initial

README.md

@@ -1,2 +1,48 @@
 # Accelerometer_And_Gyroscope_LSM6DS3
-Grove sensor 6 Axis Accelerometer&Gyroscope using LSM6DS3
+Grove sensor 6 Axis Accelerometer And Gyroscope using LSM6DS3
+
+## Usage
+
+    Example           | Feature
+--------------------- | -------------
+HighLevelExample.ino  | Using class LSM6DS3
+LowLevelExample.ino   | Using class LSM6DS3Core
+
+* API
+
+class LSM6DS3   | class LSM6DS3Core
+--------------- | -------------
+readRawAccelX   | readRegisterRegion   
+readRawAccelY   | readRegister         
+readRawAccelZ   | readRegisterInt16  
+readRawGyroX    | writeRegister       
+readRawGyroY    | embeddedPage        
+readRawGyroZ    | *
+readFloatAccelX | *
+readFloatAccelY | *
+readFloatAccelZ | *
+readFloatGyroX  | *
+readFloatGyroY  | *
+readFloatGyroZ  | *
+readRawTemp     | *
+readTempC       | *
+readTempF       | *
+calcGyro        | *
+calcAccel       | *
+
+----
+
+This software is written by Loovee for for [Seeed Technology Inc.](http://www.seeed.cc) and is licensed under [The MIT License](http://opensource.org/licenses/mit-license.php). Check License.txt/LICENSE for the details of MIT license. The TimerOne library is refered from the arduino community and its copyright follows the original.
+
+Contributing to this software is warmly welcomed. You can do this basically by<br>
+[forking](https://help.github.com/articles/fork-a-repo), committing modifications and then [pulling requests](https://help.github.com/articles/using-pull-requests) (follow the links above<br>
+for operating guide). Adding change log and your contact into file header is encouraged.<br>
+Thanks for your contribution.
+
+Seeed is a hardware innovation platform for makers to grow inspirations into differentiating products. By working closely with technology providers of all scale, Seeed provides accessible technologies with quality, speed and supply chain knowledge. When prototypes are ready to iterate, Seeed helps productize 1 to 1,000 pcs using in-house engineering, supply chain management and agile manufacture forces. Seeed also team up with incubators, Chinese tech ecosystem, investors and distribution channels to portal Maker startups beyond.
+
+
+
+
+[![Analytics](https://ga-beacon.appspot.com/UA-46589105-3/Grove_4Digital_Display)](https://github.com/igrigorik/ga-beacon)
+

SparkFunLSM6DS3.cpp

@@ -0,0 +1,875 @@
+/******************************************************************************
+SparkFunLSM6DS3.cpp
+LSM6DS3 Arduino and Teensy Driver
+
+Marshall Taylor @ SparkFun Electronics
+May 20, 2015
+https://github.com/sparkfun/LSM6DS3_Breakout
+https://github.com/sparkfun/SparkFun_LSM6DS3_Arduino_Library
+
+Resources:
+Uses Wire.h for i2c operation
+Uses SPI.h for SPI operation
+Either can be omitted if not used
+
+Development environment specifics:
+Arduino IDE 1.6.4
+Teensy loader 1.23
+
+This code is released under the [MIT License](http://opensource.org/licenses/MIT).
+
+Please review the LICENSE.md file included with this example. If you have any questions 
+or concerns with licensing, please contact techsupport@sparkfun.com.
+
+Distributed as-is; no warranty is given.
+******************************************************************************/
+
+//See SparkFunLSM6DS3.h for additional topology notes.
+
+#include "SparkFunLSM6DS3.h"
+#include "stdint.h"
+
+#include "Wire.h"
+#include "SPI.h"
+
+//****************************************************************************//
+//
+//  LSM6DS3Core functions.
+//
+//  Construction arguments:
+//  ( uint8_t busType, uint8_t inputArg ),
+//
+//    where inputArg is address for I2C_MODE and chip select pin
+//    number for SPI_MODE
+//
+//  For SPI, construct LSM6DS3Core myIMU(SPI_MODE, 10);
+//  For I2C, construct LSM6DS3Core myIMU(I2C_MODE, 0x6B);
+//
+//  Default construction is I2C mode, address 0x6B.
+//
+//****************************************************************************//
+LSM6DS3Core::LSM6DS3Core( uint8_t busType, uint8_t inputArg) : commInterface(I2C_MODE), I2CAddress(0x6B), chipSelectPin(10)
+{
+	commInterface = busType;
+	if( commInterface == I2C_MODE )
+	{
+		I2CAddress = inputArg;
+	}
+	if( commInterface == SPI_MODE )
+	{
+		chipSelectPin = inputArg;
+	}
+
+}
+
+status_t LSM6DS3Core::beginCore(void)
+{
+	status_t returnError = IMU_SUCCESS;
+
+	switch (commInterface) {
+
+	case I2C_MODE:
+		Wire.begin();
+		break;
+
+	case SPI_MODE:
+		// start the SPI library:
+		SPI.begin();
+		// Maximum SPI frequency is 10MHz, could divide by 2 here:
+		SPI.setClockDivider(SPI_CLOCK_DIV4);
+		// Data is read and written MSb first.
+		SPI.setBitOrder(MSBFIRST);
+		// Data is captured on rising edge of clock (CPHA = 0)
+		// Base value of the clock is HIGH (CPOL = 1)
+
+		// MODE3 for 328p operation
+#ifdef __AVR__
+		SPI.setDataMode(SPI_MODE3);
+#else
+#endif
+
+		// MODE0 for Teensy 3.1 operation
+#ifdef __MK20DX256__
+		SPI.setDataMode(SPI_MODE0);
+#else
+#endif
+		
+		// initalize the  data ready and chip select pins:
+		pinMode(chipSelectPin, OUTPUT);
+		digitalWrite(chipSelectPin, HIGH);
+		break;
+	default:
+		break;
+	}
+
+	//Spin for a few ms
+	volatile uint8_t temp = 0;
+	for( uint16_t i = 0; i < 10000; i++ )
+	{
+		temp++;
+	}
+
+	//Check the ID register to determine if the operation was a success.
