LSM6DSOX

https://github.com/stm32duino/lsm6dsox
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LSM6DSOX is an Arduino library providing support for the ultra-low power LSM6DSOX 3D accelerometer...
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### Bus instantiation examples for LSM6DSOXSensor

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/LSM6DSOXSensor.md

Three usage examples show how to instantiate the sensor on each bus: I2C using Wire, SPI at 4 MHz, and I3C using SETDASA. For I2C and SPI, the bus must be initialized with begin() before constructing the sensor, and the I3C example passes the static address in 7-bit form.

```cpp
// I2C
TwoWire dev_i2c(I2C_SDA, I2C_SCL);
dev_i2c.begin();
LSM6DSOXSensor AccGyr(&dev_i2c);
```

```cpp
// SPI
SPIClass dev_spi(SPI_MOSI, SPI_MISO, SPI_SCK);
dev_spi.begin();
LSM6DSOXSensor AccGyr(&dev_spi, CS_PIN, 4000000); // 4 MHz
```

```cpp
// I3C (SETDASA flow)
LSM6DSOXSensor AccGyr(&I3C, LSM6DSOX_I3C_ADD_H);
```

--------------------------------

### begin() failure check example

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/LSM6DSOXSensor.md

Checks the return value of AccGyr.begin() and halts on failure. Prints 'begin failed' and enters an infinite loop if initialization fails.

```cpp
if (AccGyr.begin() != LSM6DSOX_OK) {
  Serial.println("begin failed");
  while (1) {}
}
```

--------------------------------

### LSM6DSOX one-call mode set and data get example

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/lsm6dsox_reg-programmatic.md

Shows a one-call configuration and read: sets UI XL to 104 Hz high-performance with 2g full scale and gyro to 104 Hz high-performance with 250 dps, then reads data and accesses the XL acceleration in mg. `lsm6dsox_mode_set` returns non-zero on error; `lsm6dsox_data_get` returns 0 on success.

```c
/* Example: enable UI XL at 104 Hz HP, FS 2g and gyro at 104 Hz HP, 250 dps */
lsm6dsox_ctx_t ctx = { .write_reg = LSM6DSOX_io_write, .read_reg = LSM6DSOX_io_read,
                       .handle = &sensor };
lsm6dsox_md_t md = {0};
md.ui.xl.odr = LSM6DSOX_XL_UI_104Hz_HP;
md.ui.xl.fs  = LSM6DSOX_XL_UI_2g;
md.ui.gy.odr = LSM6DSOX_GY_UI_104Hz_HP;
md.ui.gy.fs  = LSM6DSOX_GY_UI_250dps;
if (lsm6dsox_mode_set(&ctx, NULL, &md) != 0) { /* handle error */ }

lsm6dsox_data_t data;
if (lsm6dsox_data_get(&ctx, NULL, &md, &data) == 0) {
  float ax_mg = data.ui.xl.mg[0];
}
```

--------------------------------

### Gyroscope configuration and read example

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/LSM6DSOXSensor.md

Configures the gyroscope full-scale to ±250 dps and ODR to 104 Hz, then reads angular rate data when the data-ready flag is set. The result is in millidegrees per second (mdps).

```cpp
AccGyr.Set_G_FS(250);       // ±250 dps
AccGyr.Set_G_ODR(104.0f);

uint8_t st;
int32_t gyr[3];
if (AccGyr.Get_G_DRDY_Status(&st) == LSM6DSOX_OK && st == 1) {
  AccGyr.Get_G_Axes(gyr);   // mdps
}
```

--------------------------------

### Using double tap detection with event status

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/LSM6DSOXSensor-detection.md

Example usage: enable double tap detection on INT2 pinapper and then check the event status to handle a detected double tap. The corresponding table shows Enable_Double_Tap_Detection configures XL ODR 416 Hz / FS 2 g, shock 0x03, quiet 0x03, duration 0x08, and routes double_tap to the selected pin.

```cpp
AccGyr.Enable_Double_Tap_Detection(LSM6DSOX_INT2_PIN);

LSM6DSOX_Event_Status_t st;
AccGyr.Get_X_Event_Status(&st);
if (st.DoubleTapStatus) { /* handle double tap */ }
```

--------------------------------

### Free-Fall Detection Usage Example

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/LSM6DSOXSensor-detection.md

Shows enabling free-fall detection on INT1, setting threshold to 250 mg, and reading event status in the ISR to detect free fall.

```cpp
AccGyr.Enable_Free_Fall_Detection(LSM6DSOX_INT1_PIN);
AccGyr.Set_Free_Fall_Threshold(2); // LSM6DSOX_FF_TSH_250mg

// In the INT1 ISR, clear the interrupt by reading the event status:
LSM6DSOX_Event_Status_t st;
AccGyr.Get_X_Event_Status(&st);
if (st.FreeFallStatus) Serial.println("free fall!");
```

--------------------------------

### ReadID() usage example from LSM6DSOX_HelloWorld_I2C

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/LSM6DSOXSensor.md

Reads the WHO_AM_I register into id and compares it with LSM6DSOX_ID (0x6C). Prints an error message on mismatch or a success message otherwise.

```cpp
uint8_t id;
AccGyr.ReadID(&id);
if (id != LSM6DSOX_ID) {
  Serial.println("Wrong ID: check wiring");
} else {
  Serial.println("Correct LSM6DSOX detected");
}
```

