[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    read INT1_CTRL, MD1_CFG, CTRL4_C(den_drdy_int1),
  *                MASTER_CONFIG(drdy_on_int1)
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_pin_int1_route_get(const stmdev_ctx_t *ctx,
                                   lsm6dsl_int1_route_t *val)
{
  lsm6dsl_master_config_t master_config;
  lsm6dsl_int1_ctrl_t int1_ctrl;
  lsm6dsl_md1_cfg_t md1_cfg;
  lsm6dsl_ctrl4_c_t ctrl4_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)&int1_ctrl, 1);

  if (ret == 0)
  {
    val->int1_drdy_xl       = int1_ctrl.int1_drdy_xl;
    val->int1_drdy_g        = int1_ctrl.int1_drdy_g;
    val->int1_boot          = int1_ctrl.int1_boot;
    val->int1_fth           = int1_ctrl.int1_fth;
    val->int1_fifo_ovr      = int1_ctrl.int1_fifo_ovr;
    val->int1_full_flag     = int1_ctrl.int1_full_flag;
    val->int1_sign_mot      = int1_ctrl.int1_sign_mot;
    val->int1_step_detector = int1_ctrl.int1_step_detector ;
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_MD1_CFG, (uint8_t *)&md1_cfg, 1);

    if (ret == 0)
    {
      val->int1_timer       = md1_cfg.int1_timer;
      val->int1_tilt        = md1_cfg.int1_tilt;
      val->int1_6d          = md1_cfg.int1_6d;
      val->int1_double_tap  = md1_cfg.int1_double_tap;
      val->int1_ff          = md1_cfg.int1_ff;
      val->int1_wu          = md1_cfg.int1_wu;
      val->int1_single_tap  = md1_cfg.int1_single_tap;
      val->int1_inact_state = md1_cfg.int1_inact_state;
      ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)&ctrl4_c, 1);

      if (ret == 0)
      {
        val->den_drdy_int1 = ctrl4_c.den_drdy_int1;
        ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
                               (uint8_t *)&master_config, 1);
        val->den_drdy_int1 = master_config.drdy_on_int1;
      }
    }
  }

  return ret;
}

/**
  * @brief  Select the signal that need to route on int2 pad[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    INT2_CTRL, DRDY_PULSE_CFG(int2_wrist_tilt), MD2_CFG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_pin_int2_route_set(const stmdev_ctx_t *ctx,
                                   lsm6dsl_int2_route_t val)
{
  lsm6dsl_int2_ctrl_t int2_ctrl;
  lsm6dsl_md1_cfg_t md1_cfg;
  lsm6dsl_md2_cfg_t md2_cfg;
  lsm6dsl_drdy_pulse_cfg_g_t drdy_pulse_cfg_g;
  lsm6dsl_tap_cfg_t tap_cfg;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)&int2_ctrl, 1);

  if (ret == 0)
  {
    int2_ctrl.int2_drdy_xl        = val.int2_drdy_xl;
    int2_ctrl.int2_drdy_g         = val.int2_drdy_g;
    int2_ctrl.int2_drdy_temp      = val.int2_drdy_temp;
    int2_ctrl.int2_fth            = val.int2_fth;
    int2_ctrl.int2_fifo_ovr       = val.int2_fifo_ovr;
    int2_ctrl.int2_full_flag      = val.int2_full_flag;
    int2_ctrl.int2_step_count_ov  = val.int2_step_count_ov;
    int2_ctrl.int2_step_delta     = val.int2_step_delta;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)&int2_ctrl, 1);
  }

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_MD1_CFG, (uint8_t *)&md1_cfg, 1);
  }

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_MD2_CFG, (uint8_t *)&md2_cfg, 1);
  }

  if (ret == 0)
  {
    md2_cfg.int2_iron              = val.int2_iron;
    md2_cfg.int2_tilt              = val.int2_tilt;
    md2_cfg.int2_6d                = val.int2_6d;
    md2_cfg.int2_double_tap        = val.int2_double_tap;
    md2_cfg.int2_ff                = val.int2_ff;
    md2_cfg.int2_wu                = val.int2_wu;
    md2_cfg.int2_single_tap        = val.int2_single_tap;
    md2_cfg.int2_inact_state       = val.int2_inact_state;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_MD2_CFG, (uint8_t *)&md2_cfg, 1);
  }

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_DRDY_PULSE_CFG_G,
                           (uint8_t *)&drdy_pulse_cfg_g, 1);
  }

  if (ret == 0)
  {
    drdy_pulse_cfg_g.int2_wrist_tilt = val.int2_wrist_tilt;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_DRDY_PULSE_CFG_G,
                            (uint8_t *)&drdy_pulse_cfg_g, 1);
  }

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)&tap_cfg, 1);

    if ((md1_cfg.int1_6d != 0x00U) ||
        (md1_cfg.int1_ff != 0x00U) ||
        (md1_cfg.int1_wu != 0x00U) ||
        (md1_cfg.int1_single_tap != 0x00U) ||
        (md1_cfg.int1_double_tap != 0x00U) ||
        (md1_cfg.int1_inact_state != 0x00U) ||
        (val.int2_6d != 0x00U) ||
        (val.int2_ff != 0x00U) ||
        (val.int2_wu != 0x00U) ||
        (val.int2_single_tap != 0x00U) ||
        (val.int2_double_tap != 0x00U) ||
        (val.int2_inact_state != 0x00U))
    {
      tap_cfg.interrupts_enable = PROPERTY_ENABLE;
    }

    else
    {
      tap_cfg.interrupts_enable = PROPERTY_DISABLE;
    }
  }

  if (ret == 0)
  {
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)&tap_cfg, 1);
  }

  return ret;
}

/**
  * @brief  Select the signal that need to route on int2 pad[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    INT2_CTRL, DRDY_PULSE_CFG(int2_wrist_tilt), MD2_CFG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_pin_int2_route_get(const stmdev_ctx_t *ctx,
                                   lsm6dsl_int2_route_t *val)
{
  lsm6dsl_int2_ctrl_t int2_ctrl;
  lsm6dsl_md2_cfg_t md2_cfg;
  lsm6dsl_drdy_pulse_cfg_g_t drdy_pulse_cfg_g;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)&int2_ctrl, 1);

  if (ret == 0)
  {
    val->int2_drdy_xl         = int2_ctrl.int2_drdy_xl;
    val->int2_drdy_g          = int2_ctrl.int2_drdy_g;
    val->int2_drdy_temp       = int2_ctrl.int2_drdy_temp;
    val->int2_fth             = int2_ctrl.int2_fth;
    val->int2_fifo_ovr        = int2_ctrl.int2_fifo_ovr;
    val->int2_full_flag       = int2_ctrl.int2_full_flag;
    val->int2_step_count_ov   = int2_ctrl.int2_step_count_ov;
    val->int2_step_delta      = int2_ctrl.int2_step_delta;
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_MD2_CFG, (uint8_t *)&md2_cfg, 1);

    if (ret == 0)
    {
      val->int2_iron           = md2_cfg.int2_iron;
      val->int2_tilt           = md2_cfg.int2_tilt;
      val->int2_6d             = md2_cfg.int2_6d;
      val->int2_double_tap     = md2_cfg.int2_double_tap;
      val->int2_ff             = md2_cfg.int2_ff;
      val->int2_wu             = md2_cfg.int2_wu;
      val->int2_single_tap     = md2_cfg.int2_single_tap;
      val->int2_inact_state    = md2_cfg.int2_inact_state;
      ret = lsm6dsl_read_reg(ctx, LSM6DSL_DRDY_PULSE_CFG_G,
                             (uint8_t *)&drdy_pulse_cfg_g, 1);
      val->int2_wrist_tilt = drdy_pulse_cfg_g.int2_wrist_tilt;
    }
  }

  return ret;
}

/**
  * @brief  Push-pull/open drain selection on interrupt pads.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of pp_od in reg CTRL3_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_pin_mode_set(const stmdev_ctx_t *ctx, lsm6dsl_pp_od_t val)
{
  lsm6dsl_ctrl3_c_t ctrl3_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);

  if (ret == 0)
  {
    ctrl3_c.pp_od = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);
  }

  return ret;
}

/**
  * @brief  Push-pull/open drain selection on interrupt pads.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of pp_od in reg CTRL3_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_pin_mode_get(const stmdev_ctx_t *ctx, lsm6dsl_pp_od_t *val)
{
  lsm6dsl_ctrl3_c_t ctrl3_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);

  switch (ctrl3_c.pp_od)
  {
    case LSM6DSL_PUSH_PULL:
      *val = LSM6DSL_PUSH_PULL;
      break;

    case LSM6DSL_OPEN_DRAIN:
      *val = LSM6DSL_OPEN_DRAIN;
      break;

    default:
      *val = LSM6DSL_PIN_MODE_ND;
      break;
  }

  return ret;
}

/**
  * @brief  Interrupt active-high/low.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of h_lactive in reg CTRL3_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_pin_polarity_set(const stmdev_ctx_t *ctx,
                                 lsm6dsl_h_lactive_t val)
{
  lsm6dsl_ctrl3_c_t ctrl3_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);

  if (ret == 0)
  {
    ctrl3_c.h_lactive = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);
  }

  return ret;
}

/**
  * @brief  Interrupt active-high/low.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of h_lactive in reg CTRL3_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_pin_polarity_get(const stmdev_ctx_t *ctx,
                                 lsm6dsl_h_lactive_t *val)
{
  lsm6dsl_ctrl3_c_t ctrl3_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);

  switch (ctrl3_c.h_lactive)
  {
    case LSM6DSL_ACTIVE_HIGH:
      *val = LSM6DSL_ACTIVE_HIGH;
      break;

    case LSM6DSL_ACTIVE_LOW:
      *val = LSM6DSL_ACTIVE_LOW;
      break;

    default:
      *val = LSM6DSL_POLARITY_ND;
      break;
  }

  return ret;
}

/**
  * @brief  All interrupt signals become available on INT1 pin.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of int2_on_int1 in reg CTRL4_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_all_on_int1_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_ctrl4_c_t ctrl4_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)&ctrl4_c, 1);

  if (ret == 0)
  {
    ctrl4_c.int2_on_int1 = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)&ctrl4_c, 1);
  }

  return ret;
}

/**
  * @brief  All interrupt signals become available on INT1 pin.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of int2_on_int1 in reg CTRL4_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_all_on_int1_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_ctrl4_c_t ctrl4_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)&ctrl4_c, 1);
  *val = ctrl4_c.int2_on_int1;

  return ret;
}

/**
  * @brief  Latched/pulsed interrupt.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of lir in reg TAP_CFG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_int_notification_set(const stmdev_ctx_t *ctx,
                                     lsm6dsl_lir_t val)
{
  lsm6dsl_tap_cfg_t tap_cfg;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)&tap_cfg, 1);

  if (ret == 0)
  {
    tap_cfg.lir = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)&tap_cfg, 1);
  }

  return ret;
}

/**
  * @brief  Latched/pulsed interrupt.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of lir in reg TAP_CFG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_int_notification_get(const stmdev_ctx_t *ctx,
                                     lsm6dsl_lir_t *val)
{
  lsm6dsl_tap_cfg_t tap_cfg;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)&tap_cfg, 1);

  switch (tap_cfg.lir)
  {
    case LSM6DSL_INT_PULSED:
      *val = LSM6DSL_INT_PULSED;
      break;

    case LSM6DSL_INT_LATCHED:
      *val = LSM6DSL_INT_LATCHED;
      break;

    default:
      *val = LSM6DSL_INT_MODE;
      break;
  }

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup    LSM6DSL_Wake_Up_event
  * @brief       This section groups all the functions that manage the
  *              Wake Up event generation.
  * @{
  *
  */

/**
  * @brief  Threshold for wakeup.1 LSB = FS_XL / 64.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of wk_ths in reg WAKE_UP_THS
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_wkup_threshold_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_wake_up_ths_t wake_up_ths;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_THS,
                         (uint8_t *)&wake_up_ths, 1);

  if (ret == 0)
  {
    wake_up_ths.wk_ths = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_WAKE_UP_THS,
                            (uint8_t *)&wake_up_ths, 1);
  }

  return ret;
}

/**
  * @brief  Threshold for wakeup.1 LSB = FS_XL / 64.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of wk_ths in reg WAKE_UP_THS
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_wkup_threshold_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_wake_up_ths_t wake_up_ths;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_THS,
                         (uint8_t *)&wake_up_ths, 1);
  *val = wake_up_ths.wk_ths;

  return ret;
}

/**
  * @brief  Wake up duration event.1LSb = 1 / ODR[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of wake_dur in reg WAKE_UP_DUR
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_wkup_dur_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_wake_up_dur_t wake_up_dur;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR,
                         (uint8_t *)&wake_up_dur, 1);

  if (ret == 0)
  {
    wake_up_dur.wake_dur = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_WAKE_UP_DUR,
                            (uint8_t *)&wake_up_dur, 1);
  }

  return ret;
}

/**
  * @brief  Wake up duration event.1LSb = 1 / ODR[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of wake_dur in reg WAKE_UP_DUR
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_wkup_dur_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_wake_up_dur_t wake_up_dur;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR,
                         (uint8_t *)&wake_up_dur, 1);
  *val = wake_up_dur.wake_dur;