+	uint8_t readCheck;
+	
+    readRegister(&readCheck, LSM6DS3_ACC_GYRO_WHO_AM_I_REG);
+	if( readCheck != 0x69 )
+	{		
+        returnError = IMU_HW_ERROR;
+	}
+
+	return returnError;
+
+}
+
+//****************************************************************************//
+//
+//  ReadRegisterRegion
+//
+//  Parameters:
+//    *outputPointer -- Pass &variable (base address of) to save read data to
+//    offset -- register to read
+//    length -- number of bytes to read
+//
+//  Note:  Does not know if the target memory space is an array or not, or
+//    if there is the array is big enough.  if the variable passed is only
+//    two bytes long and 3 bytes are requested, this will over-write some
+//    other memory!
+//
+//****************************************************************************//
+status_t LSM6DS3Core::readRegisterRegion(uint8_t *outputPointer , uint8_t offset, uint8_t length)
+{
+	status_t returnError = IMU_SUCCESS;
+
+	//define pointer that will point to the external space
+	uint8_t i = 0;
+	uint8_t c = 0;
+	uint8_t tempFFCounter = 0;
+
+	switch (commInterface) {
+
+	case I2C_MODE:
+		Wire.beginTransmission(I2CAddress);
+		Wire.write(offset);
+		if( Wire.endTransmission() != 0 )
+		{
+			returnError = IMU_HW_ERROR;
+		}
+		else  //OK, all worked, keep going
+		{
+			// request 6 bytes from slave device
+			Wire.requestFrom(I2CAddress, length);
+			while ( (Wire.available()) && (i < length))  // slave may send less than requested
+			{
+				c = Wire.read(); // receive a byte as character
+				*outputPointer = c;
+				outputPointer++;
+				i++;
+			}
+		}
+		break;
+
+	case SPI_MODE:
+		// take the chip select low to select the device:
+		digitalWrite(chipSelectPin, LOW);
+		// send the device the register you want to read:
+		SPI.transfer(offset | 0x80);  //Ored with "read request" bit
+		while ( i < length ) // slave may send less than requested
+		{
+			c = SPI.transfer(0x00); // receive a byte as character
+			if( c == 0xFF )
+			{
+				//May have problem
+				tempFFCounter++;
+			}
+			*outputPointer = c;
+			outputPointer++;
+			i++;
+		}
+		if( tempFFCounter == i )
+		{
+			//Ok, we've recieved all ones, report
+			returnError = IMU_ALL_ONES_WARNING;
+		}
+		// take the chip select high to de-select:
+		digitalWrite(chipSelectPin, HIGH);
+		break;
+
+	default:
+		break;
+	}
+
+	return returnError;
+}
+
+//****************************************************************************//
+//
+//  ReadRegister
+//
+//  Parameters:
+//    *outputPointer -- Pass &variable (address of) to save read data to
+//    offset -- register to read
+//
+//****************************************************************************//
+status_t LSM6DS3Core::readRegister(uint8_t* outputPointer, uint8_t offset) {
+	//Return value
+	uint8_t result;
+	uint8_t numBytes = 1;
+	status_t returnError = IMU_SUCCESS;
+
+	switch (commInterface) {
+
+	case I2C_MODE:
+		Wire.beginTransmission(I2CAddress);
+		Wire.write(offset);
+		if( Wire.endTransmission() != 0 )
+		{
+			returnError = IMU_HW_ERROR;
+		}
+		Wire.requestFrom(I2CAddress, numBytes);
+		while ( Wire.available() ) // slave may send less than requested
+		{
+			result = Wire.read(); // receive a byte as a proper uint8_t
+		}
+		break;
+
+	case SPI_MODE:
+		// take the chip select low to select the device:
+		digitalWrite(chipSelectPin, LOW);
+		// send the device the register you want to read:
+		SPI.transfer(offset | 0x80);  //Ored with "read request" bit
+		// send a value of 0 to read the first byte returned:
+		result = SPI.transfer(0x00);
+		// take the chip select high to de-select:
+		digitalWrite(chipSelectPin, HIGH);
+		
+		if( result == 0xFF )
+		{
+			//we've recieved all ones, report
+			returnError = IMU_ALL_ONES_WARNING;
+		}
+		break;
+
+	default:
+		break;
+	}
+
+	*outputPointer = result;
+	return returnError;
+}
+
+//****************************************************************************//
+//
+//  readRegisterInt16
+//
+//  Parameters:
+//    *outputPointer -- Pass &variable (base address of) to save read data to
+//    offset -- register to read
+//