--------------------------------

### Status retrieval: lsm6dsox_status_get

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/lsm6dsox_reg-programmatic.md

Defines the status structure and the get function that returns aggregate real-time status of UI and OIS chains, including reset and boot in progress.

```c
typedef struct {
  uint8_t sw_reset           : 1;
  uint8_t boot               : 1;
  uint8_t drdy_xl            : 1;
  uint8_t drdy_g             : 1;
  uint8_t drdy_temp          : 1;
  uint8_t ois_drdy_xl        : 1;
  uint8_t ois_drdy_g         : 1;
  uint8_t ois_gyro_settling  : 1;
} lsm6dsox_status_t;
int32_t lsm6dsox_status_get(lsm6dsox_ctx_t *ctx, lsm6dsox_ctx_t *aux_ctx, lsm6dsox_status_t *val);
```

--------------------------------

### Get_X_DRDY_Status

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/LSM6DSOXSensor-detection.md

Gets the accelerometer data-ready flag.

```APIDOC
## Get_X_DRDY_Status

### Description
Gets the data-ready status for the accelerometer. Returns 1 if a new accelerometer sample is available.

### Method
Get_X_DRDY_Status

### Signature
`LSM6DSOXStatusTypeDef Get_X_DRDY_Status(uint8_t *Status)`

### Parameters
- **Status** (uint8_t*) - Required - Pointer to a variable that will receive the data-ready flag (1 = new sample available).

### Returns
- **LSM6DSOXStatusTypeDef** - Status of the operation.

### Example
```cpp
uint8_t drdy;
AccGyr.Get_X_DRDY_Status(&drdy);
if (drdy) {
  int32_t a[3];
  AccGyr.Get_X_Axes(a);
}
```
```

--------------------------------

### lsm6dsox_ln_pg_write

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/lsm6dsox_reg.md

Writes a buffer of bytes to the long-page (program memory) starting at a given address. Reports the number of written pages in `buf[0]`.

```APIDOC
## lsm6dsox_ln_pg_write

### Description
Writes a buffer of bytes to the long-page (program memory) starting at a given address. Reports the number of written pages in `buf[0]`.

### Method
Function call

### Endpoint
`int32_t lsm6dsox_ln_pg_write(lsm6dsox_ctx_t *ctx, uint16_t address, uint8_t *buf, uint8_t len)`

### Parameters
- **ctx** (lsm6dsox_ctx_t*) - Required - Pointer to the sensor context.
- **address** (uint16_t) - Required - Starting memory address.
- **buf** (uint8_t*) - Required - Pointer to the data buffer to write. On return, `buf[0]` contains the number of written pages.
- **len** (uint8_t) - Required - Number of bytes to write.

### Response
- Returns 0 on success, or a negative error code on failure.
- The number of written pages is stored in `buf[0]`.
```

--------------------------------

### lsm6dsox_ln_pg_read

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/lsm6dsox_reg.md

Reads a buffer of bytes from the long-page (program memory) starting at a given address.

```APIDOC
## lsm6dsox_ln_pg_read

### Description
Reads a buffer of bytes from the long-page (program memory) starting at a given address.

### Method
Function call

### Endpoint
`int32_t lsm6dsox_ln_pg_read(lsm6dsox_ctx_t *ctx, uint16_t address, uint8_t *val)`

### Parameters
- **ctx** (lsm6dsox_ctx_t*) - Required - Pointer to the sensor context.
- **address** (uint16_t) - Required - Starting memory address.
- **val** (uint8_t*) - Required - Pointer to a buffer where the read data will be stored.

### Response
- Returns 0 on success, or a negative error code on failure.
- The read data is stored in `val`.
```

--------------------------------

### Embedded-features enable: lsm6dsox_embedded_sens_set/get/off

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/lsm6dsox_reg-programmatic.md

Defines the embedded-feature enable bitmask and the three functions to set, get, or disable all embedded features. `embedded_sens_get`/`set` read/write the `EMB_FUNC_EN_A`/`EMB_FUNC_EN_B` registers (with the embedded-function memory bank selected and restored); `embedded_sens_off` disables all features in one shot. Used by `Enable_Pedometer()`, `Enable_Tilt_Detection()` and `Set_FIFO_Compression_Algo_Enable()` in the wrapper class.

```c
typedef struct {
  uint8_t sig_mot      : 1; /* significant motion */
  uint8_t tilt         : 1; /* tilt detection  */
  uint8_t step         : 1; /* step counter/detector */
  uint8_t mlc          : 1; /* machine learning core */
  uint8_t fsm          : 1; /* finite state machine */
  uint8_t fifo_compr   : 1; /* mlc 8 interrupt event */
} lsm6dsox_emb_sens_t;
int32_t lsm6dsox_embedded_sens_set(lsm6dsox_ctx_t *ctx, lsm6dsox_emb_sens_t *emb_sens);
int32_t lsm6dsox_embedded_sens_get(lsm6dsox_ctx_t *ctx, lsm6dsox_emb_sens_t *emb_sens);
int32_t lsm6dsox_embedded_sens_off(lsm6dsox_ctx_t *ctx);
```