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup    LSM6DSL_Activity/Inactivity_detection
  * @brief       This section groups all the functions concerning
  *              activity/inactivity detection.
  * @{
  *
  */

/**
  * @brief  Enables gyroscope Sleep mode.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of sleep in reg CTRL4_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_gy_sleep_mode_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_ctrl4_c_t ctrl4_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)&ctrl4_c, 1);

  if (ret == 0)
  {
    ctrl4_c.sleep = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)&ctrl4_c, 1);
  }

  return ret;
}

/**
  * @brief  Enables gyroscope Sleep mode.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of sleep in reg CTRL4_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_gy_sleep_mode_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_ctrl4_c_t ctrl4_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)&ctrl4_c, 1);
  *val = ctrl4_c.sleep;

  return ret;
}

/**
  * @brief  Enable inactivity function.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of inact_en in reg TAP_CFG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_act_mode_set(const stmdev_ctx_t *ctx,
                             lsm6dsl_inact_en_t val)
{
  lsm6dsl_tap_cfg_t tap_cfg;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)&tap_cfg, 1);

  if (ret == 0)
  {
    tap_cfg.inact_en = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)&tap_cfg, 1);
  }

  return ret;
}

/**
  * @brief  Enable inactivity function.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of inact_en in reg TAP_CFG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_act_mode_get(const stmdev_ctx_t *ctx,
                             lsm6dsl_inact_en_t *val)
{
  lsm6dsl_tap_cfg_t tap_cfg;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)&tap_cfg, 1);

  switch (tap_cfg.inact_en)
  {
    case LSM6DSL_PROPERTY_DISABLE:
      *val = LSM6DSL_PROPERTY_DISABLE;
      break;

    case LSM6DSL_XL_12Hz5_GY_NOT_AFFECTED:
      *val = LSM6DSL_XL_12Hz5_GY_NOT_AFFECTED;
      break;

    case LSM6DSL_XL_12Hz5_GY_SLEEP:
      *val = LSM6DSL_XL_12Hz5_GY_SLEEP;
      break;

    case LSM6DSL_XL_12Hz5_GY_PD:
      *val = LSM6DSL_XL_12Hz5_GY_PD;
      break;

    default:
      *val = LSM6DSL_ACT_MODE_ND;
      break;
  }

  return ret;
}

/**
  * @brief  Duration to go in sleep mode.1 LSb = 512 / ODR[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of sleep_dur in reg WAKE_UP_DUR
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_act_sleep_dur_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_wake_up_dur_t wake_up_dur;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR,
                         (uint8_t *)&wake_up_dur, 1);

  if (ret == 0)
  {
    wake_up_dur.sleep_dur = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_WAKE_UP_DUR,
                            (uint8_t *)&wake_up_dur, 1);
  }

  return ret;
}

/**
  * @brief  Duration to go in sleep mode. 1 LSb = 512 / ODR[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of sleep_dur in reg WAKE_UP_DUR
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_act_sleep_dur_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_wake_up_dur_t wake_up_dur;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR,
                         (uint8_t *)&wake_up_dur, 1);
  *val = wake_up_dur.sleep_dur;

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup    LSM6DSL_tap_generator
  * @brief       This section groups all the functions that manage the
  *              tap and double tap event generation.
  * @{
  *
  */

/**
  * @brief  Read the tap / double tap source register.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Structure of registers from TAP_SRC
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tap_src_get(const stmdev_ctx_t *ctx, lsm6dsl_tap_src_t *val)
{
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_SRC, (uint8_t *) val, 1);

  return ret;
}

/**
  * @brief  Enable Z direction in tap recognition.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of tap_z_en in reg TAP_CFG
  *
  */
int32_t lsm6dsl_tap_detection_on_z_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_tap_cfg_t tap_cfg;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)&tap_cfg, 1);

  if (ret == 0)
  {
    tap_cfg.tap_z_en = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)&tap_cfg, 1);
  }

  return ret;
}

/**
  * @brief  Enable Z direction in tap recognition.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of tap_z_en in reg TAP_CFG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tap_detection_on_z_get(const stmdev_ctx_t *ctx,
                                       uint8_t *val)
{
  lsm6dsl_tap_cfg_t tap_cfg;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)&tap_cfg, 1);
  *val = tap_cfg.tap_z_en;

  return ret;
}

/**
  * @brief  Enable Y direction in tap recognition.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of tap_y_en in reg TAP_CFG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tap_detection_on_y_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_tap_cfg_t tap_cfg;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)&tap_cfg, 1);

  if (ret == 0)
  {
    tap_cfg.tap_y_en = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)&tap_cfg, 1);
  }

  return ret;
}

/**
  * @brief  Enable Y direction in tap recognition.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of tap_y_en in reg TAP_CFG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tap_detection_on_y_get(const stmdev_ctx_t *ctx,
                                       uint8_t *val)
{
  lsm6dsl_tap_cfg_t tap_cfg;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)&tap_cfg, 1);
  *val = tap_cfg.tap_y_en;

  return ret;
}

/**
  * @brief  Enable X direction in tap recognition.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of tap_x_en in reg TAP_CFG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tap_detection_on_x_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_tap_cfg_t tap_cfg;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)&tap_cfg, 1);

  if (ret == 0)
  {
    tap_cfg.tap_x_en = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)&tap_cfg, 1);
  }

  return ret;
}

/**
  * @brief  Enable X direction in tap recognition.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of tap_x_en in reg TAP_CFG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tap_detection_on_x_get(const stmdev_ctx_t *ctx,
                                       uint8_t *val)
{
  lsm6dsl_tap_cfg_t tap_cfg;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)&tap_cfg, 1);
  *val = tap_cfg.tap_x_en;

  return ret;
}

/**
  * @brief  Threshold for tap recognition.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of tap_ths in reg TAP_THS_6D
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tap_threshold_x_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_tap_ths_6d_t tap_ths_6d;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_THS_6D,
                         (uint8_t *)&tap_ths_6d, 1);

  if (ret == 0)
  {
    tap_ths_6d.tap_ths = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_THS_6D,
                            (uint8_t *)&tap_ths_6d, 1);
  }

  return ret;
}

/**
  * @brief  Threshold for tap recognition.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of tap_ths in reg TAP_THS_6D
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tap_threshold_x_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_tap_ths_6d_t tap_ths_6d;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_THS_6D,
                         (uint8_t *)&tap_ths_6d, 1);
  *val = tap_ths_6d.tap_ths;

  return ret;
}

/**
  * @brief  Maximum duration is the maximum time of an overthreshold signal
  *         detection to be recognized as a tap event.
  *         The default value of these bits is 00b which corresponds to
  *         4*ODR_XL time.
  *         If the SHOCK[1:0] bits are set to a different
  *         value, 1LSB corresponds to 8*ODR_XL time.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of shock in reg INT_DUR2
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tap_shock_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_int_dur2_t int_dur2;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t *)&int_dur2, 1);

  if (ret == 0)
  {
    int_dur2.shock = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t *)&int_dur2, 1);
  }

  return ret;
}

/**
  * @brief  Maximum duration is the maximum time of an overthreshold signal
  *         detection to be recognized as a tap event.
  *         The default value of these bits is 00b which corresponds to
  *         4*ODR_XL time.
  *         If the SHOCK[1:0] bits are set to a different value, 1LSB
  *         corresponds to 8*ODR_XL time.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of shock in reg INT_DUR2
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tap_shock_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_int_dur2_t int_dur2;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t *)&int_dur2, 1);
  *val = int_dur2.shock;

  return ret;
}

/**
  * @brief  Quiet time is the time after the first detected tap in which there
  *         must not be any overthreshold event.
  *         The default value of these bits is 00b which corresponds to
  *         2*ODR_XL time.
  *         If the QUIET[1:0] bits are set to a different value, 1LSB
  *         corresponds to 4*ODR_XL time.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of quiet in reg INT_DUR2
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tap_quiet_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_int_dur2_t int_dur2;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t *)&int_dur2, 1);

  if (ret == 0)
  {
    int_dur2.quiet = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t *)&int_dur2, 1);
  }

  return ret;
}

/**
  * @brief  Quiet time is the time after the first detected tap in which there
  *         must not be any overthreshold event.
  *         The default value of these bits is 00b which corresponds to
  *         2*ODR_XL time.
  *         If the QUIET[1:0] bits are set to a different value, 1LSB
  *         corresponds to 4*ODR_XL time.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of quiet in reg INT_DUR2
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tap_quiet_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_int_dur2_t int_dur2;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t *)&int_dur2, 1);
  *val = int_dur2.quiet;

  return ret;
}

/**
  * @brief  When double tap recognition is enabled, this register expresses the
  *         maximum time between two consecutive detected taps to determine a
  *         double tap event.
  *         The default value of these bits is 0000b which corresponds to
  *         16*ODR_XL time.
  *         If the DUR[3:0] bits are set to a different value,1LSB corresponds
  *         to 32*ODR_XL time.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of dur in reg INT_DUR2
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tap_dur_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_int_dur2_t int_dur2;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t *)&int_dur2, 1);

  if (ret == 0)
  {
    int_dur2.dur = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t *)&int_dur2, 1);
  }

  return ret;
}

/**
  * @brief  When double tap recognition is enabled, this register expresses the
  *         maximum time between two consecutive detected taps to determine a
  *         double tap event.
  *         The default value of these bits is 0000b which corresponds to
  *         16*ODR_XL time.
  *         If the DUR[3:0] bits are set to a different value,1LSB corresponds
  *         to 32*ODR_XL time.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of dur in reg INT_DUR2
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tap_dur_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_int_dur2_t int_dur2;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t *)&int_dur2, 1);
  *val = int_dur2.dur;

  return ret;
}

/**
  * @brief  Single/double-tap event enable/disable.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of
  *                                      single_double_tap in reg WAKE_UP_THS
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tap_mode_set(const stmdev_ctx_t *ctx,
                             lsm6dsl_single_double_tap_t val)
{
  lsm6dsl_wake_up_ths_t wake_up_ths;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_THS,
                         (uint8_t *)&wake_up_ths, 1);

  if (ret == 0)
  {
    wake_up_ths.single_double_tap = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_WAKE_UP_THS,
                            (uint8_t *)&wake_up_ths, 1);
  }

  return ret;
}

/**
  * @brief  Single/double-tap event enable/disable.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of single_double_tap
  *                                      in reg WAKE_UP_THS
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tap_mode_get(const stmdev_ctx_t *ctx,
                             lsm6dsl_single_double_tap_t *val)
{
  lsm6dsl_wake_up_ths_t wake_up_ths;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_THS,
                         (uint8_t *)&wake_up_ths, 1);

  switch (wake_up_ths.single_double_tap)
  {
    case LSM6DSL_ONLY_SINGLE:
      *val = LSM6DSL_ONLY_SINGLE;
      break;

    case LSM6DSL_BOTH_SINGLE_DOUBLE:
      *val = LSM6DSL_BOTH_SINGLE_DOUBLE;
      break;

    default:
      *val = LSM6DSL_TAP_MODE_ND;
      break;
  }

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup    LSM6DSL_ Six_position_detection(6D/4D)
  * @brief       This section groups all the functions concerning six
  *              position detection (6D).
  * @{
  *
  */

/**
  * @brief  LPF2 feed 6D function selection.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of low_pass_on_6d in
  *                                   reg CTRL8_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_6d_feed_data_set(const stmdev_ctx_t *ctx,
                                 lsm6dsl_low_pass_on_6d_t val)
{
  lsm6dsl_ctrl8_xl_t ctrl8_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)&ctrl8_xl, 1);

  if (ret == 0)
  {
    ctrl8_xl.low_pass_on_6d = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)&ctrl8_xl, 1);
  }

  return ret;
}

/**
  * @brief  LPF2 feed 6D function selection.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of low_pass_on_6d in reg CTRL8_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_6d_feed_data_get(const stmdev_ctx_t *ctx,
                                 lsm6dsl_low_pass_on_6d_t *val)
{
  lsm6dsl_ctrl8_xl_t ctrl8_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)&ctrl8_xl, 1);

  switch (ctrl8_xl.low_pass_on_6d)
  {
    case LSM6DSL_ODR_DIV_2_FEED:
      *val = LSM6DSL_ODR_DIV_2_FEED;
      break;

    case LSM6DSL_LPF2_FEED:
      *val = LSM6DSL_LPF2_FEED;
      break;

    default:
      *val = LSM6DSL_6D_FEED_ND;
      break;
  }

  return ret;
}

/**
  * @brief  Threshold for 4D/6D function.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of sixd_ths in reg TAP_THS_6D
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_6d_threshold_set(const stmdev_ctx_t *ctx,
                                 lsm6dsl_sixd_ths_t val)
{
  lsm6dsl_tap_ths_6d_t tap_ths_6d;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_THS_6D,
                         (uint8_t *)&tap_ths_6d, 1);

  if (ret == 0)
  {
    tap_ths_6d.sixd_ths = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_THS_6D,
                            (uint8_t *)&tap_ths_6d, 1);
  }

  return ret;
}

/**
  * @brief  Threshold for 4D/6D function.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of sixd_ths in reg TAP_THS_6D
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_6d_threshold_get(const stmdev_ctx_t *ctx,
                                 lsm6dsl_sixd_ths_t *val)
{
  lsm6dsl_tap_ths_6d_t tap_ths_6d;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_THS_6D,
                         (uint8_t *)&tap_ths_6d, 1);

  switch (tap_ths_6d.sixd_ths)
  {
    case LSM6DSL_DEG_80:
      *val = LSM6DSL_DEG_80;
      break;

    case LSM6DSL_DEG_70:
      *val = LSM6DSL_DEG_70;
      break;

    case LSM6DSL_DEG_60:
      *val = LSM6DSL_DEG_60;
      break;

    case LSM6DSL_DEG_50:
      *val = LSM6DSL_DEG_50;
      break;

    default:
      *val = LSM6DSL_6D_TH_ND;
      break;
  }

  return ret;
}

/**
  * @brief  4D orientation detection enable.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of d4d_en in reg TAP_THS_6D
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_4d_mode_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_tap_ths_6d_t tap_ths_6d;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_THS_6D,
                         (uint8_t *)&tap_ths_6d, 1);

  if (ret == 0)
  {
    tap_ths_6d.d4d_en = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_THS_6D,
                            (uint8_t *)&tap_ths_6d, 1);
  }

  return ret;
}

/**
  * @brief  4D orientation detection enable.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of d4d_en in reg TAP_THS_6D
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_4d_mode_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_tap_ths_6d_t tap_ths_6d;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_THS_6D,
                         (uint8_t *)&tap_ths_6d, 1);
  *val = tap_ths_6d.d4d_en;