+//****************************************************************************//
+status_t LSM6DS3Core::readRegisterInt16( int16_t* outputPointer, uint8_t offset )
+{
+	uint8_t myBuffer[2];
+	status_t returnError = readRegisterRegion(myBuffer, offset, 2);  //Does memory transfer
+	int16_t output = (int16_t)myBuffer[0] | int16_t(myBuffer[1] << 8);
+	
+	*outputPointer = output;
+	return returnError;
+}
+
+//****************************************************************************//
+//
+//  writeRegister
+//
+//  Parameters:
+//    offset -- register to write
+//    dataToWrite -- 8 bit data to write to register
+//
+//****************************************************************************//
+status_t LSM6DS3Core::writeRegister(uint8_t offset, uint8_t dataToWrite) {
+	status_t returnError = IMU_SUCCESS;
+	switch (commInterface) {
+	case I2C_MODE:
+		//Write the byte
+		Wire.beginTransmission(I2CAddress);
+		Wire.write(offset);
+		Wire.write(dataToWrite);
+		if( Wire.endTransmission() != 0 )
+		{
+			returnError = IMU_HW_ERROR;
+		}
+		break;
+
+	case SPI_MODE:
+		// take the chip select low to select the device:
+		digitalWrite(chipSelectPin, LOW);
+		// send the device the register you want to read:
+		SPI.transfer(offset);
+		// send a value of 0 to read the first byte returned:
+		SPI.transfer(dataToWrite);
+		// decrement the number of bytes left to read:
+		// take the chip select high to de-select:
+		digitalWrite(chipSelectPin, HIGH);
+		break;
+		
+		//No way to check error on this write (Except to read back but that's not reliable)
+
+	default:
+		break;
+	}
+
+	return returnError;
+}
+
+status_t LSM6DS3Core::embeddedPage( void )
+{
+	status_t returnError = writeRegister( LSM6DS3_ACC_GYRO_RAM_ACCESS, 0x80 );
+	
+	return returnError;
+}
+
+status_t LSM6DS3Core::basePage( void )
+{
+	status_t returnError = writeRegister( LSM6DS3_ACC_GYRO_RAM_ACCESS, 0x00 );
+	
+	return returnError;
+}
+
+
+//****************************************************************************//
+//
+//  Main user class -- wrapper for the core class + maths
+//
+//  Construct with same rules as the core ( uint8_t busType, uint8_t inputArg )
+//
+//****************************************************************************//
+LSM6DS3::LSM6DS3( uint8_t busType, uint8_t inputArg ) : LSM6DS3Core( busType, inputArg )
+{
+	//Construct with these default settings
+
+	settings.gyroEnabled = 1;  //Can be 0 or 1
+	settings.gyroRange = 2000;   //Max deg/s.  Can be: 125, 245, 500, 1000, 2000
+	settings.gyroSampleRate = 416;   //Hz.  Can be: 13, 26, 52, 104, 208, 416, 833, 1666
+	settings.gyroBandWidth = 400;  //Hz.  Can be: 50, 100, 200, 400;
+	settings.gyroFifoEnabled = 1;  //Set to include gyro in FIFO
+	settings.gyroFifoDecimation = 1;  //set 1 for on /1
+
+	settings.accelEnabled = 1;
+	settings.accelODROff = 1;
+	settings.accelRange = 16;      //Max G force readable.  Can be: 2, 4, 8, 16
+	settings.accelSampleRate = 416;  //Hz.  Can be: 13, 26, 52, 104, 208, 416, 833, 1666, 3332, 6664, 13330
+	settings.accelBandWidth = 100;  //Hz.  Can be: 50, 100, 200, 400;
+	settings.accelFifoEnabled = 1;  //Set to include accelerometer in the FIFO
+	settings.accelFifoDecimation = 1;  //set 1 for on /1
+
+	settings.tempEnabled = 1;
+
+	//Select interface mode
+	settings.commMode = 1;  //Can be modes 1, 2 or 3
+
+	//FIFO control data
+	settings.fifoThreshold = 3000;  //Can be 0 to 4096 (16 bit bytes)
+	settings.fifoSampleRate = 10;  //default 10Hz
+	settings.fifoModeWord = 0;  //Default off
+
+	allOnesCounter = 0;
+	nonSuccessCounter = 0;
+
+}
+
+//****************************************************************************//
+//
+//  Configuration section
+//
+//  This uses the stored SensorSettings to start the IMU
+//  Use statements such as "myIMU.settings.commInterface = SPI_MODE;" or
+//  "myIMU.settings.accelEnabled = 1;" to configure before calling .begin();
+//
+//****************************************************************************//
+status_t LSM6DS3::begin()
+{
+	//Check the settings structure values to determine how to setup the device