--------------------------------

### begin(uint8_t new_address = 0)

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/LSM6DSOXSensor.md

Initializes the sensor with default or custom I3C address, configures SPI/I2C/I3C interfaces, enables BDU, sets FIFO bypass, and configures accelerometer and gyroscope full scales and ODRs.

```APIDOC
## begin(uint8_t new_address = 0)

### Description
Initializes the LSM6DSOX sensor with the given I3C dynamic address (if provided), configures the communication interface (SPI/I2C/I3C), enables Block Data Update, sets FIFO to bypass mode, and sets default accelerometer and gyroscope full scales and output data rates.

### Method
begin

### Parameters
#### Path Parameters
- **new_address** (uint8_t) - Optional - I3C dynamic 7-bit address (from `I3C.assignDynamicAddress()` or `I3C.discover()`), validated to `0x08..0x77`. Default is `0`.

### Returns
- **LSM6DSOXStatusTypeDef** - `LSM6DSOX_OK` (0) on success, `LSM6DSOX_ERROR` (-1) on failure.

### Configuration Performed
- SPI CS pin set as output-high
- For I2C/SPI, I3C interface disabled
- Register auto-increment enabled
- Block Data Update (BDU) enabled
- FIFO set to bypass mode
- Accelerometer full scale `LSM6DSOX_2g`, ODR power-down (default stored ODR `LSM6DSOX_XL_ODR_104Hz`)
- Gyroscope full scale `LSM6DSOX_2000dps`, ODR power-down (default `LSM6DSOX_GY_ODR_104Hz`)
- For I3C, reads WHO_AM_I and returns `LSM6DSOX_ERROR` if not `LSM6DSOX_ID`

### Example
```cpp
if (AccGyr.begin() != LSM6DSOX_OK) {
  Serial.println("begin failed");
  while (1) {}
}
```
```

--------------------------------

### Get_G_DRDY_Status

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/LSM6DSOXSensor-detection.md

Gets the gyroscope data-ready flag.

```APIDOC
## Get_G_DRDY_Status

### Description
Gets the data-ready status for the gyroscope. Returns 1 if a new gyroscope sample is available.

### Method
Get_G_DRDY_Status

### Signature
`LSM6DSOXStatusTypeDef Get_G_DRDY_Status(uint8_t *Status)`

### Parameters
- **Status** (uint8_t*) - Required - Pointer to a variable that will receive the data-ready flag (1 = new sample available).

### Returns
- **LSM6DSOXStatusTypeDef** - Status of the operation.

### Example
```cpp
uint8_t drdy;
AccGyr.Get_G_DRDY_Status(&drdy);
```
```

--------------------------------

### Set_FIFO_Compression_Algo_Init

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/LSM6DSOXSensor-fifo.md

Initializes the FIFO compression algorithm.

```APIDOC
## Set_FIFO_Compression_Algo_Init

### Description
Initializes the FIFO compression algorithm. This function requests the initialization of the FIFO compression algorithm.

### Method
Function call

### Signature
`LSM6DSOXStatusTypeDef Set_FIFO_Compression_Algo_Init(uint8_t Status);`

### Parameters
- **Status** (uint8_t) - Required - Status value to pass to the underlying `lsm6dsox_compression_algo_init_set` function.

### Return Value
- **LSM6DSOXStatusTypeDef** - Status of the operation (e.g., LSM6DSOX_OK, LSM6DSOX_ERROR).
```

--------------------------------

### lsm6dsox_boot_set

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/lsm6dsox_reg.md

Restores calibration parameters by triggering a boot sequence (takes 10 ms).

```APIDOC
## lsm6dsox_boot_set

### Description
Restores calibration parameters by triggering a boot sequence (takes 10 ms).

### Method
Function call

### Endpoint
`int32_t lsm6dsox_boot_set(lsm6dsox_ctx_t *ctx, uint8_t val)`

### Parameters
- **ctx** (lsm6dsox_ctx_t*) - Required - Pointer to the sensor context.
- **val** (uint8_t) - Required - Value to write to the boot bit (0 or 1).

### Response
- Returns 0 on success, or a negative error code on failure.
```

--------------------------------

### Get_X_Event_Status

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/LSM6DSOXSensor-detection.md

Gets the accelerometer event status flags.

```APIDOC
## Get_X_Event_Status

### Description
Gets the event status for the accelerometer. Reads the wake-up, tap, double-tap, free-fall, step, tilt, and 6D orientation flags. Each flag is set only if the corresponding event is routed to INT1 or INT2.

### Method
Get_X_Event_Status

### Signature
`LSM6DSOXStatusTypeDef Get_X_Event_Status(LSM6DSOX_Event_Status_t *Status)`

### Parameters
- **Status** (LSM6DSOX_Event_Status_t*) - Required - Pointer to a structure that will receive the event flags.

### Returns
- **LSM6DSOXStatusTypeDef** - Status of the operation.

### Example
```cpp
LSM6DSOX_Event_Status_t ev;
AccGyr.Get_X_Event_Status(&ev);
if (ev.TapStatus)      { /* single tap */ }
if (ev.DoubleTapStatus){ /* double tap */ }
if (ev.WakeUpStatus)   { /* wake up    */ }
if (ev.FreeFallStatus) { /* free fall  */ }
if (ev.StepStatus)     { /* step       */ }
if (ev.TiltStatus)     { /* tilt       */ }
if (ev.D6DOrientationStatus) { /* 6D changed */ }
```
```

