基于STM32C8T6的IIS3DWB SPI轮询通信测试代码-CSDN博客

本文链接：https://blog.csdn.net/m0_52011717/article/details/145865253

硬件平台STM32C8T6+IIS3DWB三轴加速度传感器

在这里插入图片描述

List item

这个代码实现了：

SPI接口的硬件控制
手动NSS片选管理
传感器初始化配置
加速度和温度的轮询采集
通过USB CDC输出格式化数据
代码可以完美运行，USB速率可以达到12M，量程可达±16g，采样速率最高26.6K。
参考原理图：

采用CubeMX生成HAL库，STM32C8T6的引脚配置情况如下，使用SPI1，CS引脚可以根据需求随意设置，USB引脚是固定的。
在这里插入图片描述

/* main.c */
#include "main.h"
#include "iis3dwb_reg.h"

SPI_HandleTypeDef hspi1;
extern USBD_HandleTypeDef hUsbDeviceFS;

/* 传感器上下文 */
stmdev_ctx_t dev_ctx;

/* 私有函数声明 */
static void SPI1_Init(void);
static void GPIO_Init(void);
static int32_t platform_write(void *handle, uint8_t reg, const uint8_t *bufp, uint16_t len);
static int32_t platform_read(void *handle, uint8_t reg, uint8_t *bufp, uint16_t len);
static void Error_Handler(void);

int main(void)
{
   
  HAL_Init();
  SystemClock_Config();
  GPIO_Init();
  SPI1_Init();
  MX_USB_DEVICE_Init();

  /* 初始化传感器接口 */
  dev_ctx.write_reg = platform_write;
  dev_ctx.read_reg = platform_read;
  dev_ctx.handle = &hspi1;

  /* 等待传感器启动 */
  HAL_Delay(100);

  /* 验证设备ID */
  uint8_t whoamI;
  iis3dwb_device_id_get(&dev_ctx, &whoamI);
  if (whoamI != IIS3DWB_ID) {
   
      Error_Handler();
  }

  /* 传感器配置 */
  iis3dwb_reset_set(&dev_ctx, PROPERTY_ENABLE);
  HAL_Delay(10);
  
  iis3dwb_block_data_update_set(&dev_ctx, PROPERTY_ENABLE);
  iis3dwb_xl_data_rate_set(&dev_ctx, IIS3DWB_XL_ODR_26k7Hz);
  iis3dwb_xl_full_scale_set(&dev_ctx, IIS3DWB_2g);
  iis3dwb_xl_filt_path_on_out_set(&dev_ctx, IIS3DWB_LP_ODR_DIV_100);

  int16_t data_raw_acc[3];
  int16_t data_raw_temp;
  float acc_mg[3];
  float temp_degC;
  uint8_t status;

  while (1)
  {
   
    /* 轮询加速度数据 */
    iis3dwb_xl_flag_data_ready_get(&dev_ctx, &status);
    if (status) {
   
        iis3dwb_acceleration_raw_get(&dev_ctx, data_raw_acc);
        acc_mg[0] = iis3dwb_from_fs2g_to_mg(data_raw_acc[0]);
        acc_mg[1] = iis3dwb_from_fs2g_to_mg(data_raw_acc[1]);
        acc_mg[2] = iis3dwb_from_fs2g_to_mg(data_raw_acc[2]);

        char buf[100];
        int len = snprintf(buf, sizeof(buf), "Acc: X=%.2f mg, Y=%.2f mg, Z=%.2f mg\r\n", 
                          acc_mg[0], acc_mg[1], acc_mg[2]);
        CDC_Transmit_FS((uint8_t*)buf, len);
    }

    /* 轮询温度数据 */
    iis3dwb_temp_flag_data_ready_get(&dev_ctx, &status);
    if (status) {
   
        iis3dwb_temperature_raw_get(&dev_ctx, &data_raw_temp);
        temp_degC = iis3dwb_from_lsb_to_celsius(data_raw_temp);

        char buf[50];
        int len = snprintf(buf, sizeof(buf), "Temp: %.2f C\r\n", temp_degC);
        CDC_Transmit_FS((uint8_t*)buf, len);
    }