+	uint8_t dataToWrite = 0;  //Temporary variable
+
+	//Begin the inherited core.  This gets the physical wires connected
+	status_t returnError = beginCore();
+
+	//Setup the accelerometer******************************
+	dataToWrite = 0; //Start Fresh!
+	if ( settings.accelEnabled == 1) {
+		//Build config reg
+		//First patch in filter bandwidth
+		switch (settings.accelBandWidth) {
+		case 50:
+			dataToWrite |= LSM6DS3_ACC_GYRO_BW_XL_50Hz;
+			break;
+		case 100:
+			dataToWrite |= LSM6DS3_ACC_GYRO_BW_XL_100Hz;
+			break;
+		case 200:
+			dataToWrite |= LSM6DS3_ACC_GYRO_BW_XL_200Hz;
+			break;
+		default:  //set default case to max passthrough
+		case 400:
+			dataToWrite |= LSM6DS3_ACC_GYRO_BW_XL_400Hz;
+			break;
+		}
+		//Next, patch in full scale
+		switch (settings.accelRange) {
+		case 2:
+			dataToWrite |= LSM6DS3_ACC_GYRO_FS_XL_2g;
+			break;
+		case 4:
+			dataToWrite |= LSM6DS3_ACC_GYRO_FS_XL_4g;
+			break;
+		case 8:
+			dataToWrite |= LSM6DS3_ACC_GYRO_FS_XL_8g;
+			break;
+		default:  //set default case to 16(max)
+		case 16:
+			dataToWrite |= LSM6DS3_ACC_GYRO_FS_XL_16g;
+			break;
+		}
+		//Lastly, patch in accelerometer ODR
+		switch (settings.accelSampleRate) {
+		case 13:
+			dataToWrite |= LSM6DS3_ACC_GYRO_ODR_XL_13Hz;
+			break;
+		case 26:
+			dataToWrite |= LSM6DS3_ACC_GYRO_ODR_XL_26Hz;
+			break;
+		case 52:
+			dataToWrite |= LSM6DS3_ACC_GYRO_ODR_XL_52Hz;
+			break;
+		default:  //Set default to 104
+		case 104:
+			dataToWrite |= LSM6DS3_ACC_GYRO_ODR_XL_104Hz;
+			break;
+		case 208:
+			dataToWrite |= LSM6DS3_ACC_GYRO_ODR_XL_208Hz;
+			break;
+		case 416:
+			dataToWrite |= LSM6DS3_ACC_GYRO_ODR_XL_416Hz;
+			break;
+		case 833:
+			dataToWrite |= LSM6DS3_ACC_GYRO_ODR_XL_833Hz;
+			break;
+		case 1660:
+			dataToWrite |= LSM6DS3_ACC_GYRO_ODR_XL_1660Hz;
+			break;
+		case 3330:
+			dataToWrite |= LSM6DS3_ACC_GYRO_ODR_XL_3330Hz;
+			break;
+		case 6660:
+			dataToWrite |= LSM6DS3_ACC_GYRO_ODR_XL_6660Hz;
+			break;
+		case 13330:
+			dataToWrite |= LSM6DS3_ACC_GYRO_ODR_XL_13330Hz;
+			break;
+		}
+	}
+	else
+	{
+		//dataToWrite already = 0 (powerdown);
+	}
+
+	//Now, write the patched together data
+	writeRegister(LSM6DS3_ACC_GYRO_CTRL1_XL, dataToWrite);
+
+	//Set the ODR bit
+	readRegister(&dataToWrite, LSM6DS3_ACC_GYRO_CTRL4_C);
+	dataToWrite &= ~((uint8_t)LSM6DS3_ACC_GYRO_BW_SCAL_ODR_ENABLED);
+	if ( settings.accelODROff == 1) {
+		dataToWrite |= LSM6DS3_ACC_GYRO_BW_SCAL_ODR_ENABLED;
+	}
+	writeRegister(LSM6DS3_ACC_GYRO_CTRL4_C, dataToWrite);
+
+	//Setup the gyroscope**********************************************
+	dataToWrite = 0; //Start Fresh!
+	if ( settings.gyroEnabled == 1) {
+		//Build config reg
+		//First, patch in full scale
+		switch (settings.gyroRange) {
+		case 125:
+			dataToWrite |= LSM6DS3_ACC_GYRO_FS_125_ENABLED;
+			break;
+		case 245:
+			dataToWrite |= LSM6DS3_ACC_GYRO_FS_G_245dps;
+			break;
+		case 500:
+			dataToWrite |= LSM6DS3_ACC_GYRO_FS_G_500dps;
+			break;
+		case 1000:
+			dataToWrite |= LSM6DS3_ACC_GYRO_FS_G_1000dps;
+			break;
+		default:  //Default to full 2000DPS range
+		case 2000:
+			dataToWrite |= LSM6DS3_ACC_GYRO_FS_G_2000dps;
+			break;
+		}
+		//Lastly, patch in gyro ODR
+		switch (settings.gyroSampleRate) {
+		case 13:
+			dataToWrite |= LSM6DS3_ACC_GYRO_ODR_G_13Hz;
+			break;
+		case 26:
+			dataToWrite |= LSM6DS3_ACC_GYRO_ODR_G_26Hz;
+			break;
+		case 52:
+			dataToWrite |= LSM6DS3_ACC_GYRO_ODR_G_52Hz;
+			break;
+		default:  //Set default to 104
+		case 104:
+			dataToWrite |= LSM6DS3_ACC_GYRO_ODR_G_104Hz;
+			break;
+		case 208:
+			dataToWrite |= LSM6DS3_ACC_GYRO_ODR_G_208Hz;
+			break;
+		case 416:
+			dataToWrite |= LSM6DS3_ACC_GYRO_ODR_G_416Hz;
+			break;
+		case 833:
+			dataToWrite |= LSM6DS3_ACC_GYRO_ODR_G_833Hz;
+			break;
+		case 1660:
+			dataToWrite |= LSM6DS3_ACC_GYRO_ODR_G_1660Hz;
+			break;
+		}
+	}
+	else
+	{
+		//dataToWrite already = 0 (powerdown);
+	}
+	//Write the byte
+	writeRegister(LSM6DS3_ACC_GYRO_CTRL2_G, dataToWrite);
+
+	//Setup the internal temperature sensor
+	if ( settings.tempEnabled == 1) {
+	}
+
+	//Return WHO AM I reg  //Not no mo!