--------------------------------

### Get_6D_Orientation_ZH

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/LSM6DSOXSensor-detection.md

Gets the 6D orientation status for the Z-axis high edge.

```APIDOC
## Get_6D_Orientation_ZH

### Description
Reads the 6D orientation status for the Z-axis high edge. Returns 1 if the Z-axis is above the threshold (high edge).

### Method
Get_6D_Orientation_ZH

### Signature
`LSM6DSOXStatusTypeDef Get_6D_Orientation_ZH(uint8_t *ZHigh)`

### Parameters
- **ZHigh** (uint8_t*) - Required - Pointer to a variable that will receive the status (1 = over threshold).

### Returns
- **LSM6DSOXStatusTypeDef** - Status of the operation.

### Example
```cpp
uint8_t face = 0;
AccGyr.Get_6D_Orientation_ZH(&face); // face-up check
```
```

--------------------------------

### FIFO bulk read with Get_FIFO_Sample

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/LSM6DSOXSensor-fifo.md

Reads 100 samples (700 bytes) in one burst. Returns LSM6DSOX_OK on success; otherwise prints an error message.

```cpp
uint8_t buf[7 * 100];
if (AccGyr.Get_FIFO_Sample(buf, 100) != LSM6DSOX_OK) {
  Serial.println("burst read failed");
}
```

--------------------------------

### Get_6D_Orientation_ZL

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/LSM6DSOXSensor-detection.md

Gets the 6D orientation status for the Z-axis low edge.

```APIDOC
## Get_6D_Orientation_ZL

### Description
Reads the 6D orientation status for the Z-axis low edge. Returns 1 if the Z-axis is below the threshold (low edge).

### Method
Get_6D_Orientation_ZL

### Signature
`LSM6DSOXStatusTypeDef Get_6D_Orientation_ZL(uint8_t *ZLow)`

### Parameters
- **ZLow** (uint8_t*) - Required - Pointer to a variable that will receive the status (1 = under threshold).

### Returns
- **LSM6DSOXStatusTypeDef** - Status of the operation.

### Example
```cpp
uint8_t zlow;
AccGyr.Get_6D_Orientation_ZL(&zlow);
```
```

--------------------------------

### Initialize I2C interface

Source: https://github.com/stm32duino/lsm6dsox/blob/main/README.md

Creates and initializes a TwoWire interface for I2C communication with the LSM6DSOX sensor. Required before accessing the sensor over I2C.

```cpp
TwoWire dev_i2c(I2C_SDA, I2C_SCL);  
    dev_i2c.begin();
```

--------------------------------

### Get_6D_Orientation_YH

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/LSM6DSOXSensor-detection.md

Gets the 6D orientation status for the Y-axis high edge.

```APIDOC
## Get_6D_Orientation_YH

### Description
Reads the 6D orientation status for the Y-axis high edge. Returns 1 if the Y-axis is above the threshold (high edge).

### Method
Get_6D_Orientation_YH

### Signature
`LSM6DSOXStatusTypeDef Get_6D_Orientation_YH(uint8_t *YHigh)`

### Parameters
- **YHigh** (uint8_t*) - Required - Pointer to a variable that will receive the status (1 = over threshold).

### Returns
- **LSM6DSOXStatusTypeDef** - Status of the operation.

### Example
```cpp
uint8_t yhigh;
AccGyr.Get_6D_Orientation_YH(&yhigh);
```
```

--------------------------------

### Get_6D_Orientation_YL

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/LSM6DSOXSensor-detection.md

Gets the 6D orientation status for the Y-axis low edge.

```APIDOC
## Get_6D_Orientation_YL

### Description
Reads the 6D orientation status for the Y-axis low edge. Returns 1 if the Y-axis is below the threshold (low edge).

### Method
Get_6D_Orientation_YL

### Signature
`LSM6DSOXStatusTypeDef Get_6D_Orientation_YL(uint8_t *YLow)`

### Parameters
- **YLow** (uint8_t*) - Required - Pointer to a variable that will receive the status (1 = under threshold).

### Returns
- **LSM6DSOXStatusTypeDef** - Status of the operation.

### Example
```cpp
uint8_t ylow;
AccGyr.Get_6D_Orientation_YL(&ylow);
```
```

--------------------------------

### Initialize device with lsm6dsox_init_set

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/lsm6dsox_reg-programmatic.md

Issues the requested initialization by mapping val to the correct init/attention registers. DRV_RDY touches FUNC_CFG_ACCESS/BASIC config, the others set the respective *_init bits, with PEDO/TILT/SMOTION routed through the embedded-function init registers.

```c
typedef enum {
  LSM6DSOX_DRV_RDY   = 0x00, /* Initialize the device for driver usage */
  LSM6DSOX_BOOT      = 0x01, /* Restore calib. param. ( it takes 10ms ) */
  LSM6DSOX_RESET     = 0x02, /* Reset configuration registers */
  LSM6DSOX_FIFO_COMP = 0x04, /* FIFO compression initialization request. */
  LSM6DSOX_FSM       = 0x08, /* Finite State Machine initialization request */
  LSM6DSOX_MLC       = 0x10, /* Machine Learning Core initialization request */
  LSM6DSOX_PEDO      = 0x20, /* Pedometer algo initialization request. */
  LSM6DSOX_TILT      = 0x40, /* Tilt algo initialization request */
  LSM6DSOX_SMOTION   = 0x80, /* Significant Motion initialization request */
} lsm6dsox_init_t;
int32_t lsm6dsox_init_set(lsm6dsox_ctx_t *ctx, lsm6dsox_init_t val);
```