    HAL_Delay(10);
  }
}

/* SPI读写实现 */
static int32_t platform_write(void *handle, uint8_t reg, const uint8_t *bufp, uint16_t len)
{
   
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET);
  
  /* 添加寄存器写标志 */
  reg |= 0x00; // 写操作不需要修改寄存器地址
  
  HAL_SPI_Transmit(handle, &reg, 1, 100);
  HAL_SPI_Transmit(handle, (uint8_t*)bufp, len, 100);
  
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_SET);
  return 0;
}

static int32_t platform_read(void *handle, uint8_t reg, uint8_t *bufp, uint16_t len)
{
   
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET);
  
  /* 添加寄存器读标志 */
  reg |= 0x80; // 设置读位
  
  HAL_SPI_Transmit(handle, &reg, 1, 100);
  HAL_SPI_Receive(handle, bufp, len, 100);
  
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_SET);
  return 0;
}

/* SPI初始化 */
static void SPI1_Init(void)
{
   
  hspi1.Instance = SPI1;
  hspi1.Init.Mode = SPI_MODE_MASTER;
  hspi1.Init.Direction = SPI_DIRECTION_2LINES;
  hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
  hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
  hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
  hspi1.Init.NSS = SPI_NSS_SOFT;
  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
  hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
  hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
  hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  if (HAL_SPI_Init(&hspi1) != HAL_OK) {
   
      Error_Handler();
  }
}

/* GPIO初始化 */
static void GPIO_Init(void)
{
   
  __HAL_RCC_GPIOB_CLK_ENABLE();
  
  GPIO_InitTypeDef GPIO_InitStruct = {
   0};
  /* NSS引脚配置 */
  GPIO_InitStruct.Pin = GPIO_PIN_0;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_SET);
  
  /* SPI引脚配置 */
  GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  GPIO_InitStruct.Alternate = GPIO_AF0_SPI1;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}

static void Error_Handler(void)
{
   
  while(1) {
   
      HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);
      HAL_Delay(100);
  }
}

/* 系统时钟配置和USB初始化需要根据实际工程配置 */

下面是iis3dwb_reg.c和iis3dwb_reg.h文件，是官方的文件，比较重要。

/**
  ******************************************************************************
  * @file    iis3dwb_reg.c
  * @author  Sensors Software Solution Team
  * @brief   IIS3DWB 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 "iis3dwb_reg.h"
#include <string.h>

/**
  * @defgroup    IIS3DWB
  * @brief       This file provides a set of functions needed to drive the
  *              iis3dwb enhanced inertial module.
  * @{
  *
  */

/**
  * @defgroup    IIS3DWB_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 iis3dwb_read_reg(const stmdev_ctx_t *ctx, uint8_t reg,
                                uint8_t *data,
                                uint16_t len)
{
   
  if (ctx == NULL) return -1;

  return ctx->read_reg(ctx->handle, reg, data, len);
}

/**
  * @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 iis3dwb_write_reg(const stmdev_ctx_t *ctx, uint8_t reg,
                                 uint8_t *data,
                                 uint16_t len)
{
   
  if (ctx == NULL) return -1;

  return ctx->write_reg(ctx->handle, reg, data, len);
}

/**
  * @}
  *
  */

/**
  * @defgroup  Private functions
  * @brief     Section collect all the utility functions needed by APIs.
  * @{
  *
  */

static void bytecpy(uint8_t *target, const uint8_t *source)
{
   
  if ((target != NULL) && (source != NULL))
  {
   
    *target = *source;
  }
}

/**
  * @}
  *
  */

/**
  * @defgroup    IIS3DWB_Sensitivity
  * @brief       These functions convert raw-data into engineering units.
  * @{
  *
  */