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup    LSM6DSL_free_fall
  * @brief       This section group all the functions concerning the free
  *              fall detection.
  * @{
  *
  */

/**
  * @brief Free-fall duration event. 1LSb = 1 / ODR[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of ff_dur in reg WAKE_UP_DUR
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_ff_dur_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_wake_up_dur_t wake_up_dur;
  lsm6dsl_free_fall_t free_fall;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FREE_FALL, (uint8_t *)&free_fall, 1);

  if (ret == 0)
  {
    free_fall.ff_dur = (val & 0x1FU);
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_FREE_FALL, (uint8_t *)&free_fall, 1);

    if (ret == 0)
    {
      ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR,
                             (uint8_t *)&wake_up_dur, 1);

      if (ret == 0)
      {
        wake_up_dur.ff_dur = (val & 0x20U) >> 5;
        ret = lsm6dsl_write_reg(ctx, LSM6DSL_WAKE_UP_DUR,
                                (uint8_t *)&wake_up_dur, 1);
      }
    }
  }

  return ret;
}

/**
  * @brief  Free-fall duration event. 1LSb = 1 / ODR[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of ff_dur in reg WAKE_UP_DUR
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_ff_dur_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_wake_up_dur_t wake_up_dur;
  lsm6dsl_free_fall_t free_fall;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR,
                         (uint8_t *)&wake_up_dur, 1);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_FREE_FALL, (uint8_t *)&free_fall, 1);
  }

  *val = (wake_up_dur.ff_dur << 5) + free_fall.ff_dur;

  return ret;
}

/**
  * @brief  Free fall threshold setting.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of ff_ths in reg FREE_FALL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_ff_threshold_set(const stmdev_ctx_t *ctx,
                                 lsm6dsl_ff_ths_t val)
{
  lsm6dsl_free_fall_t free_fall;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FREE_FALL, (uint8_t *)&free_fall, 1);

  if (ret == 0)
  {
    free_fall.ff_ths = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_FREE_FALL, (uint8_t *)&free_fall, 1);
  }

  return ret;
}

/**
  * @brief  Free fall threshold setting.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of ff_ths in reg FREE_FALL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_ff_threshold_get(const stmdev_ctx_t *ctx,
                                 lsm6dsl_ff_ths_t *val)
{
  lsm6dsl_free_fall_t free_fall;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FREE_FALL, (uint8_t *)&free_fall, 1);

  switch (free_fall.ff_ths)
  {
    case LSM6DSL_FF_TSH_156mg:
      *val = LSM6DSL_FF_TSH_156mg;
      break;

    case LSM6DSL_FF_TSH_219mg:
      *val = LSM6DSL_FF_TSH_219mg;
      break;

    case LSM6DSL_FF_TSH_250mg:
      *val = LSM6DSL_FF_TSH_250mg;
      break;

    case LSM6DSL_FF_TSH_312mg:
      *val = LSM6DSL_FF_TSH_312mg;
      break;

    case LSM6DSL_FF_TSH_344mg:
      *val = LSM6DSL_FF_TSH_344mg;
      break;

    case LSM6DSL_FF_TSH_406mg:
      *val = LSM6DSL_FF_TSH_406mg;
      break;

    case LSM6DSL_FF_TSH_469mg:
      *val = LSM6DSL_FF_TSH_469mg;
      break;

    case LSM6DSL_FF_TSH_500mg:
      *val = LSM6DSL_FF_TSH_500mg;
      break;

    default:
      *val = LSM6DSL_FF_TSH_ND;
      break;
  }

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup    LSM6DSL_fifo
  * @brief       This section group all the functions concerning the
  *              fifo usage
  * @{
  *
  */

/**
  * @brief  FIFO watermark level selection.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of fth in reg FIFO_CTRL1
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_watermark_set(const stmdev_ctx_t *ctx, uint16_t val)
{
  lsm6dsl_fifo_ctrl1_t fifo_ctrl1;
  lsm6dsl_fifo_ctrl2_t fifo_ctrl2;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL2,
                         (uint8_t *)&fifo_ctrl2, 1);

  if (ret == 0)
  {
    fifo_ctrl1.fth = (uint8_t)(0x00FFU & val);
    fifo_ctrl2.fth = (uint8_t)((0x0700U & val) >> 8);
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL1,
                            (uint8_t *)&fifo_ctrl1, 1);

    if (ret == 0)
    {
      ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL2,
                              (uint8_t *)&fifo_ctrl2, 1);
    }
  }

  return ret;
}

/**
  * @brief  FIFO watermark level selection.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of fth in reg FIFO_CTRL1
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_watermark_get(const stmdev_ctx_t *ctx, uint16_t *val)
{
  lsm6dsl_fifo_ctrl1_t fifo_ctrl1;
  lsm6dsl_fifo_ctrl2_t fifo_ctrl2;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL1,
                         (uint8_t *)&fifo_ctrl1, 1);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL2,
                           (uint8_t *)&fifo_ctrl2, 1);
  }

  *val = ((uint16_t)fifo_ctrl2.fth << 8) + (uint16_t)fifo_ctrl1.fth;

  return ret;
}

/**
  * @brief  FIFO data level.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    get the values of diff_fifo in reg  FIFO_STATUS1 and
  *                FIFO_STATUS2(diff_fifo), it is recommended to set the
  *                BDU bit.
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_data_level_get(const stmdev_ctx_t *ctx, uint16_t *val)
{
  lsm6dsl_fifo_status1_t fifo_status1;
  lsm6dsl_fifo_status2_t fifo_status2;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_STATUS1,
                         (uint8_t *)&fifo_status1, 1);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_STATUS2,
                           (uint8_t *)&fifo_status2, 1);
    *val = ((uint16_t) fifo_status2.diff_fifo << 8) +
           (uint16_t) fifo_status1.diff_fifo;
  }

  return ret;
}

/**
  * @brief  FIFO watermark.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    get the values of watermark in reg  FIFO_STATUS2 and
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_wtm_flag_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_fifo_status2_t fifo_status2;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_STATUS2,
                         (uint8_t *)&fifo_status2, 1);
  *val = fifo_status2.waterm;

  return ret;
}

/**
  * @brief  FIFO pattern.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    get the values of fifo_pattern in reg  FIFO_STATUS3 and
  *                FIFO_STATUS4, it is recommended to set the BDU bit
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_pattern_get(const stmdev_ctx_t *ctx, uint16_t *val)
{
  lsm6dsl_fifo_status3_t fifo_status3;
  lsm6dsl_fifo_status4_t fifo_status4;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_STATUS3,
                         (uint8_t *)&fifo_status3, 1);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_STATUS4,
                           (uint8_t *)&fifo_status4, 1);
    *val = ((uint16_t)fifo_status4.fifo_pattern << 8) +
           fifo_status3.fifo_pattern;
  }

  return ret;
}

/**
  * @brief  Batching of temperature data[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of fifo_temp_en in reg FIFO_CTRL2
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_temp_batch_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_fifo_ctrl2_t fifo_ctrl2;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL2,
                         (uint8_t *)&fifo_ctrl2, 1);

  if (ret == 0)
  {
    fifo_ctrl2.fifo_temp_en = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL2,
                            (uint8_t *)&fifo_ctrl2, 1);
  }

  return ret;
}

/**
  * @brief  Batching of temperature data[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of fifo_temp_en in reg FIFO_CTRL2
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_temp_batch_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_fifo_ctrl2_t fifo_ctrl2;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL2,
                         (uint8_t *)&fifo_ctrl2, 1);
  *val = fifo_ctrl2.fifo_temp_en;

  return ret;
}

/**
  * @brief  Trigger signal for FIFO write operation.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    act on FIFO_CTRL2(timer_pedo_fifo_drdy)
  *                and MASTER_CONFIG(data_valid_sel_fifo)
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_write_trigger_set(const stmdev_ctx_t *ctx,
                                       lsm6dsl_trigger_fifo_t val)
{
  lsm6dsl_fifo_ctrl2_t fifo_ctrl2;
  lsm6dsl_master_config_t master_config;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL2,
                         (uint8_t *)&fifo_ctrl2, 1);

  if (ret == 0)
  {
    fifo_ctrl2.timer_pedo_fifo_drdy = (uint8_t)val & 0x01U;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL2,
                            (uint8_t *)&fifo_ctrl2, 1);

    if (ret == 0)
    {
      ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
                             (uint8_t *)&master_config, 1);

      if (ret == 0)
      {
        master_config.data_valid_sel_fifo = (((uint8_t)val & 0x02U) >> 1);
        ret = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CONFIG,
                                (uint8_t *)&master_config, 1);
      }
    }
  }

  return ret;
}

/**
  * @brief  Trigger signal for FIFO write operation.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    act on FIFO_CTRL2(timer_pedo_fifo_drdy)
  *                and MASTER_CONFIG(data_valid_sel_fifo)
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_write_trigger_get(const stmdev_ctx_t *ctx,
                                       lsm6dsl_trigger_fifo_t *val)
{
  lsm6dsl_fifo_ctrl2_t fifo_ctrl2;
  lsm6dsl_master_config_t master_config;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL2,
                         (uint8_t *)&fifo_ctrl2, 1);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
                           (uint8_t *)&master_config, 1);

    switch ((fifo_ctrl2.timer_pedo_fifo_drdy << 1) +
            fifo_ctrl2. timer_pedo_fifo_drdy)
    {
      case LSM6DSL_TRG_XL_GY_DRDY:
        *val = LSM6DSL_TRG_XL_GY_DRDY;
        break;

      case LSM6DSL_TRG_STEP_DETECT:
        *val = LSM6DSL_TRG_STEP_DETECT;
        break;

      case LSM6DSL_TRG_SH_DRDY:
        *val = LSM6DSL_TRG_SH_DRDY;
        break;

      default:
        *val = LSM6DSL_TRG_SH_ND;
        break;
    }
  }

  return ret;
}

/**
  * @brief   Enable pedometer step counter and timestamp as 4th
  *          FIFO data set.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of timer_pedo_fifo_en in reg FIFO_CTRL2
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_pedo_and_timestamp_batch_set(const stmdev_ctx_t *ctx,
                                                  uint8_t val)
{
  lsm6dsl_fifo_ctrl2_t fifo_ctrl2;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL2,
                         (uint8_t *)&fifo_ctrl2, 1);

  if (ret == 0)
  {
    fifo_ctrl2.timer_pedo_fifo_en = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL2,
                            (uint8_t *)&fifo_ctrl2, 1);
  }

  return ret;
}

/**
  * @brief  Enable pedometer step counter and timestamp as 4th
  *         FIFO data set.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of timer_pedo_fifo_en in reg FIFO_CTRL2
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_pedo_and_timestamp_batch_get(const stmdev_ctx_t *ctx,
                                                  uint8_t *val)
{
  lsm6dsl_fifo_ctrl2_t fifo_ctrl2;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL2,
                         (uint8_t *)&fifo_ctrl2, 1);
  *val = fifo_ctrl2.timer_pedo_fifo_en;

  return ret;
}

/**
  * @brief  Selects Batching Data Rate (writing frequency in FIFO) for
  *         accelerometer data.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of dec_fifo_xl in reg FIFO_CTRL3
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_xl_batch_set(const stmdev_ctx_t *ctx,
                                  lsm6dsl_dec_fifo_xl_t val)
{
  lsm6dsl_fifo_ctrl3_t fifo_ctrl3;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL3,
                         (uint8_t *)&fifo_ctrl3, 1);