--------------------------------

### Get_6D_Orientation_XH

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/LSM6DSOXSensor-detection.md

Gets the 6D orientation status for the X-axis high edge.

```APIDOC
## Get_6D_Orientation_XH

### Description
Reads the 6D orientation status for the X-axis high edge. Returns 1 if the X-axis is above the threshold (high edge).

### Method
Get_6D_Orientation_XH

### Signature
`LSM6DSOXStatusTypeDef Get_6D_Orientation_XH(uint8_t *XHigh)`

### Parameters
- **XHigh** (uint8_t*) - Required - Pointer to a variable that will receive the status (1 = over threshold).

### Returns
- **LSM6DSOXStatusTypeDef** - Status of the operation.

### Example
```cpp
uint8_t xhigh;
AccGyr.Get_6D_Orientation_XH(&xhigh);
```
```

--------------------------------

### Initialize SPI interface

Source: https://github.com/stm32duino/lsm6dsox/blob/main/README.md

Creates and initializes an SPI interface for communication with the LSM6DSOX sensor. Required before accessing the sensor over SPI.

```cpp
SPIClass dev_spi(SPI_MOSI, SPI_MISO, SPI_SCK);  
    dev_spi.begin();
```

--------------------------------

### Get_6D_Orientation_XL

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/LSM6DSOXSensor-detection.md

Gets the 6D orientation status for the X-axis low edge.

```APIDOC
## Get_6D_Orientation_XL

### Description
Reads the 6D orientation status for the X-axis low edge. Returns 1 if the X-axis is below the threshold (low edge).

### Method
Get_6D_Orientation_XL

### Signature
`LSM6DSOXStatusTypeDef Get_6D_Orientation_XL(uint8_t *XLow)`

### Parameters
- **XLow** (uint8_t*) - Required - Pointer to a variable that will receive the status (1 = under threshold).

### Returns
- **LSM6DSOXStatusTypeDef** - Status of the operation.

### Example
```cpp
uint8_t xlow;
AccGyr.Get_6D_Orientation_XL(&xlow);
```
```

--------------------------------

### lsm6dsox_pin_int2_route_get

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/lsm6dsox_reg-programmatic.md

Gets the current interrupt routing configuration for the INT2 pin.

```APIDOC
## lsm6dsox_pin_int2_route_get

### Description
Gets the current interrupt routing configuration for the INT2 pin.

### Method
Function Call

### Signature
int32_t lsm6dsox_pin_int2_route_get(lsm6dsox_ctx_t *ctx, lsm6dsox_ctx_t *aux_ctx, lsm6dsox_pin_int2_route_t *val)

### Parameters
- **ctx** (lsm6dsox_ctx_t *) - Required - Pointer to the device context.
- **aux_ctx** (lsm6dsox_ctx_t *) - Optional - Pointer to the auxiliary device context. May be NULL when the OIS-related registers are not touched.
- **val** (lsm6dsox_pin_int2_route_t *) - Required - Pointer to the struct where the current routing configuration will be stored.

### Return Value
- **int32_t** - Status code. 0 indicates success, negative values indicate errors.
```

--------------------------------

### Initialize I3C interface

Source: https://github.com/stm32duino/lsm6dsox/blob/main/README.md

Initializes the I3C interface with the specified SDA and SCL pins and a clock frequency of 1 MHz. Required before accessing the sensor over I3C.

```cpp
I3C.begin(I3C_SDA, I3C_SCL, 1000000U);
```

--------------------------------

### Create and enable LSM6DSOX over I2C

Source: https://github.com/stm32duino/lsm6dsox/blob/main/README.md

Creates an LSM6DSOX sensor instance on the I2C bus, initializes it, and enables the accelerometer and gyroscope.

```cpp
LSM6DSOXSensor AccGyr(&dev_i2c);
    AccGyr.begin();
    AccGyr.Enable_X();  
    AccGyr.Enable_G();
```

--------------------------------

### lsm6dsox_pin_int1_route_get

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/lsm6dsox_reg-programmatic.md

Gets the current interrupt routing configuration for the INT1 pin.

```APIDOC
## lsm6dsox_pin_int1_route_get

### Description
Gets the current interrupt routing configuration for the INT1 pin.

### Method
Function Call

### Signature
int32_t lsm6dsox_pin_int1_route_get(lsm6dsox_ctx_t *ctx, lsm6dsox_pin_int1_route_t *val)

### Parameters
- **ctx** (lsm6dsox_ctx_t *) - Required - Pointer to the device context.
- **val** (lsm6dsox_pin_int1_route_t *) - Required - Pointer to the struct where the current routing configuration will be stored.

### Return Value
- **int32_t** - Status code. 0 indicates success, negative values indicate errors.
```