float_t iis3dwb_from_fs2g_to_mg(int16_t lsb)
{
   
  return ((float_t)lsb * 0.061f);
}

float_t iis3dwb_from_fs4g_to_mg(int16_t lsb)
{
   
  return ((float_t)lsb * 0.122f);
}

float_t iis3dwb_from_fs8g_to_mg(int16_t lsb)
{
   
  return ((float_t)lsb * 0.244f);
}

float_t iis3dwb_from_fs16g_to_mg(int16_t lsb)
{
   
  return ((float_t)lsb * 0.488f);
}

float_t iis3dwb_from_lsb_to_celsius(int16_t lsb)
{
   
  return (((float_t)lsb / 256.0f) + 25.0f);
}

float_t iis3dwb_from_lsb_to_nsec(int32_t lsb)
{
   
  return ((float_t)lsb * 25000.0f);
}

/**
  * @}
  *
  */

/**
  * @defgroup   LSM9DS1_Data_generation
  * @brief      This section groups all the functions concerning data
  *             generation
  * @{
  *
  */

/**
  * @brief  Accelerometer full-scale selection[set]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  val    Change the values of fs_xl in reg CTRL1_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_xl_full_scale_set(const stmdev_ctx_t *ctx,
                                  iis3dwb_fs_xl_t val)
{
   
  iis3dwb_ctrl1_xl_t ctrl1_xl;

  int32_t ret = iis3dwb_read_reg(ctx, IIS3DWB_CTRL1_XL, (uint8_t *)&ctrl1_xl, 1);

  if (ret == 0)
  {
   
    ctrl1_xl.fs_xl = (uint8_t)val;
    ret = iis3dwb_write_reg(ctx, IIS3DWB_CTRL1_XL,
                            (uint8_t *)&ctrl1_xl, 1);
  }

  return ret;
}

/**
  * @brief  Accelerometer full-scale selection.[get]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  val    Get the values of fs_xl in reg CTRL1_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_xl_full_scale_get(const stmdev_ctx_t *ctx,
                                  iis3dwb_fs_xl_t *val)
{
   
  iis3dwb_ctrl1_xl_t ctrl1_xl;

  const int32_t ret = iis3dwb_read_reg(ctx, IIS3DWB_CTRL1_XL, (uint8_t *)&ctrl1_xl, 1);

  switch (ctrl1_xl.fs_xl)
  {
   
    case IIS3DWB_2g:
      *val = IIS3DWB_2g;
      break;

    case IIS3DWB_16g:
      *val = IIS3DWB_16g;
      break;

    case IIS3DWB_4g:
      *val = IIS3DWB_4g;
      break;

    case IIS3DWB_8g:
      *val = IIS3DWB_8g;
      break;

    default:
      *val = IIS3DWB_2g;
      break;
  }

  return ret;
}

/**
  * @brief  Accelerometer UI data rate selection.[set]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  val    Change the values of xl_en in reg CTRL1_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_xl_data_rate_set(const stmdev_ctx_t *ctx,
                                 iis3dwb_odr_xl_t val)
{
   
  iis3dwb_ctrl1_xl_t ctrl1_xl;

  int32_t ret = iis3dwb_read_reg(ctx, IIS3DWB_CTRL1_XL, (uint8_t *)&ctrl1_xl, 1);

  if (ret == 0)
  {
   
    ctrl1_xl.xl_en = (uint8_t)val;
    ret = iis3dwb_write_reg(ctx, IIS3DWB_CTRL1_XL,
                            (uint8_t *)&ctrl1_xl, 1);
  }

  return ret;
}

/**
  * @brief  Accelerometer UI data rate selection.[get]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  val    Get the values of odr_xl in reg CTRL1_XL
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_xl_data_rate_get(const stmdev_ctx_t *ctx,
                                 iis3dwb_odr_xl_t *val)
{
   
  iis3dwb_ctrl1_xl_t ctrl1_xl;

  const int32_t ret = iis3dwb_read_reg(ctx, IIS3DWB_CTRL1_XL, (uint8_t *)&ctrl1_xl, 1);

  switch (ctrl1_xl.xl_en)
  {
   
    case IIS3DWB_XL_ODR_OFF:
      *val = IIS3DWB_XL_ODR_OFF;
      break;