  if (ret == 0)
  {
    fifo_ctrl3.dec_fifo_xl = (uint8_t)val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL3,
                            (uint8_t *)&fifo_ctrl3, 1);
  }

  return ret;
}

/**
  * @brief  Selects Batching Data Rate (writing frequency in FIFO) for
  *         accelerometer data.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of dec_fifo_xl in reg FIFO_CTRL3
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_xl_batch_get(const stmdev_ctx_t *ctx,
                                  lsm6dsl_dec_fifo_xl_t *val)
{
  lsm6dsl_fifo_ctrl3_t fifo_ctrl3;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL3,
                         (uint8_t *)&fifo_ctrl3, 1);

  switch (fifo_ctrl3.dec_fifo_xl)
  {
    case LSM6DSL_FIFO_XL_DISABLE:
      *val = LSM6DSL_FIFO_XL_DISABLE;
      break;

    case LSM6DSL_FIFO_XL_NO_DEC:
      *val = LSM6DSL_FIFO_XL_NO_DEC;
      break;

    case LSM6DSL_FIFO_XL_DEC_2:
      *val = LSM6DSL_FIFO_XL_DEC_2;
      break;

    case LSM6DSL_FIFO_XL_DEC_3:
      *val = LSM6DSL_FIFO_XL_DEC_3;
      break;

    case LSM6DSL_FIFO_XL_DEC_4:
      *val = LSM6DSL_FIFO_XL_DEC_4;
      break;

    case LSM6DSL_FIFO_XL_DEC_8:
      *val = LSM6DSL_FIFO_XL_DEC_8;
      break;

    case LSM6DSL_FIFO_XL_DEC_16:
      *val = LSM6DSL_FIFO_XL_DEC_16;
      break;

    case LSM6DSL_FIFO_XL_DEC_32:
      *val = LSM6DSL_FIFO_XL_DEC_32;
      break;

    default:
      *val = LSM6DSL_FIFO_XL_DEC_ND;
      break;
  }

  return ret;
}

/**
  * @brief  Selects Batching Data Rate (writing frequency in FIFO)
  *         for gyroscope data.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of dec_fifo_gyro in reg FIFO_CTRL3
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_gy_batch_set(const stmdev_ctx_t *ctx,
                                  lsm6dsl_dec_fifo_gyro_t val)
{
  lsm6dsl_fifo_ctrl3_t fifo_ctrl3;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL3,
                         (uint8_t *)&fifo_ctrl3, 1);

  if (ret == 0)
  {
    fifo_ctrl3.dec_fifo_gyro = (uint8_t)val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL3,
                            (uint8_t *)&fifo_ctrl3, 1);
  }

  return ret;
}

/**
  * @brief  Selects Batching Data Rate (writing frequency in FIFO)
  *         for gyroscope data.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of dec_fifo_gyro in reg FIFO_CTRL3
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_gy_batch_get(const stmdev_ctx_t *ctx,
                                  lsm6dsl_dec_fifo_gyro_t *val)
{
  lsm6dsl_fifo_ctrl3_t fifo_ctrl3;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL3,
                         (uint8_t *)&fifo_ctrl3, 1);

  switch (fifo_ctrl3.dec_fifo_gyro)
  {
    case LSM6DSL_FIFO_GY_DISABLE:
      *val = LSM6DSL_FIFO_GY_DISABLE;
      break;

    case LSM6DSL_FIFO_GY_NO_DEC:
      *val = LSM6DSL_FIFO_GY_NO_DEC;
      break;

    case LSM6DSL_FIFO_GY_DEC_2:
      *val = LSM6DSL_FIFO_GY_DEC_2;
      break;

    case LSM6DSL_FIFO_GY_DEC_3:
      *val = LSM6DSL_FIFO_GY_DEC_3;
      break;

    case LSM6DSL_FIFO_GY_DEC_4:
      *val = LSM6DSL_FIFO_GY_DEC_4;
      break;

    case LSM6DSL_FIFO_GY_DEC_8:
      *val = LSM6DSL_FIFO_GY_DEC_8;
      break;

    case LSM6DSL_FIFO_GY_DEC_16:
      *val = LSM6DSL_FIFO_GY_DEC_16;
      break;

    case LSM6DSL_FIFO_GY_DEC_32:
      *val = LSM6DSL_FIFO_GY_DEC_32;
      break;

    default:
      *val = LSM6DSL_FIFO_GY_DEC_ND;
      break;
  }

  return ret;
}

/**
  * @brief   Selects Batching Data Rate (writing frequency in FIFO)
  *          for third data set.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of dec_ds3_fifo in reg FIFO_CTRL4
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_dataset_3_batch_set(const stmdev_ctx_t *ctx,
                                         lsm6dsl_dec_ds3_fifo_t val)
{
  lsm6dsl_fifo_ctrl4_t fifo_ctrl4;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4,
                         (uint8_t *)&fifo_ctrl4, 1);

  if (ret == 0)
  {
    fifo_ctrl4.dec_ds3_fifo = (uint8_t)val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL4,
                            (uint8_t *)&fifo_ctrl4, 1);
  }

  return ret;
}

/**
  * @brief   Selects Batching Data Rate (writing frequency in FIFO)
  *          for third data set.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of dec_ds3_fifo in reg FIFO_CTRL4
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_dataset_3_batch_get(const stmdev_ctx_t *ctx,
                                         lsm6dsl_dec_ds3_fifo_t *val)
{
  lsm6dsl_fifo_ctrl4_t fifo_ctrl4;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4,
                         (uint8_t *)&fifo_ctrl4, 1);

  switch (fifo_ctrl4.dec_ds3_fifo)
  {
    case LSM6DSL_FIFO_DS3_DISABLE:
      *val = LSM6DSL_FIFO_DS3_DISABLE;
      break;

    case LSM6DSL_FIFO_DS3_NO_DEC:
      *val = LSM6DSL_FIFO_DS3_NO_DEC;
      break;

    case LSM6DSL_FIFO_DS3_DEC_2:
      *val = LSM6DSL_FIFO_DS3_DEC_2;
      break;

    case LSM6DSL_FIFO_DS3_DEC_3:
      *val = LSM6DSL_FIFO_DS3_DEC_3;
      break;

    case LSM6DSL_FIFO_DS3_DEC_4:
      *val = LSM6DSL_FIFO_DS3_DEC_4;
      break;

    case LSM6DSL_FIFO_DS3_DEC_8:
      *val = LSM6DSL_FIFO_DS3_DEC_8;
      break;

    case LSM6DSL_FIFO_DS3_DEC_16:
      *val = LSM6DSL_FIFO_DS3_DEC_16;
      break;

    case LSM6DSL_FIFO_DS3_DEC_32:
      *val = LSM6DSL_FIFO_DS3_DEC_32;
      break;

    default:
      *val = LSM6DSL_FIFO_DS3_DEC_ND;
      break;
  }

  return ret;
}

/**
  * @brief   Selects Batching Data Rate (writing frequency in FIFO)
  *          for fourth data set.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of dec_ds4_fifo in reg FIFO_CTRL4
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_dataset_4_batch_set(const stmdev_ctx_t *ctx,
                                         lsm6dsl_dec_ds4_fifo_t val)
{
  lsm6dsl_fifo_ctrl4_t fifo_ctrl4;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4,
                         (uint8_t *)&fifo_ctrl4, 1);

  if (ret == 0)
  {
    fifo_ctrl4.dec_ds4_fifo = (uint8_t)val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL4,
                            (uint8_t *)&fifo_ctrl4, 1);
  }

  return ret;
}

/**
  * @brief   Selects Batching Data Rate (writing frequency in FIFO) for
  *          fourth data set.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of dec_ds4_fifo in reg FIFO_CTRL4
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_dataset_4_batch_get(const stmdev_ctx_t *ctx,
                                         lsm6dsl_dec_ds4_fifo_t *val)
{
  lsm6dsl_fifo_ctrl4_t fifo_ctrl4;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4,
                         (uint8_t *)&fifo_ctrl4, 1);

  switch (fifo_ctrl4.dec_ds4_fifo)
  {
    case LSM6DSL_FIFO_DS4_DISABLE:
      *val = LSM6DSL_FIFO_DS4_DISABLE;
      break;

    case LSM6DSL_FIFO_DS4_NO_DEC:
      *val = LSM6DSL_FIFO_DS4_NO_DEC;
      break;

    case LSM6DSL_FIFO_DS4_DEC_2:
      *val = LSM6DSL_FIFO_DS4_DEC_2;
      break;

    case LSM6DSL_FIFO_DS4_DEC_3:
      *val = LSM6DSL_FIFO_DS4_DEC_3;
      break;

    case LSM6DSL_FIFO_DS4_DEC_4:
      *val = LSM6DSL_FIFO_DS4_DEC_4;
      break;

    case LSM6DSL_FIFO_DS4_DEC_8:
      *val = LSM6DSL_FIFO_DS4_DEC_8;
      break;

    case LSM6DSL_FIFO_DS4_DEC_16:
      *val = LSM6DSL_FIFO_DS4_DEC_16;
      break;

    case LSM6DSL_FIFO_DS4_DEC_32:
      *val = LSM6DSL_FIFO_DS4_DEC_32;
      break;

    default:
      *val = LSM6DSL_FIFO_DS4_DEC_ND;
      break;
  }

  return ret;
}

/**
  * @brief   8-bit data storage in FIFO.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of only_high_data in reg FIFO_CTRL4
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_xl_gy_8bit_format_set(const stmdev_ctx_t *ctx,
                                           uint8_t val)
{
  lsm6dsl_fifo_ctrl4_t fifo_ctrl4;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4,
                         (uint8_t *)&fifo_ctrl4, 1);

  if (ret == 0)
  {
    fifo_ctrl4.only_high_data = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL4,
                            (uint8_t *)&fifo_ctrl4, 1);
  }

  return ret;
}

/**
  * @brief  8-bit data storage in FIFO.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of only_high_data in reg FIFO_CTRL4
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_xl_gy_8bit_format_get(const stmdev_ctx_t *ctx,
                                           uint8_t *val)
{
  lsm6dsl_fifo_ctrl4_t fifo_ctrl4;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4,
                         (uint8_t *)&fifo_ctrl4, 1);
  *val = fifo_ctrl4.only_high_data;

  return ret;
}

/**
  * @brief  Sensing chain FIFO stop values memorization at threshold
  *         level.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of stop_on_fth in reg FIFO_CTRL4
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_stop_on_wtm_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_fifo_ctrl4_t fifo_ctrl4;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4,
                         (uint8_t *)&fifo_ctrl4, 1);

  if (ret == 0)
  {
    fifo_ctrl4.stop_on_fth = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL4,
                            (uint8_t *)&fifo_ctrl4, 1);
  }

  return ret;
}

/**
  * @brief  Sensing chain FIFO stop values memorization at threshold
  *         level.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of stop_on_fth in reg FIFO_CTRL4
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_stop_on_wtm_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_fifo_ctrl4_t fifo_ctrl4;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4,
                         (uint8_t *)&fifo_ctrl4, 1);
  *val = fifo_ctrl4.stop_on_fth;

  return ret;
}

/**
  * @brief  FIFO mode selection.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of fifo_mode in reg FIFO_CTRL5
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_mode_set(const stmdev_ctx_t *ctx,
                              lsm6dsl_fifo_mode_t val)
{
  lsm6dsl_fifo_ctrl5_t fifo_ctrl5;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL5,
                         (uint8_t *)&fifo_ctrl5, 1);

  if (ret == 0)
  {
    fifo_ctrl5.fifo_mode = (uint8_t)val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL5,
                            (uint8_t *)&fifo_ctrl5, 1);
  }

  return ret;
}

/**
  * @brief  FIFO mode selection.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of fifo_mode in reg FIFO_CTRL5
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_mode_get(const stmdev_ctx_t *ctx,
                              lsm6dsl_fifo_mode_t *val)
{
  lsm6dsl_fifo_ctrl5_t fifo_ctrl5;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL5,
                         (uint8_t *)&fifo_ctrl5, 1);

  switch (fifo_ctrl5.fifo_mode)
  {
    case LSM6DSL_BYPASS_MODE:
      *val = LSM6DSL_BYPASS_MODE;
      break;

    case LSM6DSL_FIFO_MODE:
      *val = LSM6DSL_FIFO_MODE;
      break;

    case LSM6DSL_STREAM_TO_FIFO_MODE:
      *val = LSM6DSL_STREAM_TO_FIFO_MODE;
      break;

    case LSM6DSL_BYPASS_TO_STREAM_MODE:
      *val = LSM6DSL_BYPASS_TO_STREAM_MODE;
      break;

    case LSM6DSL_STREAM_MODE:
      *val = LSM6DSL_STREAM_MODE;
      break;

    default:
      *val = LSM6DSL_FIFO_MODE_ND;
      break;
  }

  return ret;
}

/**
  * @brief  FIFO ODR selection, setting FIFO_MODE also.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of odr_fifo in reg FIFO_CTRL5
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_data_rate_set(const stmdev_ctx_t *ctx,
                                   lsm6dsl_odr_fifo_t val)
{
  lsm6dsl_fifo_ctrl5_t fifo_ctrl5;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL5,
                         (uint8_t *)&fifo_ctrl5, 1);