--------------------------------

### lsm6dsox_data_ready_mode_get

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/lsm6dsox_reg.md

Reads the current data-ready mode.

```APIDOC
## lsm6dsox_data_ready_mode_get

### Description
Reads the current data-ready mode.

### Method
Function call

### Endpoint
`int32_t lsm6dsox_data_ready_mode_get(lsm6dsox_ctx_t *ctx, lsm6dsox_dataready_pulsed_t *val)`

### Parameters
- **ctx** (lsm6dsox_ctx_t*) - Required - Pointer to the sensor context.
- **val** (lsm6dsox_dataready_pulsed_t*) - Required - Pointer to a variable where the data-ready mode will be stored.

### Response
- Returns 0 on success, or a negative error code on failure.
- The data-ready mode is stored in `val`.
```

--------------------------------

### I/O callback types and context (lsm6dsox_ctx_t)

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/types.md

Defines the I/O callback types and the context structure accepted by every lsm6dsox_* function. In this library it is filled by the LSM6DSOXSensor constructors with LSM6DSOX_io_write/LSM6DSOX_io_read and handle = this.

```c
typedef int32_t (*lsm6dsox_write_ptr)(void *, uint8_t, uint8_t *, uint16_t);
typedef int32_t (*lsm6dsox_read_ptr)(void *, uint8_t, uint8_t *, uint16_t);

typedef struct {
  lsm6dsox_write_ptr  write_reg;
  lsm6dsox_read_ptr   read_reg;
  void *handle;
} lsm6dsox_ctx_t;
```

--------------------------------

### lsm6dsox_data_get

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/lsm6dsox_reg-programmatic.md

Reads all enabled data chains (UI XL in mg + raw, UI gyro in mdps + raw, temperature in °C, OIS XL/gyro) in one call. Uses the mode structure to know what is enabled.

```APIDOC
## lsm6dsox_data_get

### Description
Reads all enabled data chains (UI XL in mg + raw, UI gyro in mdps + raw, temperature in °C, OIS XL/gyro) in one call. Uses the mode structure to know what is enabled.

### Function Signature
int32_t lsm6dsox_data_get(lsm6dsox_ctx_t *ctx, lsm6dsox_ctx_t *aux_ctx, lsm6dsox_md_t *md, lsm6dsox_data_t *data);

### Parameters
- **ctx** (lsm6dsox_ctx_t *) - Required - Pointer to the main sensor context.
- **aux_ctx** (lsm6dsox_ctx_t *) - Optional - Pointer to the auxiliary sensor context (can be NULL).
- **md** (lsm6dsox_md_t *) - Required - Pointer to the mode structure indicating which chains are enabled.
- **data** (lsm6dsox_data_t *) - Required - Pointer to the data structure where the read values will be stored.

### Return Value
- **int32_t** - Returns 0 on success, non-zero on error.

### Example
```c
lsm6dsox_data_t data;
if (lsm6dsox_data_get(&ctx, NULL, &md, &data) == 0) {
  float ax_mg = data.ui.xl.mg[0];
}
```
```

--------------------------------

### Create and enable LSM6DSOX over I3C with ENTDAA

Source: https://github.com/stm32duino/lsm6dsox/blob/main/README.md

Creates and enables an LSM6DSOX sensor over I3C using ENTDAA (dynamic address discovery). Discovers devices, finds the dynamic address by matching LSM6DSOX_I3C_PID, sets the clock to 12.5 MHz, and enables accelerometer and gyroscope.

```cpp
LSM6DSOXSensor AccGyr(&I3C);
    I3C.begin(I3C_SDA, I3C_SCL, 1000000U);
    I3C.discover(devices, 8, &found);
    // find dynAddr by matching LSM6DSOX_I3C_PID in discovered devices
    AccGyr.begin(dynAddr);
    I3C.setClock(12500000);
    AccGyr.Enable_X();
    AccGyr.Enable_G();
```

--------------------------------

### lsm6dsox_boot_get

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/lsm6dsox_reg.md

Reads the boot bit value.

```APIDOC
## lsm6dsox_boot_get

### Description
Reads the boot bit value.

### Method
Function call

### Endpoint
`int32_t lsm6dsox_boot_get(lsm6dsox_ctx_t *ctx, uint8_t *val)`

### Parameters
- **ctx** (lsm6dsox_ctx_t*) - Required - Pointer to the sensor context.
- **val** (uint8_t*) - Required - Pointer to a variable where the boot bit value will be stored.

### Response
- Returns 0 on success, or a negative error code on failure.
- The boot bit value is stored in `val`.
```

--------------------------------

### Programmatic High-Level API

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/lsm6dsox_reg-programmatic.md