+	uint8_t result;
+	readRegister(&result, LSM6DS3_ACC_GYRO_WHO_AM_I_REG);
+
+	return returnError;
+}
+
+//****************************************************************************//
+//
+//  Accelerometer section
+//
+//****************************************************************************//
+int16_t LSM6DS3::readRawAccelX( void )
+{
+	int16_t output;
+	status_t errorLevel = readRegisterInt16( &output, LSM6DS3_ACC_GYRO_OUTX_L_XL );
+	if( errorLevel != IMU_SUCCESS )
+	{
+		if( errorLevel == IMU_ALL_ONES_WARNING )
+		{
+			allOnesCounter++;
+		}
+		else
+		{
+			nonSuccessCounter++;
+		}
+	}
+	return output;
+}
+float LSM6DS3::readFloatAccelX( void )
+{
+	float output = calcAccel(readRawAccelX());
+	return output;
+}
+
+int16_t LSM6DS3::readRawAccelY( void )
+{
+	int16_t output;
+	status_t errorLevel = readRegisterInt16( &output, LSM6DS3_ACC_GYRO_OUTY_L_XL );
+	if( errorLevel != IMU_SUCCESS )
+	{
+		if( errorLevel == IMU_ALL_ONES_WARNING )
+		{
+			allOnesCounter++;
+		}
+		else
+		{
+			nonSuccessCounter++;
+		}
+	}
+	return output;
+}
+float LSM6DS3::readFloatAccelY( void )
+{
+	float output = calcAccel(readRawAccelY());
+	return output;
+}
+
+int16_t LSM6DS3::readRawAccelZ( void )
+{
+	int16_t output;
+	status_t errorLevel = readRegisterInt16( &output, LSM6DS3_ACC_GYRO_OUTZ_L_XL );
+	if( errorLevel != IMU_SUCCESS )
+	{
+		if( errorLevel == IMU_ALL_ONES_WARNING )
+		{
+			allOnesCounter++;
+		}
+		else
+		{
+			nonSuccessCounter++;
+		}
+	}
+	return output;
+}
+float LSM6DS3::readFloatAccelZ( void )
+{
+	float output = calcAccel(readRawAccelZ());
+	return output;
+}
+
+float LSM6DS3::calcAccel( int16_t input )
+{
+	float output = (float)input * 0.061 * (settings.accelRange >> 1) / 1000;
+	return output;
+}
+
+//****************************************************************************//
+//
+//  Gyroscope section
+//
+//****************************************************************************//
+int16_t LSM6DS3::readRawGyroX( void )
+{
+	int16_t output;
+	status_t errorLevel = readRegisterInt16( &output, LSM6DS3_ACC_GYRO_OUTX_L_G );
+	if( errorLevel != IMU_SUCCESS )
+	{
+		if( errorLevel == IMU_ALL_ONES_WARNING )
+		{
+			allOnesCounter++;
+		}
+		else
+		{
+			nonSuccessCounter++;
+		}
+	}
+	return output;
+}
+float LSM6DS3::readFloatGyroX( void )
+{
+	float output = calcGyro(readRawGyroX());
+	return output;
+}
+
+int16_t LSM6DS3::readRawGyroY( void )
+{
+	int16_t output;
+	status_t errorLevel = readRegisterInt16( &output, LSM6DS3_ACC_GYRO_OUTY_L_G );
+	if( errorLevel != IMU_SUCCESS )
+	{
+		if( errorLevel == IMU_ALL_ONES_WARNING )
+		{
+			allOnesCounter++;
+		}
+		else
+		{
+			nonSuccessCounter++;
+		}
+	}
+	return output;
+}
+float LSM6DS3::readFloatGyroY( void )
+{
+	float output = calcGyro(readRawGyroY());
+	return output;
+}
+
+int16_t LSM6DS3::readRawGyroZ( void )
+{
+	int16_t output;
+	status_t errorLevel = readRegisterInt16( &output, LSM6DS3_ACC_GYRO_OUTZ_L_G );
+	if( errorLevel != IMU_SUCCESS )
+	{
+		if( errorLevel == IMU_ALL_ONES_WARNING )
+		{
+			allOnesCounter++;
+		}
+		else
+		{
+			nonSuccessCounter++;
+		}
+	}
+	return output;
+}
+float LSM6DS3::readFloatGyroZ( void )
+{
+	float output = calcGyro(readRawGyroZ());
+	return output;
+}
+
+float LSM6DS3::calcGyro( int16_t input )
+{
+	uint8_t gyroRangeDivisor = settings.gyroRange / 125;
+	if ( settings.gyroRange == 245 ) {
+		gyroRangeDivisor = 2;
+	}
+
+	float output = (float)input * 4.375 * (gyroRangeDivisor) / 1000;
+	return output;
+}
+
+//****************************************************************************//
+//
+//  Temperature section
+//
+//****************************************************************************//
+int16_t LSM6DS3::readRawTemp( void )
+{
+	int16_t output;
+	readRegisterInt16( &output, LSM6DS3_ACC_GYRO_OUT_TEMP_L );
+	return output;
+}  
+
+float LSM6DS3::readTempC( void )
+{
+	float output = (float)readRawTemp() / 16; //divide by 16 to scale
+	output += 25; //Add 25 degrees to remove offset
+
+	return output;
+
+}
+
+float LSM6DS3::readTempF( void )
+{
+	float output = (float)readRawTemp() / 16; //divide by 16 to scale
+	output += 25; //Add 25 degrees to remove offset
+	output = (output * 9) / 5 + 32;
+
+	return output;
+
+}
+
+//****************************************************************************//
+//
+//  FIFO section
+//
+//****************************************************************************//
+void LSM6DS3::fifoBegin( void ) {
+	//CONFIGURE THE VARIOUS FIFO SETTINGS
+	//
+	//
+	//This section first builds a bunch of config words, then goes through
+	//and writes them all.