  if (ret == 0)
  {
    fifo_ctrl5.odr_fifo = (uint8_t)val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL5,
                            (uint8_t *)&fifo_ctrl5, 1);
  }

  return ret;
}

/**
  * @brief  FIFO ODR selection, setting FIFO_MODE also.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of odr_fifo in reg FIFO_CTRL5
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_fifo_data_rate_get(const stmdev_ctx_t *ctx,
                                   lsm6dsl_odr_fifo_t *val)
{
  lsm6dsl_fifo_ctrl5_t fifo_ctrl5;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL5,
                         (uint8_t *)&fifo_ctrl5, 1);

  switch (fifo_ctrl5.odr_fifo)
  {
    case LSM6DSL_FIFO_DISABLE:
      *val = LSM6DSL_FIFO_DISABLE;
      break;

    case LSM6DSL_FIFO_12Hz5:
      *val = LSM6DSL_FIFO_12Hz5;
      break;

    case LSM6DSL_FIFO_26Hz:
      *val = LSM6DSL_FIFO_26Hz;
      break;

    case LSM6DSL_FIFO_52Hz:
      *val = LSM6DSL_FIFO_52Hz;
      break;

    case LSM6DSL_FIFO_104Hz:
      *val = LSM6DSL_FIFO_104Hz;
      break;

    case LSM6DSL_FIFO_208Hz:
      *val = LSM6DSL_FIFO_208Hz;
      break;

    case LSM6DSL_FIFO_416Hz:
      *val = LSM6DSL_FIFO_416Hz;
      break;

    case LSM6DSL_FIFO_833Hz:
      *val = LSM6DSL_FIFO_833Hz;
      break;

    case LSM6DSL_FIFO_1k66Hz:
      *val = LSM6DSL_FIFO_1k66Hz;
      break;

    case LSM6DSL_FIFO_3k33Hz:
      *val = LSM6DSL_FIFO_3k33Hz;
      break;

    case LSM6DSL_FIFO_6k66Hz:
      *val = LSM6DSL_FIFO_6k66Hz;
      break;

    default:
      *val = LSM6DSL_FIFO_RATE_ND;
      break;
  }

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup    LSM6DSL_DEN_functionality
  * @brief       This section groups all the functions concerning DEN
  *              functionality.
  * @{
  *
  */

/**
  * @brief  DEN active level configuration.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of den_lh in reg CTRL5_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_den_polarity_set(const stmdev_ctx_t *ctx,
                                 lsm6dsl_den_lh_t val)
{
  lsm6dsl_ctrl5_c_t ctrl5_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)&ctrl5_c, 1);

  if (ret == 0)
  {
    ctrl5_c.den_lh = (uint8_t)val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)&ctrl5_c, 1);
  }

  return ret;
}

/**
  * @brief  DEN active level configuration.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of den_lh in reg CTRL5_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_den_polarity_get(const stmdev_ctx_t *ctx,
                                 lsm6dsl_den_lh_t *val)
{
  lsm6dsl_ctrl5_c_t ctrl5_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)&ctrl5_c, 1);

  switch (ctrl5_c.den_lh)
  {
    case LSM6DSL_DEN_ACT_LOW:
      *val = LSM6DSL_DEN_ACT_LOW;
      break;

    case LSM6DSL_DEN_ACT_HIGH:
      *val = LSM6DSL_DEN_ACT_HIGH;
      break;

    default:
      *val = LSM6DSL_DEN_POL_ND;
      break;
  }

  return ret;
}

/**
  * @brief  DEN functionality marking mode[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of den_mode in reg CTRL6_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_den_mode_set(const stmdev_ctx_t *ctx,
                             lsm6dsl_den_mode_t val)
{
  lsm6dsl_ctrl6_c_t ctrl6_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)&ctrl6_c, 1);

  if (ret == 0)
  {
    ctrl6_c.den_mode = (uint8_t)val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)&ctrl6_c, 1);
  }

  return ret;
}

/**
  * @brief  DEN functionality marking mode[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of den_mode in reg CTRL6_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_den_mode_get(const stmdev_ctx_t *ctx,
                             lsm6dsl_den_mode_t *val)
{
  lsm6dsl_ctrl6_c_t ctrl6_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)&ctrl6_c, 1);

  switch (ctrl6_c.den_mode)
  {
    case LSM6DSL_DEN_DISABLE:
      *val = LSM6DSL_DEN_DISABLE;
      break;

    case LSM6DSL_LEVEL_LETCHED:
      *val = LSM6DSL_LEVEL_LETCHED;
      break;

    case LSM6DSL_LEVEL_TRIGGER:
      *val = LSM6DSL_LEVEL_TRIGGER;
      break;

    case LSM6DSL_EDGE_TRIGGER:
      *val = LSM6DSL_EDGE_TRIGGER;
      break;

    default:
      *val = LSM6DSL_DEN_MODE_ND;
      break;
  }

  return ret;
}

/**
  * @brief  Extend DEN functionality to accelerometer sensor.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of den_xl_g in reg CTRL9_XL
  *                             and den_xl_en in CTRL4_C.
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_den_enable_set(const stmdev_ctx_t *ctx,
                               lsm6dsl_den_xl_en_t val)
{
  lsm6dsl_ctrl4_c_t ctrl4_c;
  lsm6dsl_ctrl9_xl_t ctrl9_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)&ctrl9_xl, 1);

  if (ret == 0)
  {
    ctrl9_xl.den_xl_g = (uint8_t)val & 0x01U;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)&ctrl9_xl, 1);

    if (ret == 0)
    {
      ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)&ctrl4_c, 1);

      if (ret == 0)
      {
        ctrl4_c.den_xl_en = (uint8_t)val & 0x02U;
        ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)&ctrl4_c, 1);
      }
    }
  }

  return ret;
}

/**
  * @brief  Extend DEN functionality to accelerometer sensor. [get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of den_xl_g in reg CTRL9_XL
  *                             and den_xl_en in CTRL4_C.
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_den_enable_get(const stmdev_ctx_t *ctx,
                               lsm6dsl_den_xl_en_t *val)
{
  lsm6dsl_ctrl4_c_t ctrl4_c;
  lsm6dsl_ctrl9_xl_t ctrl9_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)&ctrl4_c, 1);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)&ctrl9_xl, 1);

    switch ((ctrl4_c.den_xl_en << 1) + ctrl9_xl.den_xl_g)
    {
      case LSM6DSL_STAMP_IN_GY_DATA:
        *val = LSM6DSL_STAMP_IN_GY_DATA;
        break;

      case LSM6DSL_STAMP_IN_XL_DATA:
        *val = LSM6DSL_STAMP_IN_XL_DATA;
        break;

      case LSM6DSL_STAMP_IN_GY_XL_DATA:
        *val = LSM6DSL_STAMP_IN_GY_XL_DATA;
        break;

      default:
        *val = LSM6DSL_DEN_STAMP_ND;
        break;
    }
  }

  return ret;
}

/**
  * @brief  DEN value stored in LSB of Z-axis.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of den_z in reg CTRL9_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_den_mark_axis_z_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_ctrl9_xl_t ctrl9_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)&ctrl9_xl, 1);

  if (ret == 0)
  {
    ctrl9_xl.den_z = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)&ctrl9_xl, 1);
  }

  return ret;
}

/**
  * @brief  DEN value stored in LSB of Z-axis.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of den_z in reg CTRL9_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_den_mark_axis_z_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_ctrl9_xl_t ctrl9_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)&ctrl9_xl, 1);
  *val = ctrl9_xl.den_z;

  return ret;
}

/**
  * @brief  DEN value stored in LSB of Y-axis.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of den_y in reg CTRL9_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_den_mark_axis_y_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_ctrl9_xl_t ctrl9_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)&ctrl9_xl, 1);

  if (ret == 0)
  {
    ctrl9_xl.den_y = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)&ctrl9_xl, 1);
  }

  return ret;
}

/**
  * @brief  DEN value stored in LSB of Y-axis.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of den_y in reg CTRL9_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_den_mark_axis_y_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_ctrl9_xl_t ctrl9_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)&ctrl9_xl, 1);
  *val = ctrl9_xl.den_y;

  return ret;
}

/**
  * @brief  DEN value stored in LSB of X-axis.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of den_x in reg CTRL9_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_den_mark_axis_x_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_ctrl9_xl_t ctrl9_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)&ctrl9_xl, 1);

  if (ret == 0)
  {
    ctrl9_xl.den_x = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)&ctrl9_xl, 1);
  }

  return ret;
}

/**
  * @brief  DEN value stored in LSB of X-axis.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of den_x in reg CTRL9_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_den_mark_axis_x_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_ctrl9_xl_t ctrl9_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)&ctrl9_xl, 1);
  *val = ctrl9_xl.den_x;

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup    LSM6DSL_Pedometer
  * @brief       This section groups all the functions that manage pedometer.
  * @{
  *
  */

/**
  * @brief  Reset pedometer step counter.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of pedo_rst_step in reg CTRL10_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_pedo_step_reset_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_ctrl10_c_t ctrl10_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)&ctrl10_c, 1);

  if (ret == 0)
  {
    ctrl10_c.pedo_rst_step = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)&ctrl10_c, 1);
  }

  return ret;
}

/**
  * @brief  Reset pedometer step counter.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of pedo_rst_step in reg CTRL10_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_pedo_step_reset_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_ctrl10_c_t ctrl10_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)&ctrl10_c, 1);
  *val = ctrl10_c.pedo_rst_step;

  return ret;
}

/**
  * @brief  Enable pedometer algorithm.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of pedo_en in reg CTRL10_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_pedo_sens_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_ctrl10_c_t ctrl10_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)&ctrl10_c, 1);

  if (ret == 0)
  {
    ctrl10_c.pedo_en = val;

    if (val != 0x00U)
    {
      ctrl10_c.func_en = val;
    }

    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)&ctrl10_c, 1);
  }

  return ret;
}

/**
  * @brief  pedo_sens:   Enable pedometer algorithm.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of pedo_en in reg CTRL10_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_pedo_sens_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_ctrl10_c_t ctrl10_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)&ctrl10_c, 1);
  *val = ctrl10_c.pedo_en;

  return ret;
}

/**
  * @brief  Minimum threshold to detect a peak. Default is 10h.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of ths_min in reg
  *                      CONFIG_PEDO_THS_MIN
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_pedo_threshold_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_config_pedo_ths_min_t config_pedo_ths_min;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_CONFIG_PEDO_THS_MIN,
                           (uint8_t *)&config_pedo_ths_min, 1);

    if (ret == 0)
    {
      config_pedo_ths_min.ths_min = val;
      ret = lsm6dsl_write_reg(ctx, LSM6DSL_CONFIG_PEDO_THS_MIN,
                              (uint8_t *)&config_pedo_ths_min, 1);

      if (ret == 0)
      {
        ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
      }
    }
  }

  return ret;
}

/**
  * @brief  Minimum threshold to detect a peak. Default is 10h.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of ths_min in reg  CONFIG_PEDO_THS_MIN
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_pedo_threshold_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_config_pedo_ths_min_t config_pedo_ths_min;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_CONFIG_PEDO_THS_MIN,
                           (uint8_t *)&config_pedo_ths_min, 1);

    if (ret == 0)
    {
      *val =  config_pedo_ths_min.ths_min;
      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @brief  pedo_full_scale:   Pedometer data range.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of pedo_fs in
  *                            reg CONFIG_PEDO_THS_MIN
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_pedo_full_scale_set(const stmdev_ctx_t *ctx,
                                    lsm6dsl_pedo_fs_t val)
{
  lsm6dsl_config_pedo_ths_min_t config_pedo_ths_min;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_CONFIG_PEDO_THS_MIN,
                           (uint8_t *)&config_pedo_ths_min, 1);

    if (ret == 0)
    {
      config_pedo_ths_min.pedo_fs = (uint8_t) val;
      ret = lsm6dsl_write_reg(ctx, LSM6DSL_CONFIG_PEDO_THS_MIN,
                              (uint8_t *)&config_pedo_ths_min, 1);

      if (ret == 0)
      {
        ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
      }
    }
  }

  return ret;
}

/**
  * @brief  Pedometer data range.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of pedo_fs in
  *                            reg CONFIG_PEDO_THS_MIN
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_pedo_full_scale_get(const stmdev_ctx_t *ctx,
                                    lsm6dsl_pedo_fs_t *val)
{
  lsm6dsl_config_pedo_ths_min_t config_pedo_ths_min;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_CONFIG_PEDO_THS_MIN,
                           (uint8_t *)&config_pedo_ths_min, 1);

    if (ret == 0)
    {
      switch (config_pedo_ths_min.pedo_fs)
      {
        case LSM6DSL_PEDO_AT_2g:
          *val = LSM6DSL_PEDO_AT_2g;
          break;

        case LSM6DSL_PEDO_AT_4g:
          *val = LSM6DSL_PEDO_AT_4g;
          break;