    case IIS3DWB_XL_ODR_26k7Hz:
      *val = IIS3DWB_XL_ODR_26k7Hz;
      break;

    default:
      *val = IIS3DWB_XL_ODR_OFF;
      break;
  }

  return ret;
}

/**
  * @brief  Block data update.[set]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  val    Change the values of bdu in reg CTRL3_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_block_data_update_set(const stmdev_ctx_t *ctx, uint8_t val)
{
   
  iis3dwb_ctrl3_c_t ctrl3_c;

  int32_t ret = iis3dwb_read_reg(ctx, IIS3DWB_CTRL3_C, (uint8_t *)&ctrl3_c, 1);

  if (ret == 0)
  {
   
    ctrl3_c.bdu = (uint8_t)val;
    ret = iis3dwb_write_reg(ctx, IIS3DWB_CTRL3_C, (uint8_t *)&ctrl3_c, 1);
  }

  return ret;
}

/**
  * @brief  Block data update.[get]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  val    Change the values of bdu in reg CTRL3_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_block_data_update_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
   
  iis3dwb_ctrl3_c_t ctrl3_c;

  const int32_t ret = iis3dwb_read_reg(ctx, IIS3DWB_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.(ptr)
  * @param  val    Change the values of usr_off_w in reg CTRL6_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_xl_offset_weight_set(const stmdev_ctx_t *ctx,
                                     iis3dwb_usr_off_w_t val)
{
   
  iis3dwb_ctrl6_c_t ctrl6_c;

  int32_t ret = iis3dwb_read_reg(ctx, IIS3DWB_CTRL6_C, (uint8_t *)&ctrl6_c, 1);

  if (ret == 0)
  {
   
    ctrl6_c.usr_off_w = (uint8_t)val;
    ret = iis3dwb_write_reg(ctx, IIS3DWB_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.(ptr)
  * @param  val    Get the values of usr_off_w in reg CTRL6_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_xl_offset_weight_get(const stmdev_ctx_t *ctx,
                                     iis3dwb_usr_off_w_t *val)
{
   
  iis3dwb_ctrl6_c_t ctrl6_c;

  const int32_t ret = iis3dwb_read_reg(ctx, IIS3DWB_CTRL6_C, (uint8_t *)&ctrl6_c, 1);

  switch (ctrl6_c.usr_off_w)
  {
   
    case IIS3DWB_LSb_1mg:
      *val = IIS3DWB_LSb_1mg;
      break;

    case IIS3DWB_LSb_16mg:
      *val = IIS3DWB_LSb_16mg;
      break;

    default:
      *val = IIS3DWB_LSb_1mg;
      break;
  }

  return ret;
}

/**
  * @brief  select accelerometer axis.[set]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  val    Change the values of xl_axis_sel in reg CTRL6_C and
  *                the values of _1ax_to_3regout in reg CTRL4_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_xl_axis_selection_set(const stmdev_ctx_t *ctx,
                                      iis3dwb_xl_axis_sel_t val)
{
   
  iis3dwb_ctrl4_c_t ctrl4_c;
  iis3dwb_ctrl6_c_t ctrl6_c;

  int32_t ret = iis3dwb_read_reg(ctx, IIS3DWB_CTRL4_C, (uint8_t *)&ctrl4_c, 1);

  if (ret == 0)
  {
   
    ctrl4_c._1ax_to_3regout = ((uint8_t)val & 0x10U) >> 4;
    ret = iis3dwb_write_reg(ctx, IIS3DWB_CTRL4_C, (uint8_t *)&ctrl4_c, 1);
  }

  if (ret == 0)
  {
   
    ret = iis3dwb_read_reg(ctx, IIS3DWB_CTRL6_C, (uint8_t *)&ctrl6_c, 1);
  }

  if (ret == 0)
  {
   
    ctrl6_c.xl_axis_sel = (uint8_t)val;
    ret = iis3dwb_write_reg(ctx, IIS3DWB_CTRL6_C, (uint8_t *)&ctrl6_c, 1);
  }

  return ret;
}

/**
  * @brief  select accelerometer axis.[get]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  val    Get the values of xl_axis_sel in reg CTRL6_C and
  *                the values of _1ax_to_3regout in reg CTRL4_C.(ptr)
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_xl_axis_selection_get(const stmdev_ctx_t *ctx,
                                      iis3dwb_xl_axis_sel_t *val)
{
   
  iis3dwb_ctrl4_c_t ctrl4_c;
  iis3dwb_ctrl6_c_t ctrl6_c;