+
+	//Split and mask the threshold
+	uint8_t thresholdLByte = settings.fifoThreshold & 0x00FF;
+	uint8_t thresholdHByte = (settings.fifoThreshold & 0x0F00) >> 8;
+	//Pedo bits not configured (ctl2)
+
+	//CONFIGURE FIFO_CTRL3
+	uint8_t tempFIFO_CTRL3 = 0;
+	if (settings.gyroFifoEnabled == 1)
+	{
+		//Set up gyro stuff
+		//Build on FIFO_CTRL3
+		//Set decimation
+		tempFIFO_CTRL3 |= (settings.gyroFifoDecimation & 0x07) << 3;
+
+	}
+	if (settings.accelFifoEnabled == 1)
+	{
+		//Set up accelerometer stuff
+		//Build on FIFO_CTRL3
+		//Set decimation
+		tempFIFO_CTRL3 |= (settings.accelFifoDecimation & 0x07);
+	}
+
+	//CONFIGURE FIFO_CTRL4  (nothing for now-- sets data sets 3 and 4
+	uint8_t tempFIFO_CTRL4 = 0;
+
+
+	//CONFIGURE FIFO_CTRL5
+	uint8_t tempFIFO_CTRL5 = 0;
+	switch (settings.fifoSampleRate) {
+	default:  //set default case to 10Hz(slowest)
+	case 10:
+		tempFIFO_CTRL5 |= LSM6DS3_ACC_GYRO_ODR_FIFO_10Hz;
+		break;
+	case 25:
+		tempFIFO_CTRL5 |= LSM6DS3_ACC_GYRO_ODR_FIFO_25Hz;
+		break;
+	case 50:
+		tempFIFO_CTRL5 |= LSM6DS3_ACC_GYRO_ODR_FIFO_50Hz;
+		break;
+	case 100:
+		tempFIFO_CTRL5 |= LSM6DS3_ACC_GYRO_ODR_FIFO_100Hz;
+		break;
+	case 200:
+		tempFIFO_CTRL5 |= LSM6DS3_ACC_GYRO_ODR_FIFO_200Hz;
+		break;
+	case 400:
+		tempFIFO_CTRL5 |= LSM6DS3_ACC_GYRO_ODR_FIFO_400Hz;
+		break;
+	case 800:
+		tempFIFO_CTRL5 |= LSM6DS3_ACC_GYRO_ODR_FIFO_800Hz;
+		break;
+	case 1600:
+		tempFIFO_CTRL5 |= LSM6DS3_ACC_GYRO_ODR_FIFO_1600Hz;
+		break;
+	case 3300:
+		tempFIFO_CTRL5 |= LSM6DS3_ACC_GYRO_ODR_FIFO_3300Hz;
+		break;
+	case 6600:
+		tempFIFO_CTRL5 |= LSM6DS3_ACC_GYRO_ODR_FIFO_6600Hz;
+		break;
+	}
+	//Hard code the fifo mode here:
+	tempFIFO_CTRL5 |= settings.fifoModeWord = 6;  //set mode:
+
+	//Write the data
+	writeRegister(LSM6DS3_ACC_GYRO_FIFO_CTRL1, thresholdLByte);
+	//Serial.println(thresholdLByte, HEX);
+	writeRegister(LSM6DS3_ACC_GYRO_FIFO_CTRL2, thresholdHByte);
+	//Serial.println(thresholdHByte, HEX);
+	writeRegister(LSM6DS3_ACC_GYRO_FIFO_CTRL3, tempFIFO_CTRL3);
+	writeRegister(LSM6DS3_ACC_GYRO_FIFO_CTRL4, tempFIFO_CTRL4);
+	writeRegister(LSM6DS3_ACC_GYRO_FIFO_CTRL5, tempFIFO_CTRL5);
+
+}
+void LSM6DS3::fifoClear( void ) {
+	//Drain the fifo data and dump it
+	while( (fifoGetStatus() & 0x1000 ) == 0 ) {
+		fifoRead();
+	}
+
+}
+int16_t LSM6DS3::fifoRead( void ) {
+	//Pull the last data from the fifo
+	uint8_t tempReadByte = 0;
+	uint16_t tempAccumulator = 0;
+	readRegister(&tempReadByte, LSM6DS3_ACC_GYRO_FIFO_DATA_OUT_L);
+	tempAccumulator = tempReadByte;
+	readRegister(&tempReadByte, LSM6DS3_ACC_GYRO_FIFO_DATA_OUT_H);
+	tempAccumulator |= ((uint16_t)tempReadByte << 8);
+
+	return tempAccumulator;
+}
+
+uint16_t LSM6DS3::fifoGetStatus( void ) {
+	//Return some data on the state of the fifo
+	uint8_t tempReadByte = 0;
+	uint16_t tempAccumulator = 0;
+	readRegister(&tempReadByte, LSM6DS3_ACC_GYRO_FIFO_STATUS1);
+	tempAccumulator = tempReadByte;
+	readRegister(&tempReadByte, LSM6DS3_ACC_GYRO_FIFO_STATUS2);
+	tempAccumulator |= (tempReadByte << 8);
+
+	return tempAccumulator;  
+
+}
+void LSM6DS3::fifoEnd( void ) {
+	// turn off the fifo
+	writeRegister(LSM6DS3_ACC_GYRO_FIFO_STATUS1, 0x00);  //Disable
+}
+

SparkFunLSM6DS3.h

@@ -0,0 +1,2086 @@
+/******************************************************************************
+SparkFunLSM6DS3.h
+LSM6DS3 Arduino and Teensy Driver
+
+Marshall Taylor @ SparkFun Electronics
+May 20, 2015
+https://github.com/sparkfun/LSM6DS3_Breakout
+https://github.com/sparkfun/SparkFun_LSM6DS3_Arduino_Library
+
+Resources:
+Uses Wire.h for i2c operation
+Uses SPI.h for SPI operation
+Either can be omitted if not used
+
+Development environment specifics:
+Arduino IDE 1.6.4
+Teensy loader 1.23
+
+This code is released under the [MIT License](http://opensource.org/licenses/MIT).
+
+Please review the LICENSE.md file included with this example. If you have any questions 
+or concerns with licensing, please contact techsupport@sparkfun.com.
+
+Distributed as-is; no warranty is given.
+******************************************************************************/
+
+#ifndef __LSM6DS3IMU_H__
+#define __LSM6DS3IMU_H__
+
+#include "stdint.h"
+
+#define I2C_MODE 0
+#define SPI_MODE 1
+
+// Return values 
+typedef enum
+{
+	IMU_SUCCESS,
+	IMU_HW_ERROR,
+	IMU_NOT_SUPPORTED,
+	IMU_GENERIC_ERROR,
+	IMU_OUT_OF_BOUNDS,
+	IMU_ALL_ONES_WARNING,
+	//...
+} status_t;
+
+//This is the core operational class of the driver.
+//  LSM6DS3Core contains only read and write operations towards the IMU.
+//  To use the higher level functions, use the class LSM6DS3 which inherits
+//  this class.
+
+class LSM6DS3Core
+{
+public:
+	LSM6DS3Core( uint8_t );
+	LSM6DS3Core( uint8_t, uint8_t );
+	~LSM6DS3Core() = default;
+	
+	status_t beginCore( void );
+	
+	//The following utilities read and write to the IMU
+
+	//ReadRegisterRegion takes a uint8 array address as input and reads
+	//  a chunk of memory into that array.