        default:
          *val = LSM6DSL_PEDO_FS_ND;
          break;
      }

      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @brief  Pedometer debounce configuration register (r/w).[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of deb_step in reg PEDO_DEB_REG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_pedo_debounce_steps_set(const stmdev_ctx_t *ctx,
                                        uint8_t val)
{
  lsm6dsl_pedo_deb_reg_t pedo_deb_reg;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_PEDO_DEB_REG,
                           (uint8_t *)&pedo_deb_reg, 1);

    if (ret == 0)
    {
      pedo_deb_reg.deb_step = val;
      ret = lsm6dsl_write_reg(ctx, LSM6DSL_PEDO_DEB_REG,
                              (uint8_t *)&pedo_deb_reg, 1);

      if (ret == 0)
      {
        ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
      }
    }
  }

  return ret;
}

/**
  * @brief  Pedometer debounce configuration register (r/w).[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of deb_step in reg PEDO_DEB_REG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_pedo_debounce_steps_get(const stmdev_ctx_t *ctx,
                                        uint8_t *val)
{
  lsm6dsl_pedo_deb_reg_t pedo_deb_reg;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_PEDO_DEB_REG,
                           (uint8_t *)&pedo_deb_reg, 1);

    if (ret == 0)
    {
      *val = pedo_deb_reg.deb_step;
      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @brief  Debounce time. If the time between two consecutive steps is
  *         greater than  DEB_TIME*80ms, the debouncer is reactivated.
  *         Default value: 01101[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of deb_time in reg PEDO_DEB_REG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_pedo_timeout_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_pedo_deb_reg_t pedo_deb_reg;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_PEDO_DEB_REG,
                           (uint8_t *)&pedo_deb_reg, 1);

    if (ret == 0)
    {
      pedo_deb_reg.deb_time = val;
      ret = lsm6dsl_write_reg(ctx, LSM6DSL_PEDO_DEB_REG,
                              (uint8_t *)&pedo_deb_reg, 1);

      if (ret == 0)
      {
        ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
      }
    }
  }

  return ret;
}

/**
  * @brief  Debounce time. If the time between two consecutive steps is
  *         greater than  DEB_TIME*80ms, the debouncer is reactivated.
  *         Default value: 01101[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of deb_time in reg PEDO_DEB_REG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_pedo_timeout_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_pedo_deb_reg_t pedo_deb_reg;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_PEDO_DEB_REG,
                           (uint8_t *)&pedo_deb_reg, 1);

    if (ret == 0)
    {
      *val = pedo_deb_reg.deb_time;
      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @brief  Time period register for step detection on delta time (r/w).[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  buff   Buffer that contains data to write
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_pedo_steps_period_set(const stmdev_ctx_t *ctx,
                                      uint8_t *buff)
{
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_STEP_COUNT_DELTA, buff, 1);

    if (ret == 0)
    {
      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @brief  Time period register for step detection on delta time (r/w).[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  buff   Buffer that stores data read
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_pedo_steps_period_get(const stmdev_ctx_t *ctx,
                                      uint8_t *buff)
{
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_STEP_COUNT_DELTA, buff, 1);

    if (ret == 0)
    {
      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup    LSM6DSL_significant_motion
  * @brief       This section groups all the functions that manage the
  *              significant motion detection.
  * @{
  *
  */

/**
  * @brief  Enable significant motion detection function.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of sign_motion_en in reg CTRL10_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_motion_sens_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_ctrl10_c_t ctrl10_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)&ctrl10_c, 1);

  if (ret == 0)
  {
    ctrl10_c.sign_motion_en = val;

    if (val != 0x00U)
    {
      ctrl10_c.func_en = val;
      ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)&ctrl10_c, 1);
    }
  }

  return ret;
}

/**
  * @brief  Enable significant motion detection function.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of sign_motion_en in reg CTRL10_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_motion_sens_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_ctrl10_c_t ctrl10_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)&ctrl10_c, 1);
  *val = ctrl10_c.sign_motion_en;

  return ret;
}

/**
  * @brief  Significant motion threshold.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  buff   Buffer that store significant motion threshold.
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_motion_threshold_set(const stmdev_ctx_t *ctx, uint8_t *buff)
{
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_SM_THS, buff, 1);

    if (ret == 0)
    {
      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @brief  Significant motion threshold.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  buff   Buffer that store significant motion threshold.
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_motion_threshold_get(const stmdev_ctx_t *ctx, uint8_t *buff)
{
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_SM_THS, buff, 1);

    if (ret == 0)
    {
      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup    LSM6DSL_tilt_detection
  * @brief       This section groups all the functions that manage the tilt
  *              event detection.
  * @{
  *
  */

/**
  * @brief  Enable tilt calculation.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of tilt_en in reg CTRL10_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tilt_sens_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_ctrl10_c_t ctrl10_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)&ctrl10_c, 1);

  if (ret == 0)
  {
    ctrl10_c.tilt_en = val;

    if (val != 0x00U)
    {
      ctrl10_c.func_en = val;
    }

    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)&ctrl10_c, 1);
  }

  return ret;
}

/**
  * @brief  Enable tilt calculation.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of tilt_en in reg CTRL10_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tilt_sens_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_ctrl10_c_t ctrl10_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)&ctrl10_c, 1);
  *val = ctrl10_c.tilt_en;

  return ret;
}

/**
  * @brief  Enable tilt calculation.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of tilt_en in reg CTRL10_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_wrist_tilt_sens_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_ctrl10_c_t ctrl10_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)&ctrl10_c, 1);

  if (ret == 0)
  {
    ctrl10_c.wrist_tilt_en = val;

    if (val != 0x00U)
    {
      ctrl10_c.func_en = val;
    }

    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)&ctrl10_c, 1);
  }

  return ret;
}

/**
  * @brief  Enable tilt calculation.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of tilt_en in reg CTRL10_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_wrist_tilt_sens_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_ctrl10_c_t ctrl10_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)&ctrl10_c, 1);
  *val = ctrl10_c.wrist_tilt_en;

  return ret;
}

/**
  * @brief  Absolute Wrist Tilt latency register (r/w).
  *         Absolute wrist tilt latency parameters.
  *         1 LSB = 40 ms. Default value: 0Fh (600 ms).[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  buff   Buffer that contains data to write
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tilt_latency_set(const stmdev_ctx_t *ctx, uint8_t *buff)
{
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_B);

  if (ret == 0)
  {
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_A_WRIST_TILT_LAT, buff, 1);

    if (ret == 0)
    {
      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @brief  Absolute Wrist Tilt latency register (r/w).
  *         Absolute wrist tilt latency parameters.
  *         1 LSB = 40 ms. Default value: 0Fh (600 ms).[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  buff   Buffer that stores data read
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tilt_latency_get(const stmdev_ctx_t *ctx, uint8_t *buff)
{
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_B);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_A_WRIST_TILT_LAT, buff, 1);

    if (ret == 0)
    {
      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @brief  Absolute Wrist Tilt threshold register(r/w).
  *         Absolute wrist tilt threshold parameters.
  *         1 LSB = 15.625 mg.Default value: 20h (500 mg).[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  buff   Buffer that contains data to write
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tilt_threshold_set(const stmdev_ctx_t *ctx, uint8_t *buff)
{
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_B);

  if (ret == 0)
  {
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_A_WRIST_TILT_THS, buff, 1);

    if (ret == 0)
    {
      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @brief  Absolute Wrist Tilt threshold register(r/w).
  *         Absolute wrist tilt threshold parameters.
  *         1 LSB = 15.625 mg.Default value: 20h (500 mg).[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  buff   Buffer that stores data read
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tilt_threshold_get(const stmdev_ctx_t *ctx, uint8_t *buff)
{
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_B);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_A_WRIST_TILT_THS, buff, 1);

    if (ret == 0)
    {
      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @brief  Absolute Wrist Tilt mask register (r/w).[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Registers A_WRIST_TILT_MASK
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tilt_src_set(const stmdev_ctx_t *ctx,
                             lsm6dsl_a_wrist_tilt_mask_t *val)
{
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_B);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_A_WRIST_TILT_MASK,
                           (uint8_t *) val, 1);

    if (ret == 0)
    {
      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @brief  Absolute Wrist Tilt mask register (r/w).[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Registers A_WRIST_TILT_MASK
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_tilt_src_get(const stmdev_ctx_t *ctx,
                             lsm6dsl_a_wrist_tilt_mask_t *val)
{
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_B);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_A_WRIST_TILT_MASK,
                           (uint8_t *) val, 1);

    if (ret == 0)
    {
      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup    LSM6DSL_ magnetometer_sensor
  * @brief       This section groups all the functions that manage additional
  *              magnetometer sensor.
  * @{
  *
  */

/**
  * @brief  Enable soft-iron correction algorithm for magnetometer.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of soft_en in reg CTRL9_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_mag_soft_iron_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_ctrl9_xl_t ctrl9_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)&ctrl9_xl, 1);

  if (ret == 0)
  {
    ctrl9_xl.soft_en = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)&ctrl9_xl, 1);
  }

  return ret;
}

/**
  * @brief  Enable soft-iron correction algorithm for magnetometer.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of soft_en in reg CTRL9_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_mag_soft_iron_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_ctrl9_xl_t ctrl9_xl;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)&ctrl9_xl, 1);
  *val = ctrl9_xl.soft_en;

  return ret;
}

/**
  * @brief  Enable hard-iron correction algorithm for magnetometer.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of iron_en in reg MASTER_CONFIG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_mag_hard_iron_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_master_config_t master_config;
  lsm6dsl_ctrl10_c_t ctrl10_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
                         (uint8_t *)&master_config, 1);

  if (ret == 0)
  {
    master_config.iron_en = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CONFIG,
                            (uint8_t *)&master_config, 1);

    if (ret == 0)
    {
      ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)&ctrl10_c, 1);

      if (ret == 0)
      {
        if (val != 0x00U)
        {
          ctrl10_c.func_en = val;
        }

        ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL10_C,
                                (uint8_t *)&ctrl10_c, 1);
      }
    }
  }

  return ret;
}

/**
  * @brief  Enable hard-iron correction algorithm for magnetometer.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of iron_en in reg MASTER_CONFIG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_mag_hard_iron_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_master_config_t master_config;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
                         (uint8_t *)&master_config, 1);
  *val = master_config.iron_en;

  return ret;
}

/**
  * @brief  Soft iron 3x3 matrix. Value are expressed in sign-module format.
  *         (Es. SVVVVVVVb where S is the sign 0/+1/- and V is the value).[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  buff   Buffer that contains data to write
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_mag_soft_iron_mat_set(const stmdev_ctx_t *ctx,
                                      uint8_t *buff)
{
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_MAG_SI_XX, buff, 9);

    if (ret == 0)
    {
      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @brief  Soft iron 3x3 matrix. Value are expressed in sign-module format.
  *         (Es. SVVVVVVVb where S is the sign 0/+1/- and V is the value).[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  buff   Buffer that stores data read
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_mag_soft_iron_mat_get(const stmdev_ctx_t *ctx,
                                      uint8_t *buff)
{
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_MAG_SI_XX, buff, 9);

    if (ret == 0)
    {
      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @brief  Offset for hard-iron compensation register (r/w). The value is
  *         expressed as a 16-bit word in two’s complement.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  buff   Buffer that contains data to write
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_mag_offset_set(const stmdev_ctx_t *ctx, int16_t *val)
{
  uint8_t buff[6];
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    buff[1] = (uint8_t)((uint16_t)val[0] / 256U);
    buff[0] = (uint8_t)((uint16_t)val[0] - (buff[1] * 256U));
    buff[3] = (uint8_t)((uint16_t)val[1] / 256U);
    buff[2] = (uint8_t)((uint16_t)val[1] - (buff[3] * 256U));
    buff[5] = (uint8_t)((uint16_t)val[2] / 256U);
    buff[4] = (uint8_t)((uint16_t)val[2] - (buff[5] * 256U));
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_MAG_OFFX_L, buff, 6);

    if (ret == 0)
    {
      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @brief  Offset for hard-iron compensation register(r/w).
  *         The value is expressed as a 16-bit word in two’s complement.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  buff   Buffer that stores data read
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_mag_offset_get(const stmdev_ctx_t *ctx, int16_t *val)
{
  uint8_t buff[6];
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_MAG_OFFX_L, buff, 6);
    val[0] = (int16_t)buff[1];
    val[0] = (val[0] * 256) + (int16_t)buff[0];
    val[1] = (int16_t)buff[3];
    val[1] = (val[1] * 256) + (int16_t)buff[2];
    val[2] = (int16_t)buff[5];
    val[2] = (val[2] * 256) + (int16_t)buff[4];

    if (ret == 0)
    {
      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup    LSM6DSL_Sensor_hub
  * @brief       This section groups all the functions that manage the sensor
  *              hub functionality.
  * @{
  *
  */