High-level functions for device identification and initialization requests.

```APIDOC
## lsm6dsox_id_get

### Description
Reads the WHO_AM_I of the UI interface and the auxiliary interface into an `lsm6dsox_id_t` structure.

### Function Signature
```c
int32_t lsm6dsox_id_get(lsm6dsox_ctx_t *ctx, lsm6dsox_ctx_t *aux_ctx, lsm6dsox_id_t *val);
```

### Parameters
- **ctx** (lsm6dsox_ctx_t*) - Required - Pointer to the UI interface context.
- **aux_ctx** (lsm6dsox_ctx_t*) - Optional - Pointer to the auxiliary interface context; may be `NULL` (then `aux` is set to 0).
- **val** (lsm6dsox_id_t*) - Required - Pointer to the structure where the device IDs will be stored.

### Return Value
- **int32_t** - `0` on success, non-zero on error.

### Notes
- The `lsm6dsox_id_t` structure contains two fields: `ui` (uint8_t) and `aux` (uint8_t).
```

```APIDOC
## lsm6dsox_init_set

### Description
Issues a device initialization request by mapping the given initialization flag to the appropriate init/attention registers.

### Function Signature
```c
int32_t lsm6dsox_init_set(lsm6dsox_ctx_t *ctx, lsm6dsox_init_t val);
```

### Parameters
- **ctx** (lsm6dsox_ctx_t*) - Required - Pointer to the device context.
- **val** (lsm6dsox_init_t) - Required - Initialization request flag. Possible values:
  - `LSM6DSOX_DRV_RDY` (0x00) - Initialize the device for driver usage.
  - `LSM6DSOX_BOOT` (0x01) - Restore calibration parameters (takes 10ms).
  - `LSM6DSOX_RESET` (0x02) - Reset configuration registers.
  - `LSM6DSOX_FIFO_COMP` (0x04) - FIFO compression initialization request.
  - `LSM6DSOX_FSM` (0x08) - Finite State Machine initialization request.
  - `LSM6DSOX_MLC` (0x10) - Machine Learning Core initialization request.
  - `LSM6DSOX_PEDO` (0x20) - Pedometer algorithm initialization request.
  - `LSM6DSOX_TILT` (0x40) - Tilt algorithm initialization request.
  - `LSM6DSOX_SMOTION` (0x80) - Significant Motion initialization request.

### Return Value
- **int32_t** - `0` on success, non-zero on error.

### Notes
- `LSM6DSOX_DRV_RDY` touches FUNC_CFG_ACCESS/BASIC config.
- The other flags set the respective `*_init` bits.
- `LSM6DSOX_PEDO`, `LSM6DSOX_TILT`, and `LSM6DSOX_SMOTION` are routed through the embedded-function init registers.
```

--------------------------------

### LSM6DSOX raw data read functions

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/lsm6dsox_reg.md

All functions take a uint8_t *buff of fixed size and return int32_t. The comments indicate the expected buffer size and the corresponding register or data source: temperature (2 bytes OUT_TEMP_L/H), angular rate (6 bytes GYRO), acceleration (6 bytes XL), FIFO output (6 bytes FIFO_DATA_OUT), OIS angular rate and acceleration (6 bytes OIS_*_OUT), auxiliary temperature, auxiliary OIS angular rate and acceleration, timestamp (4 bytes TIMESTAMP0..3), step counter (2 bytes), steps reset, and MLC output (8 bytes MLC0_SRC..).

```c
int32_t lsm6dsox_temperature_raw_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);      /* 2 bytes (OUT_TEMP_L/H) */
int32_t lsm6dsox_angular_rate_raw_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);      /* 6 bytes GYRO */
int32_t lsm6dsox_acceleration_raw_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);      /* 6 bytes XL */
int32_t lsm6dsox_fifo_out_raw_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);          /* 6 bytes FIFO_DATA_OUT */
int32_t lsm6dsox_ois_angular_rate_raw_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);  /* 6 bytes OIS_*_OUT */
int32_t lsm6dsox_ois_acceleration_raw_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_aux_temperature_raw_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_aux_ois_angular_rate_raw_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_aux_ois_acceleration_raw_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);
int32_t lsm6dsox_timestamp_raw_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);         /* 4 bytes TIMESTAMP0..3 */
int32_t lsm6dsox_number_of_steps_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);       /* 2 bytes step counter */
int32_t lsm6dsox_steps_reset(lsm6dsox_ctx_t *ctx);
int32_t lsm6dsox_mlc_out_get(lsm6dsox_ctx_t *ctx, uint8_t *buff);               /* 8 bytes MLC0_SRC.. */
```

--------------------------------

### Create and enable LSM6DSOX over SPI

Source: https://github.com/stm32duino/lsm6dsox/blob/main/README.md

Creates an LSM6DSOX sensor instance on the SPI bus with a chip-select pin, initializes it, and enables the accelerometer and gyroscope.

```cpp
LSM6DSOXSensor AccGyr(&dev_spi, CS_PIN);
    AccGyr.begin();	
    AccGyr.Enable_X();  
    AccGyr.Enable_G();
```

--------------------------------

### getStaticAddress()

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/LSM6DSOXSensor.md

Returns the I3C static 7-bit address provided at construction.

```APIDOC
## getStaticAddress()

### Description
Returns the I3C static 7-bit address given at construction (`i3c_static7`). Used in the SETDASA flow: `I3C.assignDynamicAddress(AccGyr.getStaticAddress(), LSM6DSOX_DYNAMIC_ADDRESS)`.

### Method
getStaticAddress

### Parameters
None

### Returns
- **uint8_t** - The I3C static 7-bit address.
```

--------------------------------

### Read all status sources with lsm6dsox_all_sources_get

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/lsm6dsox_reg-programmatic.md

Declares the all-sources status struct and its getter. Reads every status source at once: DRDY flags, wake-up axis bits (wake_up_z/y/x), tap axis/sign bits, 6D edges (six_d_xl/xh/yl/yh/zl/zh), step/tilt/sig-motion, FSM/MLC flags, sensor-hub NACK and end-of-operation, fifo_diff (10-bit unread sample count), and FIFO status flags. This is the register-level equivalent of Get_X_Event_Status.

```c
typedef struct { uint8_t drdy_xl : 1; ... uint16_t fifo_diff : 10; uint8_t fifo_ovr_latched : 1; ...
} lsm6dsox_all_sources_t;
int32_t lsm6dsox_all_sources_get(lsm6dsox_ctx_t *ctx, lsm6dsox_all_sources_t *val);
```