+	status_t readRegisterRegion(uint8_t*, uint8_t, uint8_t );
+	
+	//readRegister reads one 8-bit register
+	status_t readRegister(uint8_t*, uint8_t);
+	
+	//Reads two 8-bit regs, LSByte then MSByte order, and concatenates them.
+	//  Acts as a 16-bit read operation
+	status_t readRegisterInt16(int16_t*, uint8_t offset );
+	
+	//Writes an 8-bit byte;
+	status_t writeRegister(uint8_t, uint8_t);
+	
+	//Change to embedded page
+	status_t embeddedPage( void );
+	
+	//Change to base page
+	status_t basePage( void );
+	
+private:
+	
+	//Communication stuff
+	uint8_t commInterface;
+	uint8_t I2CAddress;
+	uint8_t chipSelectPin;
+
+};
+
+//This struct holds the settings the driver uses to do calculations
+struct SensorSettings {
+public:
+	//Gyro settings
+	uint8_t gyroEnabled;
+	uint16_t gyroRange;
+	uint16_t gyroSampleRate;
+	uint16_t gyroBandWidth;
+
+	uint8_t gyroFifoEnabled;
+	uint8_t gyroFifoDecimation;
+
+	//Accelerometer settings
+	uint8_t accelEnabled;
+	uint8_t accelODROff;
+	uint16_t accelRange;
+	uint16_t accelSampleRate;
+	uint16_t accelBandWidth;
+	
+	uint8_t accelFifoEnabled;
+	uint8_t accelFifoDecimation;
+	
+	//Temperature settings
+	uint8_t tempEnabled;
+	
+	//Non-basic mode settings
+	uint8_t commMode;
+	
+	//FIFO control data
+	uint16_t fifoThreshold;
+	int16_t fifoSampleRate;
+	uint8_t fifoModeWord;
+	
+};
+
+
+//This is the highest level class of the driver.
+//
+//  class LSM6DS3 inherits the core and makes use of the beginCore()
+//method through it's own begin() method.  It also contains the
+//settings struct to hold user settings.
+
+class LSM6DS3 : public LSM6DS3Core
+{
+public:
+	//IMU settings
+	SensorSettings settings;
+	
+	//Error checking
+	uint16_t allOnesCounter;
+	uint16_t nonSuccessCounter;
+
+	//Constructor generates default SensorSettings.
+	//(over-ride after construction if desired)
+	LSM6DS3( uint8_t busType = I2C_MODE, uint8_t inputArg = 0x6A );
+	~LSM6DS3() = default;
+	
+	//Call to apply SensorSettings
+	status_t begin(void);
+
+	//Returns the raw bits from the sensor cast as 16-bit signed integers
+	int16_t readRawAccelX( void );
+	int16_t readRawAccelY( void );
+	int16_t readRawAccelZ( void );
+	int16_t readRawGyroX( void );
+	int16_t readRawGyroY( void );
+	int16_t readRawGyroZ( void );
+
+	//Returns the values as floats.  Inside, this calls readRaw___();
+	float readFloatAccelX( void );
+	float readFloatAccelY( void );
+	float readFloatAccelZ( void );
+	float readFloatGyroX( void );
+	float readFloatGyroY( void );
+	float readFloatGyroZ( void );
+
+	//Temperature related methods
+	int16_t readRawTemp( void );
+	float readTempC( void );
+	float readTempF( void );
+
+	//FIFO stuff
+	void fifoBegin( void );
+	void fifoClear( void );
+	int16_t fifoRead( void );
+	uint16_t fifoGetStatus( void );
+	void fifoEnd( void );
+	
+	float calcGyro( int16_t );
+	float calcAccel( int16_t );
+	
+private:
+
+};
+
+
+
+
+
+
+/************** Device Register  *******************/
+#define LSM6DS3_ACC_GYRO_TEST_PAGE  			0X00
+#define LSM6DS3_ACC_GYRO_RAM_ACCESS  			0X01
+#define LSM6DS3_ACC_GYRO_SENSOR_SYNC_TIME  		0X04
+#define LSM6DS3_ACC_GYRO_SENSOR_SYNC_EN  		0X05
+#define LSM6DS3_ACC_GYRO_FIFO_CTRL1  			0X06
+#define LSM6DS3_ACC_GYRO_FIFO_CTRL2  			0X07
+#define LSM6DS3_ACC_GYRO_FIFO_CTRL3  			0X08
+#define LSM6DS3_ACC_GYRO_FIFO_CTRL4  			0X09
+#define LSM6DS3_ACC_GYRO_FIFO_CTRL5  			0X0A
+#define LSM6DS3_ACC_GYRO_ORIENT_CFG_G  			0X0B
+#define LSM6DS3_ACC_GYRO_REFERENCE_G  			0X0C
+#define LSM6DS3_ACC_GYRO_INT1_CTRL  			0X0D
+#define LSM6DS3_ACC_GYRO_INT2_CTRL  			0X0E
+#define LSM6DS3_ACC_GYRO_WHO_AM_I_REG  			0X0F