  *val = IIS3DWB_ENABLE_ALL;

  int32_t ret = iis3dwb_read_reg(ctx, IIS3DWB_CTRL4_C, (uint8_t *)&ctrl4_c, 1);
  if (ret != 0) {
    return ret; }

  ret = iis3dwb_read_reg(ctx, IIS3DWB_CTRL6_C, (uint8_t *)&ctrl6_c, 1);
  if (ret != 0) {
    return ret; }

  switch ((ctrl4_c._1ax_to_3regout << 4) + ctrl6_c.xl_axis_sel)
  {
   
    case IIS3DWB_ENABLE_ALL:
      *val = IIS3DWB_ENABLE_ALL;
      break;

    case IIS3DWB_ONLY_X_ON_ONE_OUT_REG:
      *val = IIS3DWB_ONLY_X_ON_ONE_OUT_REG;
      break;

    case IIS3DWB_ONLY_Y_ON_ONE_OUT_REG:
      *val = IIS3DWB_ONLY_Y_ON_ONE_OUT_REG;
      break;

    case IIS3DWB_ONLY_Z_ON_ONE_OUT_REG:
      *val = IIS3DWB_ONLY_Z_ON_ONE_OUT_REG;
      break;

    case IIS3DWB_ONLY_X_ON_ALL_OUT_REG:
      *val = IIS3DWB_ONLY_X_ON_ALL_OUT_REG;
      break;

    case IIS3DWB_ONLY_Y_ON_ALL_OUT_REG:
      *val = IIS3DWB_ONLY_Y_ON_ALL_OUT_REG;
      break;

    case IIS3DWB_ONLY_Z_ON_ALL_OUT_REG:
      *val = IIS3DWB_ONLY_Z_ON_ALL_OUT_REG;
      break;

    default:
      *val = IIS3DWB_ENABLE_ALL;
      break;
  }

  return ret;
}

/**
  * @brief  Read all the interrupt flag of the device.[get]
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  val    Get registers ALL_INT_SRC; WAKE_UP_SRC;
  *                              TAP_SRC; D6D_SRC; STATUS_REG;
  *                              EMB_FUNC_STATUS; FSM_STATUS_A/B
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_all_sources_get(const stmdev_ctx_t *ctx,
                                iis3dwb_all_sources_t *val)
{
   
  int32_t ret = iis3dwb_read_reg(ctx, IIS3DWB_ALL_INT_SRC,
                         (uint8_t *)&val->all_int_src, 1);

  if (ret == 0)
  {
   
    ret = iis3dwb_read_reg(ctx, IIS3DWB_WAKE_UP_SRC,
                           (uint8_t *)&val->wake_up_src, 1);
  }

  if (ret == 0)
  {
   
    ret = iis3dwb_read_reg(ctx, IIS3DWB_STATUS_REG,
                           (uint8_t *)&val->status_reg, 1);
  }

  return ret;
}

/**
  * @brief  The STATUS_REG register is read by the primary interface.[get]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  val    Get register STATUS_REG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_status_reg_get(const stmdev_ctx_t *ctx,
                               iis3dwb_status_reg_t *val)
{
   
  const int32_t ret = iis3dwb_read_reg(ctx, IIS3DWB_STATUS_REG, (uint8_t *) val, 1);

  return ret;
}

/**
  * @brief  Accelerometer new data available.[get]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  val    Change the values of xlda in reg STATUS_REG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_xl_flag_data_ready_get(const stmdev_ctx_t *ctx,
                                       uint8_t *val)
{
   