/**
  * @brief  Enable function.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values func_en
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_func_en_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_ctrl10_c_t ctrl10_c;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)&ctrl10_c, 1);

  if (ret == 0)
  {
    ctrl10_c.func_en = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)&ctrl10_c, 1);
  }

  return ret;
}

/**
  * @brief  Sensor synchronization time frame with the step of 500 ms and
  *         full range of 5s. Unsigned 8-bit.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of tph in reg SENSOR_SYNC_TIME_FRAME
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_sync_sens_frame_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_sensor_sync_time_frame_t sensor_sync_time_frame;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_SENSOR_SYNC_TIME_FRAME,
                         (uint8_t *)&sensor_sync_time_frame, 1);

  if (ret == 0)
  {
    sensor_sync_time_frame.tph = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_SENSOR_SYNC_TIME_FRAME,
                            (uint8_t *)&sensor_sync_time_frame, 1);
  }

  return ret;
}

/**
  * @brief  Sensor synchronization time frame with the step of 500 ms and
  *         full range of 5s. Unsigned 8-bit.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of tph in reg  SENSOR_SYNC_TIME_FRAME
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_sync_sens_frame_get(const stmdev_ctx_t *ctx,
                                       uint8_t *val)
{
  lsm6dsl_sensor_sync_time_frame_t sensor_sync_time_frame;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_SENSOR_SYNC_TIME_FRAME,
                         (uint8_t *)&sensor_sync_time_frame, 1);
  *val =  sensor_sync_time_frame.tph;

  return ret;
}

/**
  * @brief  Resolution ratio of error code for sensor synchronization.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of rr in reg  SENSOR_SYNC_RES_RATIO
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_sync_sens_ratio_set(const stmdev_ctx_t *ctx,
                                       lsm6dsl_rr_t val)
{
  lsm6dsl_sensor_sync_res_ratio_t sensor_sync_res_ratio;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_SENSOR_SYNC_RES_RATIO,
                         (uint8_t *)&sensor_sync_res_ratio, 1);

  if (ret == 0)
  {
    sensor_sync_res_ratio.rr = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_SENSOR_SYNC_RES_RATIO,
                            (uint8_t *)&sensor_sync_res_ratio, 1);
  }

  return ret;
}

/**
  * @brief  Resolution ratio of error code for sensor synchronization.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of rr in reg  SENSOR_SYNC_RES_RATIO
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_sync_sens_ratio_get(const stmdev_ctx_t *ctx,
                                       lsm6dsl_rr_t *val)
{
  lsm6dsl_sensor_sync_res_ratio_t sensor_sync_res_ratio;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_SENSOR_SYNC_RES_RATIO,
                         (uint8_t *)&sensor_sync_res_ratio, 1);

  switch (sensor_sync_res_ratio.rr)
  {
    case LSM6DSL_RES_RATIO_2_11:
      *val = LSM6DSL_RES_RATIO_2_11;
      break;

    case LSM6DSL_RES_RATIO_2_12:
      *val = LSM6DSL_RES_RATIO_2_12;
      break;

    case LSM6DSL_RES_RATIO_2_13:
      *val = LSM6DSL_RES_RATIO_2_13;
      break;

    case LSM6DSL_RES_RATIO_2_14:
      *val = LSM6DSL_RES_RATIO_2_14;
      break;

    default:
      *val = LSM6DSL_RES_RATIO_ND;
      break;
  }

  return ret;
}

/**
  * @brief  Sensor hub I2C master enable.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of master_on in reg MASTER_CONFIG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_master_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_master_config_t master_config;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
                         (uint8_t *)&master_config, 1);

  if (ret == 0)
  {
    master_config.master_on = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CONFIG,
                            (uint8_t *)&master_config, 1);
  }

  return ret;
}

/**
  * @brief  Sensor hub I2C master enable.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of master_on in reg MASTER_CONFIG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_master_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_master_config_t master_config;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
                         (uint8_t *)&master_config, 1);
  *val = master_config.master_on;

  return ret;
}

/**
  * @brief  I2C interface pass-through.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of pass_through_mode in reg MASTER_CONFIG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_pass_through_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_master_config_t master_config;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
                         (uint8_t *)&master_config, 1);

  if (ret == 0)
  {
    master_config.pass_through_mode = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CONFIG,
                            (uint8_t *)&master_config, 1);
  }

  return ret;
}

/**
  * @brief  I2C interface pass-through.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of pass_through_mode in reg MASTER_CONFIG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_pass_through_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_master_config_t master_config;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
                         (uint8_t *)&master_config, 1);
  *val = master_config.pass_through_mode;

  return ret;
}

/**
  * @brief  Master I2C pull-up enable/disable.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of pull_up_en in reg MASTER_CONFIG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_pin_mode_set(const stmdev_ctx_t *ctx,
                                lsm6dsl_pull_up_en_t val)
{
  lsm6dsl_master_config_t master_config;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
                         (uint8_t *)&master_config, 1);

  if (ret == 0)
  {
    master_config.pull_up_en = (uint8_t) val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CONFIG,
                            (uint8_t *)&master_config, 1);
  }

  return ret;
}

/**
  * @brief  Master I2C pull-up enable/disable.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of pull_up_en in reg MASTER_CONFIG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_pin_mode_get(const stmdev_ctx_t *ctx,
                                lsm6dsl_pull_up_en_t *val)
{
  lsm6dsl_master_config_t master_config;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
                         (uint8_t *)&master_config, 1);

  switch (master_config.pull_up_en)
  {
    case LSM6DSL_EXT_PULL_UP:
      *val = LSM6DSL_EXT_PULL_UP;
      break;

    case LSM6DSL_INTERNAL_PULL_UP:
      *val = LSM6DSL_INTERNAL_PULL_UP;
      break;

    default:
      *val = LSM6DSL_SH_PIN_MODE;
      break;
  }

  return ret;
}

/**
  * @brief  Sensor hub trigger signal selection.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of start_config in reg MASTER_CONFIG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_syncro_mode_set(const stmdev_ctx_t *ctx,
                                   lsm6dsl_start_config_t val)
{
  lsm6dsl_master_config_t master_config;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
                         (uint8_t *)&master_config, 1);

  if (ret == 0)
  {
    master_config.start_config = (uint8_t)val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CONFIG,
                            (uint8_t *)&master_config, 1);
  }

  return ret;
}

/**
  * @brief  Sensor hub trigger signal selection.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of start_config in reg MASTER_CONFIG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_syncro_mode_get(const stmdev_ctx_t *ctx,
                                   lsm6dsl_start_config_t *val)
{
  lsm6dsl_master_config_t master_config;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
                         (uint8_t *)&master_config, 1);

  switch (master_config.start_config)
  {
    case LSM6DSL_XL_GY_DRDY:
      *val = LSM6DSL_XL_GY_DRDY;
      break;

    case LSM6DSL_EXT_ON_INT2_PIN:
      *val = LSM6DSL_EXT_ON_INT2_PIN;
      break;

    default:
      *val = LSM6DSL_SH_SYNCRO_ND;
      break;
  }

  return ret;
}

/**
  * @brief  Manage the Master DRDY signal on INT1 pad.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of drdy_on_int1 in reg MASTER_CONFIG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_drdy_on_int1_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_master_config_t master_config;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
                         (uint8_t *)&master_config, 1);

  if (ret == 0)
  {
    master_config.drdy_on_int1 = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CONFIG,
                            (uint8_t *)&master_config, 1);
  }

  return ret;
}

/**
  * @brief  Manage the Master DRDY signal on INT1 pad.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of drdy_on_int1 in reg MASTER_CONFIG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_drdy_on_int1_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_master_config_t master_config;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
                         (uint8_t *)&master_config, 1);
  *val = master_config.drdy_on_int1;

  return ret;
}

/**
  * @brief  Sensor hub output registers.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Structure of registers from SENSORHUB1_REG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_read_data_raw_get(const stmdev_ctx_t *ctx,
                                     lsm6dsl_emb_sh_read_t *val)
{
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_SENSORHUB1_REG,
                         (uint8_t *) & (val->sh_byte_1), 12);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_SENSORHUB13_REG,
                           (uint8_t *) & (val->sh_byte_13), 6);
  }

  return ret;
}

/**
  * @brief  Master command code used for stamping for sensor sync.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of master_cmd_code in
  *                reg MASTER_CMD_CODE
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_cmd_sens_sync_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_master_cmd_code_t master_cmd_code;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CMD_CODE,
                         (uint8_t *)&master_cmd_code, 1);

  if (ret == 0)
  {
    master_cmd_code.master_cmd_code = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CMD_CODE,
                            (uint8_t *)&master_cmd_code, 1);
  }

  return ret;
}

/**
  * @brief  Master command code used for stamping for sensor sync.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of master_cmd_code in
  *                reg MASTER_CMD_CODE
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_cmd_sens_sync_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_master_cmd_code_t master_cmd_code;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CMD_CODE,
                         (uint8_t *)&master_cmd_code, 1);
  *val = master_cmd_code.master_cmd_code;

  return ret;
}

/**
  * @brief  Error code used for sensor synchronization.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of error_code in
  *                reg SENS_SYNC_SPI_ERROR_CODE.
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_spi_sync_error_set(const stmdev_ctx_t *ctx, uint8_t val)
{
  lsm6dsl_sens_sync_spi_error_code_t sens_sync_spi_error_code;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_SENS_SYNC_SPI_ERROR_CODE,
                         (uint8_t *)&sens_sync_spi_error_code, 1);

  if (ret == 0)
  {
    sens_sync_spi_error_code.error_code = val;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_SENS_SYNC_SPI_ERROR_CODE,
                            (uint8_t *)&sens_sync_spi_error_code, 1);
  }

  return ret;
}

/**
  * @brief  Error code used for sensor synchronization.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of error_code in
  *                reg SENS_SYNC_SPI_ERROR_CODE.
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_spi_sync_error_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
  lsm6dsl_sens_sync_spi_error_code_t sens_sync_spi_error_code;
  int32_t ret;

  ret = lsm6dsl_read_reg(ctx, LSM6DSL_SENS_SYNC_SPI_ERROR_CODE,
                         (uint8_t *)&sens_sync_spi_error_code, 1);
  *val =  sens_sync_spi_error_code.error_code;

  return ret;
}

/**
  * @brief   Number of external sensors to be read by the sensor hub.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of aux_sens_on in reg SLAVE0_CONFIG.
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_num_of_dev_connected_set(const stmdev_ctx_t *ctx,
                                            lsm6dsl_aux_sens_on_t val)
{
  lsm6dsl_slave0_config_t slave0_config;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE0_CONFIG,
                           (uint8_t *)&slave0_config, 1);

    if (ret == 0)
    {
      slave0_config.aux_sens_on = (uint8_t) val;
      ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLAVE0_CONFIG,
                              (uint8_t *)&slave0_config, 1);

      if (ret == 0)
      {
        ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
      }
    }
  }

  return ret;
}

/**
  * @brief   Number of external sensors to be read by the sensor hub.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of aux_sens_on in reg SLAVE0_CONFIG.
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_num_of_dev_connected_get(const stmdev_ctx_t *ctx,
                                            lsm6dsl_aux_sens_on_t *val)
{
  lsm6dsl_slave0_config_t slave0_config;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE0_CONFIG,
                           (uint8_t *)&slave0_config, 1);

    if (ret == 0)
    {
      switch (slave0_config.aux_sens_on)
      {
        case LSM6DSL_SLV_0:
          *val = LSM6DSL_SLV_0;
          break;

        case LSM6DSL_SLV_0_1:
          *val = LSM6DSL_SLV_0_1;
          break;

        case LSM6DSL_SLV_0_1_2:
          *val = LSM6DSL_SLV_0_1_2;
          break;

        case LSM6DSL_SLV_0_1_2_3:
          *val = LSM6DSL_SLV_0_1_2_3;
          break;

        default:
          *val = LSM6DSL_SLV_EN_ND;
          break;
      }

      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @brief  Configure slave 0 for perform a write.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Structure that contain:
  *                  - uint8_t slv_add;    8 bit i2c device address
  *                  - uint8_t slv_subadd; 8 bit register device address
  *                  - uint8_t slv_data;   8 bit data to write
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_cfg_write(const stmdev_ctx_t *ctx,
                             lsm6dsl_sh_cfg_write_t *val)
{
  lsm6dsl_slv0_add_t slv0_add;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    slv0_add.slave0_add = val->slv0_add;
    slv0_add.rw_0 = 0;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLV0_ADD, (uint8_t *)&slv0_add, 1);

    if (ret == 0)
    {
      ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLV0_SUBADD,
                              &(val->slv0_subadd), 1);

      if (ret == 0)
      {
        ret = lsm6dsl_write_reg(ctx, LSM6DSL_DATAWRITE_SRC_MODE_SUB_SLV0,
                                &(val->slv0_data), 1);

        if (ret == 0)
        {
          ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
        }
      }
    }
  }

  return ret;
}

/**
  * @brief  Configure slave 0 for perform a read.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Structure that contain:
  *                  - uint8_t slv_add;    8 bit i2c device address
  *                  - uint8_t slv_subadd; 8 bit register device address
  *                  - uint8_t slv_len;    num of bit to read
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_slv0_cfg_read(const stmdev_ctx_t *ctx,
                                 lsm6dsl_sh_cfg_read_t *val)
{
  lsm6dsl_slave0_config_t slave0_config;
  lsm6dsl_slv0_add_t slv0_add;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    slv0_add.slave0_add = val->slv_add;
    slv0_add.rw_0 = 1;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLV0_ADD, (uint8_t *)&slv0_add, 1);