--------------------------------

### FIFO polling pattern (examples/LSM6DSOX_FIFO_Polling_I2C)

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/LSM6DSOXSensor-fifo.md

Configures the FIFO with a 104 Hz batch rate, bypass mode to flush, watermark 199, then stream mode. Polls the watermark status and drains samples by tag, reading gyro or accel axes or consuming other tags.

```cpp
// Polling pattern (examples/LSM6DSOX_FIFO_Polling_I2C)
AccGyr.Set_FIFO_X_BDR(104.0f);
AccGyr.Set_FIFO_G_BDR(104.0f);
AccGyr.Set_FIFO_Mode(LSM6DSOX_BYPASS_MODE); // flush
AccGyr.Set_FIFO_Watermark_Level(199);
AccGyr.Set_FIFO_Mode(LSM6DSOX_STREAM_MODE); // start batching

uint8_t wtm = 0;
AccGyr.Get_FIFO_Watermark_Status(&wtm);
if (wtm) {
  uint8_t tag;
  int32_t a[3], g[3];
  for (uint16_t i = 0; i < 199; i++) {
    AccGyr.Get_FIFO_Tag(&tag);
    if (tag == 1) {
      AccGyr.Get_FIFO_G_Axes(g);       // gyro sample (mdps)
    } else if (tag == 2) {
      AccGyr.Get_FIFO_X_Axes(a);       // accel sample (mg)
    } else {
      uint8_t dummy[6];
      AccGyr.Get_FIFO_Data(dummy);     // consume other tags
    }
  }
}
```

--------------------------------

### Register I/O wrappers: lsm6dsox_read_reg and lsm6dsox_write_reg

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/lsm6dsox_reg.md

Thin wrappers that call the context's read_reg/write_reg callbacks with the stored handle. Defined at lsm6dsox_reg.c:49 and :67.

```c
int32_t lsm6dsox_read_reg(lsm6dsox_ctx_t *ctx, uint8_t reg, uint8_t *data, uint16_t len);
int32_t lsm6dsox_write_reg(lsm6dsox_ctx_t *ctx, uint8_t reg, uint8_t *data, uint16_t len);

```

--------------------------------

### lsm6dsox_status_get

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/lsm6dsox_reg-programmatic.md

Retrieves the aggregate real-time status of the UI and OIS chains, including reset and boot in progress flags.

```APIDOC
## lsm6dsox_status_get

### Description
Retrieves the aggregate real-time status of the UI and OIS chains, including reset and boot in progress flags.

### Function Signature
```c
int32_t lsm6dsox_status_get(lsm6dsox_ctx_t *ctx, lsm6dsox_ctx_t *aux_ctx, lsm6dsox_status_t *val);
```

### Parameters
- **ctx** (lsm6dsox_ctx_t*) - Required - Pointer to the main sensor context.
- **aux_ctx** (lsm6dsox_ctx_t*) - Required - Pointer to the auxiliary sensor context.
- **val** (lsm6dsox_status_t*) - Required - Pointer to a structure where the status flags will be stored.

### Status Structure
```c
typedef struct {
  uint8_t sw_reset           : 1;
  uint8_t boot               : 1;
  uint8_t drdy_xl            : 1;
  uint8_t drdy_g             : 1;
  uint8_t drdy_temp          : 1;
  uint8_t ois_drdy_xl        : 1;
  uint8_t ois_drdy_g         : 1;
  uint8_t ois_gyro_settling  : 1;
} lsm6dsox_status_t;
```

### Return Value
- **int32_t** - Returns 0 on success, or a negative error code on failure.

```

--------------------------------

### FIFO configuration method signatures

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/LSM6DSOXSensor-fifo.md

Declarations for configuring the FIFO: watermark level, stop-on-watermark, mode, and batch data rates for accelerometer and gyroscope.

```cpp
LSM6DSOXStatusTypeDef Set_FIFO_Watermark_Level(uint16_t Watermark);
LSM6DSOXStatusTypeDef Set_FIFO_Stop_On_Fth(uint8_t Status);
LSM6DSOXStatusTypeDef Set_FIFO_Mode(uint8_t Mode);
LSM6DSOXStatusTypeDef Set_FIFO_X_BDR(float Bdr);
LSM6DSOXStatusTypeDef Set_FIFO_G_BDR(float Bdr);
```

--------------------------------

### LSM6DSOXSensor class lifecycle method declarations

Source: https://github.com/stm32duino/lsm6dsox/blob/main/_autodocs/api-reference/LSM6DSOXSensor.md

Declarations for begin, end, ReadID, and I3C address getters. The getStaticAddress/getDynAddress methods are conditionally compiled with I3C_SUPPORTED.

```cpp
LSM6DSOXStatusTypeDef begin(uint8_t new_address = 0);
LSM6DSOXStatusTypeDef end();
LSM6DSOXStatusTypeDef ReadID(uint8_t *Id);
#if defined(I3C_SUPPORTED)
uint8_t getStaticAddress() const;
uint8_t getDynAddress() const;
#endif
```
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