  iis3dwb_status_reg_t status_reg;

  const int32_t ret = iis3dwb_read_reg(ctx, IIS3DWB_STATUS_REG,
                         (uint8_t *)&status_reg, 1);
  *val = status_reg.xlda;

  return ret;
}

/**
  * @brief  Temperature new data available.[get]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  val    Change the values of tda in reg STATUS_REG
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_temp_flag_data_ready_get(const stmdev_ctx_t *ctx,
                                         uint8_t *val)
{
   
  iis3dwb_status_reg_t status_reg;

  const int32_t ret = iis3dwb_read_reg(ctx, IIS3DWB_STATUS_REG,
                         (uint8_t *)&status_reg, 1);
  *val = status_reg.tda;

  return ret;
}

/**
  * @brief  Enables the accelerometer user offset correction block, can be enabled
  * by setting the USR_OFF_ON_OUT bit of the CTRL7_C register.[set]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  val    Change the values of USR_OFF_ON_OUT in reg CTRL7_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_usr_offset_block_set(const stmdev_ctx_t *ctx, uint8_t val)
{
   
  iis3dwb_ctrl7_c_t ctrl7_c;

  int32_t ret = iis3dwb_read_reg(ctx, IIS3DWB_CTRL7_C, (uint8_t *)&ctrl7_c, 1);

  if (ret == 0)
  {
   
    ctrl7_c.usr_off_on_out = val;
    ret = iis3dwb_write_reg(ctx, IIS3DWB_CTRL7_C, (uint8_t *)&ctrl7_c, 1);
  }

  return ret;
}

/**
  * @brief  Enables the accelerometer user offset correction block, can be enabled
  * by setting the USR_OFF_ON_OUT bit of the CTRL7_C register.[get]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  val    Change the values of USR_OFF_ON_OUT in reg CTRL7_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_usr_offset_block_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
   
  iis3dwb_ctrl7_c_t ctrl7_c;

  const int32_t ret = iis3dwb_read_reg(ctx, IIS3DWB_CTRL7_C, (uint8_t *)&ctrl7_c, 1);
  *val = ctrl7_c.usr_off_on_out;

  return ret;
}

/**
  * @brief  Accelerometer X-axis user offset correction expressed in two’s
  *         complement, weight depends on USR_OFF_W in CTRL6_C (15h).
  *         The value must be in the range [-127 127].[set]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  buff   Buffer that contains data to write
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_xl_usr_offset_x_set(const stmdev_ctx_t *ctx, uint8_t *buff)
{
   
  const int32_t ret = iis3dwb_write_reg(ctx, IIS3DWB_X_OFS_USR, buff, 1);

  return ret;
}

/**
  * @brief  Accelerometer X-axis user offset correction expressed in two’s
  *         complement, weight depends on USR_OFF_W in CTRL6_C (15h).
  *         The value must be in the range [-127 127].[get]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  buff   Buffer that stores data read
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_xl_usr_offset_x_get(const stmdev_ctx_t *ctx, uint8_t *buff)
{
   
  const int32_t ret = iis3dwb_read_reg(ctx, IIS3DWB_X_OFS_USR, buff, 1);

  return ret;
}

/**
  * @brief  Accelerometer Y-axis user offset correction expressed in two’s
  *         complement, weight depends on USR_OFF_W in CTRL6_C (15h).
  *         The value must be in the range [-127 127].[set]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  buff   Buffer that contains data to write
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_xl_usr_offset_y_set(const stmdev_ctx_t *ctx, uint8_t *buff)
{
   
  const int32_t ret = iis3dwb_write_reg(ctx, IIS3DWB_Y_OFS_USR, buff, 1);

  return ret;
}

/**
  * @brief  Accelerometer Y-axis user offset correction expressed in two’s
  *         complement, weight depends on USR_OFF_W in CTRL6_C (15h).
  *         The value must be in the range [-127 127].[get]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  buff   Buffer that stores data read
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_xl_usr_offset_y_get(const stmdev_ctx_t *ctx, uint8_t *buff)
{
   