    if (ret == 0)
    {
      ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLV0_SUBADD,
                              &(val->slv_subadd), 1);

      if (ret == 0)
      {
        ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE0_CONFIG,
                               (uint8_t *)&slave0_config, 1);
        slave0_config.slave0_numop = val->slv_len;

        if (ret == 0)
        {
          ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLAVE0_CONFIG,
                                  (uint8_t *)&slave0_config, 1);

          if (ret == 0)
          {
            ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
          }
        }
      }
    }
  }

  return ret;
}

/**
  * @brief  Configure slave 1 for perform a read.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Structure that contain:
  *                  - uint8_t slv_add;    8 bit i2c device address
  *                  - uint8_t slv_subadd; 8 bit register device address
  *                  - uint8_t slv_len;    num of bit to read
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_slv1_cfg_read(const stmdev_ctx_t *ctx,
                                 lsm6dsl_sh_cfg_read_t *val)
{
  lsm6dsl_slave1_config_t slave1_config;
  lsm6dsl_slv1_add_t slv1_add;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    slv1_add.slave1_add  = val->slv_add;
    slv1_add.r_1 = 1;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLV1_ADD, (uint8_t *)&slv1_add, 1);

    if (ret == 0)
    {
      ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLV1_SUBADD,
                              &(val->slv_subadd), 1);

      if (ret == 0)
      {
        ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE1_CONFIG,
                               (uint8_t *)&slave1_config, 1);
        slave1_config.slave1_numop = val->slv_len;

        if (ret == 0)
        {
          ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLAVE1_CONFIG,
                                  (uint8_t *)&slave1_config, 1);

          if (ret == 0)
          {
            ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
          }
        }
      }
    }
  }

  return ret;
}

/**
  * @brief  Configure slave 2 for perform a read.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Structure that contain:
  *                  - uint8_t slv_add;    8 bit i2c device address
  *                  - uint8_t slv_subadd; 8 bit register device address
  *                  - uint8_t slv_len;    num of bit to read
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_slv2_cfg_read(const stmdev_ctx_t *ctx,
                                 lsm6dsl_sh_cfg_read_t *val)
{
  lsm6dsl_slv2_add_t slv2_add;
  lsm6dsl_slave2_config_t slave2_config;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    slv2_add.slave2_add  = val->slv_add;
    slv2_add.r_2 = 1;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLV2_ADD, (uint8_t *)&slv2_add, 1);

    if (ret == 0)
    {
      ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLV2_SUBADD,
                              &(val->slv_subadd), 1);

      if (ret == 0)
      {
        ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE2_CONFIG,
                               (uint8_t *)&slave2_config, 1);

        if (ret == 0)
        {
          slave2_config.slave2_numop = val->slv_len;
          ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLAVE2_CONFIG,
                                  (uint8_t *)&slave2_config, 1);

          if (ret == 0)
          {
            ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
          }
        }
      }
    }
  }

  return ret;
}

/**
  * @brief  Configure slave 3 for perform a read.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Structure that contain:
  *                  - uint8_t slv_add;    8 bit i2c device address
  *                  - uint8_t slv_subadd; 8 bit register device address
  *                  - uint8_t slv_len;    num of bit to read
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_slv3_cfg_read(const stmdev_ctx_t *ctx,
                                 lsm6dsl_sh_cfg_read_t *val)
{
  lsm6dsl_slave3_config_t slave3_config;
  lsm6dsl_slv3_add_t slv3_add;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    slv3_add.slave3_add  = val->slv_add;
    slv3_add.r_3 = 1;
    ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLV3_ADD, (uint8_t *)&slv3_add, 1);

    if (ret == 0)
    {
      ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLV3_SUBADD,
                              (uint8_t *) & (val->slv_subadd), 1);

      if (ret == 0)
      {
        ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE3_CONFIG,
                               (uint8_t *)&slave3_config, 1);

        if (ret == 0)
        {
          slave3_config.slave3_numop = val->slv_len;
          ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLAVE3_CONFIG,
                                  (uint8_t *)&slave3_config, 1);

          if (ret == 0)
          {
            ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
          }
        }
      }
    }
  }

  return ret;
}

/**
  * @brief  Decimation of read operation on Slave 0 starting from the
  *         sensor hub trigger.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of slave0_rate in reg SLAVE0_CONFIG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_slave_0_dec_set(const stmdev_ctx_t *ctx,
                                   lsm6dsl_slave0_rate_t val)
{
  lsm6dsl_slave0_config_t slave0_config;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE0_CONFIG,
                           (uint8_t *)&slave0_config, 1);

    if (ret == 0)
    {
      slave0_config.slave0_rate = (uint8_t) val;
      ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLAVE0_CONFIG,
                              (uint8_t *)&slave0_config, 1);

      if (ret == 0)
      {
        ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
      }
    }
  }

  return ret;
}

/**
  * @brief  Decimation of read operation on Slave 0 starting from the
  *         sensor hub trigger.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of slave0_rate in reg SLAVE0_CONFIG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_slave_0_dec_get(const stmdev_ctx_t *ctx,
                                   lsm6dsl_slave0_rate_t *val)
{
  lsm6dsl_slave0_config_t slave0_config;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE0_CONFIG,
                           (uint8_t *)&slave0_config, 1);

    if (ret == 0)
    {
      switch (slave0_config.slave0_rate)
      {
        case LSM6DSL_SL0_NO_DEC:
          *val = LSM6DSL_SL0_NO_DEC;
          break;

        case LSM6DSL_SL0_DEC_2:
          *val = LSM6DSL_SL0_DEC_2;
          break;

        case LSM6DSL_SL0_DEC_4:
          *val = LSM6DSL_SL0_DEC_4;
          break;

        case LSM6DSL_SL0_DEC_8:
          *val = LSM6DSL_SL0_DEC_8;
          break;

        default:
          *val = LSM6DSL_SL0_DEC_ND;
          break;
      }

      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @brief  Slave 0 write operation is performed only at the first sensor
  *         hub cycle.
  *         This is effective if the Aux_sens_on[1:0] field in
  *         SLAVE0_CONFIG(04h) is set to a value other than 00.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of write_once in reg SLAVE1_CONFIG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_write_mode_set(const stmdev_ctx_t *ctx,
                                  lsm6dsl_write_once_t val)
{
  lsm6dsl_slave1_config_t slave1_config;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE1_CONFIG,
                           (uint8_t *)&slave1_config, 1);
    slave1_config.write_once = (uint8_t) val;

    if (ret == 0)
    {
      ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLAVE1_CONFIG,
                              (uint8_t *)&slave1_config, 1);

      if (ret == 0)
      {
        ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
      }
    }
  }

  return ret;
}

/**
  * @brief  Slave 0 write operation is performed only at the first sensor
  *         hub cycle.
  *         This is effective if the Aux_sens_on[1:0] field in
  *         SLAVE0_CONFIG(04h) is set to a value other than 00.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of write_once in reg SLAVE1_CONFIG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_write_mode_get(const stmdev_ctx_t *ctx,
                                  lsm6dsl_write_once_t *val)
{
  lsm6dsl_slave1_config_t slave1_config;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE1_CONFIG,
                           (uint8_t *)&slave1_config, 1);

    if (ret == 0)
    {
      switch (slave1_config.write_once)
      {
        case LSM6DSL_EACH_SH_CYCLE:
          *val = LSM6DSL_EACH_SH_CYCLE;
          break;

        case LSM6DSL_ONLY_FIRST_CYCLE:
          *val = LSM6DSL_ONLY_FIRST_CYCLE;
          break;

        default:
          *val = LSM6DSL_SH_WR_MODE_ND;
          break;
      }

      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @brief  Decimation of read operation on Slave 1 starting from the
  *         sensor hub trigger.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of slave1_rate in reg SLAVE1_CONFIG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_slave_1_dec_set(const stmdev_ctx_t *ctx,
                                   lsm6dsl_slave1_rate_t val)
{
  lsm6dsl_slave1_config_t slave1_config;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE1_CONFIG,
                           (uint8_t *)&slave1_config, 1);

    if (ret == 0)
    {
      slave1_config.slave1_rate = (uint8_t) val;
      ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLAVE1_CONFIG,
                              (uint8_t *)&slave1_config, 1);

      if (ret == 0)
      {
        ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
      }
    }
  }

  return ret;
}

/**
  * @brief  Decimation of read operation on Slave 1 starting from the
  *         sensor hub trigger.[get]
  *
  * @param  ctx    Read / write interface definitions reg SLAVE1_CONFIG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_slave_1_dec_get(const stmdev_ctx_t *ctx,
                                   lsm6dsl_slave1_rate_t *val)
{
  lsm6dsl_slave1_config_t slave1_config;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE1_CONFIG,
                           (uint8_t *)&slave1_config, 1);

    if (ret == 0)
    {
      switch (slave1_config.slave1_rate)
      {
        case LSM6DSL_SL1_NO_DEC:
          *val = LSM6DSL_SL1_NO_DEC;
          break;

        case LSM6DSL_SL1_DEC_2:
          *val = LSM6DSL_SL1_DEC_2;
          break;

        case LSM6DSL_SL1_DEC_4:
          *val = LSM6DSL_SL1_DEC_4;
          break;

        case LSM6DSL_SL1_DEC_8:
          *val = LSM6DSL_SL1_DEC_8;
          break;

        default:
          *val = LSM6DSL_SL1_DEC_ND;
          break;
      }

      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @brief  Decimation of read operation on Slave 2 starting from the
  *         sensor hub trigger.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of slave2_rate in reg SLAVE2_CONFIG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_slave_2_dec_set(const stmdev_ctx_t *ctx,
                                   lsm6dsl_slave2_rate_t val)
{
  lsm6dsl_slave2_config_t slave2_config;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE2_CONFIG,
                           (uint8_t *)&slave2_config, 1);

    if (ret == 0)
    {
      slave2_config.slave2_rate = (uint8_t) val;
      ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLAVE2_CONFIG,
                              (uint8_t *)&slave2_config, 1);

      if (ret == 0)
      {
        ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
      }
    }
  }

  return ret;
}

/**
  * @brief  Decimation of read operation on Slave 2 starting from the
  *         sensor hub trigger.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of slave2_rate in reg SLAVE2_CONFIG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_slave_2_dec_get(const stmdev_ctx_t *ctx,
                                   lsm6dsl_slave2_rate_t *val)
{
  lsm6dsl_slave2_config_t slave2_config;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE2_CONFIG,
                           (uint8_t *)&slave2_config, 1);

    if (ret == 0)
    {
      switch (slave2_config.slave2_rate)
      {
        case LSM6DSL_SL2_NO_DEC:
          *val = LSM6DSL_SL2_NO_DEC;
          break;

        case LSM6DSL_SL2_DEC_2:
          *val = LSM6DSL_SL2_DEC_2;
          break;

        case LSM6DSL_SL2_DEC_4:
          *val = LSM6DSL_SL2_DEC_4;
          break;

        case LSM6DSL_SL2_DEC_8:
          *val = LSM6DSL_SL2_DEC_8;
          break;

        default:
          *val = LSM6DSL_SL2_DEC_ND;
          break;
      }

      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @brief  Decimation of read operation on Slave 3 starting from the
  *         sensor hub trigger.[set]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Change the values of slave3_rate in reg SLAVE3_CONFIG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_slave_3_dec_set(const stmdev_ctx_t *ctx,
                                   lsm6dsl_slave3_rate_t val)
{
  lsm6dsl_slave3_config_t slave3_config;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE3_CONFIG,
                           (uint8_t *)&slave3_config, 1);
    slave3_config.slave3_rate = (uint8_t)val;

    if (ret == 0)
    {
      ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLAVE3_CONFIG,
                              (uint8_t *)&slave3_config, 1);

      if (ret == 0)
      {
        ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
      }
    }
  }

  return ret;
}

/**
  * @brief  Decimation of read operation on Slave 3 starting from the
  *         sensor hub trigger.[get]
  *
  * @param  ctx    Read / write interface definitions
  * @param  val    Get the values of slave3_rate in reg SLAVE3_CONFIG.
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t lsm6dsl_sh_slave_3_dec_get(const stmdev_ctx_t *ctx,
                                   lsm6dsl_slave3_rate_t *val)
{
  lsm6dsl_slave3_config_t slave3_config;
  int32_t ret;

  ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);

  if (ret == 0)
  {
    ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE3_CONFIG,
                           (uint8_t *)&slave3_config, 1);

    if (ret == 0)
    {
      switch (slave3_config.slave3_rate)
      {
        case LSM6DSL_SL3_NO_DEC:
          *val = LSM6DSL_SL3_NO_DEC;
          break;

        case LSM6DSL_SL3_DEC_2:
          *val = LSM6DSL_SL3_DEC_2;
          break;

        case LSM6DSL_SL3_DEC_4:
          *val = LSM6DSL_SL3_DEC_4;
          break;

        case LSM6DSL_SL3_DEC_8:
          *val = LSM6DSL_SL3_DEC_8;
          break;

        default:
          *val = LSM6DSL_SL3_DEC_ND;
          break;
      }

      ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
    }
  }

  return ret;
}

/**
  * @}
  *
  */

/**
  * @}
  *
  */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/