  const int32_t ret = iis3dwb_read_reg(ctx, IIS3DWB_Y_OFS_USR, buff, 1);

  return ret;
}

/**
  * @brief  Accelerometer Z-axis user offset correction expressed in two’s
  *         complement, weight depends on USR_OFF_W in CTRL6_C (15h).
  *         The value must be in the range [-127 127].[set]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  buff   Buffer that contains data to write
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_xl_usr_offset_z_set(const stmdev_ctx_t *ctx, uint8_t *buff)
{
   
  const int32_t ret = iis3dwb_write_reg(ctx, IIS3DWB_Z_OFS_USR, buff, 1);

  return ret;
}

/**
  * @brief  Accelerometer X-axis user offset correction expressed in two’s
  *         complement, weight depends on USR_OFF_W in CTRL6_C (15h).
  *         The value must be in the range [-127 127].[get]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  buff   Buffer that stores data read
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_xl_usr_offset_z_get(const stmdev_ctx_t *ctx, uint8_t *buff)
{
   
  const int32_t ret = iis3dwb_read_reg(ctx, IIS3DWB_Z_OFS_USR, buff, 1);

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup   IIS3DWB_Timestamp
  * @brief      This section groups all the functions that manage the
  *             timestamp generation.
  * @{
  *
  */

/**
  * @brief  Reset timestamp counter.[set]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_timestamp_rst(const stmdev_ctx_t *ctx)
{
   
  uint8_t rst_val = 0xAA;
  return iis3dwb_write_reg(ctx, IIS3DWB_TIMESTAMP2, &rst_val, 1);
}

/**
  * @brief  Enables timestamp counter.[set]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  val    Change the values of timestamp_en in reg CTRL10_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_timestamp_set(const stmdev_ctx_t *ctx, uint8_t val)
{
   
  iis3dwb_ctrl10_c_t ctrl10_c;

  int32_t ret = iis3dwb_read_reg(ctx, IIS3DWB_CTRL10_C, (uint8_t *)&ctrl10_c, 1);

  if (ret == 0)
  {
   
    ctrl10_c.timestamp_en = (uint8_t)val;
    ret = iis3dwb_write_reg(ctx, IIS3DWB_CTRL10_C,
                            (uint8_t *)&ctrl10_c, 1);
  }

  return ret;
}

/**
  * @brief  Enables timestamp counter.[get]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  val    Change the values of timestamp_en in reg CTRL10_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_timestamp_get(const stmdev_ctx_t *ctx, uint8_t *val)
{
   
  iis3dwb_ctrl10_c_t ctrl10_c;

  const int32_t ret = iis3dwb_read_reg(ctx, IIS3DWB_CTRL10_C, (uint8_t *)&ctrl10_c, 1);
  *val = ctrl10_c.timestamp_en;

  return ret;
}

/**
  * @brief  Timestamp first data output register (r).
  *         The value is expressed as a 32-bit word and the bit resolution
  *         is 25 μs.[get]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  val    Buffer that stores data read
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_timestamp_raw_get(const stmdev_ctx_t *ctx, uint32_t *val)
{
   
  uint8_t buff[4];

  const int32_t ret = iis3dwb_read_reg(ctx, IIS3DWB_TIMESTAMP0, buff, 4);
  *val = buff[3];
  *val = (*val * 256U) +  buff[2];
  *val = (*val * 256U) +  buff[1];
  *val = (*val * 256U) +  buff[0];

  return ret;
}

/**
  * @}
  *
  */

/**
  * @defgroup   IIS3DWB_Data output
  * @brief      This section groups all the data output functions.
  * @{
  *
  */

/**
  * @brief  Circular burst-mode (rounding) read of the output registers.[set]
  *
  * @param  ctx    Read / write interface definitions.(ptr)
  * @param  val    Change the values of rounding in reg CTRL5_C
  * @retval        Interface status (MANDATORY: return 0 -> no Error).
  *
  */
int32_t iis3dwb_rounding_mode_set(const