+#define LSM6DS3_ACC_GYRO_CTRL1_XL  			0X10
+#define LSM6DS3_ACC_GYRO_CTRL2_G  			0X11
+#define LSM6DS3_ACC_GYRO_CTRL3_C  			0X12
+#define LSM6DS3_ACC_GYRO_CTRL4_C  			0X13
+#define LSM6DS3_ACC_GYRO_CTRL5_C  			0X14
+#define LSM6DS3_ACC_GYRO_CTRL6_G  			0X15
+#define LSM6DS3_ACC_GYRO_CTRL7_G  			0X16
+#define LSM6DS3_ACC_GYRO_CTRL8_XL  			0X17
+#define LSM6DS3_ACC_GYRO_CTRL9_XL  			0X18
+#define LSM6DS3_ACC_GYRO_CTRL10_C  			0X19
+#define LSM6DS3_ACC_GYRO_MASTER_CONFIG  		0X1A
+#define LSM6DS3_ACC_GYRO_WAKE_UP_SRC  			0X1B
+#define LSM6DS3_ACC_GYRO_TAP_SRC  			0X1C
+#define LSM6DS3_ACC_GYRO_D6D_SRC  			0X1D
+#define LSM6DS3_ACC_GYRO_STATUS_REG  			0X1E
+#define LSM6DS3_ACC_GYRO_OUT_TEMP_L  			0X20
+#define LSM6DS3_ACC_GYRO_OUT_TEMP_H  			0X21
+#define LSM6DS3_ACC_GYRO_OUTX_L_G  			0X22
+#define LSM6DS3_ACC_GYRO_OUTX_H_G  			0X23
+#define LSM6DS3_ACC_GYRO_OUTY_L_G  			0X24
+#define LSM6DS3_ACC_GYRO_OUTY_H_G  			0X25
+#define LSM6DS3_ACC_GYRO_OUTZ_L_G  			0X26
+#define LSM6DS3_ACC_GYRO_OUTZ_H_G  			0X27
+#define LSM6DS3_ACC_GYRO_OUTX_L_XL  			0X28
+#define LSM6DS3_ACC_GYRO_OUTX_H_XL  			0X29
+#define LSM6DS3_ACC_GYRO_OUTY_L_XL  			0X2A
+#define LSM6DS3_ACC_GYRO_OUTY_H_XL  			0X2B
+#define LSM6DS3_ACC_GYRO_OUTZ_L_XL  			0X2C
+#define LSM6DS3_ACC_GYRO_OUTZ_H_XL  			0X2D
+#define LSM6DS3_ACC_GYRO_SENSORHUB1_REG  		0X2E
+#define LSM6DS3_ACC_GYRO_SENSORHUB2_REG  		0X2F
+#define LSM6DS3_ACC_GYRO_SENSORHUB3_REG  		0X30
+#define LSM6DS3_ACC_GYRO_SENSORHUB4_REG  		0X31
+#define LSM6DS3_ACC_GYRO_SENSORHUB5_REG  		0X32
+#define LSM6DS3_ACC_GYRO_SENSORHUB6_REG  		0X33
+#define LSM6DS3_ACC_GYRO_SENSORHUB7_REG  		0X34
+#define LSM6DS3_ACC_GYRO_SENSORHUB8_REG  		0X35
+#define LSM6DS3_ACC_GYRO_SENSORHUB9_REG  		0X36
+#define LSM6DS3_ACC_GYRO_SENSORHUB10_REG  		0X37
+#define LSM6DS3_ACC_GYRO_SENSORHUB11_REG  		0X38
+#define LSM6DS3_ACC_GYRO_SENSORHUB12_REG  		0X39
+#define LSM6DS3_ACC_GYRO_FIFO_STATUS1  			0X3A
+#define LSM6DS3_ACC_GYRO_FIFO_STATUS2  			0X3B
+#define LSM6DS3_ACC_GYRO_FIFO_STATUS3  			0X3C
+#define LSM6DS3_ACC_GYRO_FIFO_STATUS4  			0X3D
+#define LSM6DS3_ACC_GYRO_FIFO_DATA_OUT_L  		0X3E
+#define LSM6DS3_ACC_GYRO_FIFO_DATA_OUT_H  		0X3F
+#define LSM6DS3_ACC_GYRO_TIMESTAMP0_REG  		0X40
+#define LSM6DS3_ACC_GYRO_TIMESTAMP1_REG  		0X41
+#define LSM6DS3_ACC_GYRO_TIMESTAMP2_REG  		0X42
+#define LSM6DS3_ACC_GYRO_STEP_COUNTER_L  		0X4B
+#define LSM6DS3_ACC_GYRO_STEP_COUNTER_H  		0X4C
+#define LSM6DS3_ACC_GYRO_FUNC_SRC  			0X53
+#define LSM6DS3_ACC_GYRO_TAP_CFG1  			0X58
+#define LSM6DS3_ACC_GYRO_TAP_THS_6D  			0X59
+#define LSM6DS3_ACC_GYRO_INT_DUR2  			0X5A
+#define LSM6DS3_ACC_GYRO_WAKE_UP_THS  			0X5B
+#define LSM6DS3_ACC_GYRO_WAKE_UP_DUR  			0X5C
+#define LSM6DS3_ACC_GYRO_FREE_FALL  			0X5D
+#define LSM6DS3_ACC_GYRO_MD1_CFG  			0X5E
+#define LSM6DS3_ACC_GYRO_MD2_CFG  			0X5F
+
+/************** Access Device RAM  *******************/
+#define LSM6DS3_ACC_GYRO_ADDR0_TO_RW_RAM         0x62
+#define LSM6DS3_ACC_GYRO_ADDR1_TO_RW_RAM         0x63
+#define LSM6DS3_ACC_GYRO_DATA_TO_WR_RAM          0x64
+#define LSM6DS3_ACC_GYRO_DATA_RD_FROM_RAM        0x65
+
+#define LSM6DS3_ACC_GYRO_RAM_SIZE                4096
+
+/************** Embedded functions register mapping  *******************/
+#define LSM6DS3_ACC_GYRO_SLV0_ADD                     0x02
+#define LSM6DS3_ACC_GYRO_SLV0_SUBADD                  0x03
+#define LSM6DS3_ACC_GYRO_SLAVE0_CONFIG                0x04
+#define LSM6DS3_ACC_GYRO_SLV1_ADD                     0x05
+#define LSM6DS3_ACC_GYRO_SLV1_SUBADD                  0x06
+#define LSM6DS3_ACC_GYRO_SLAVE1_CONFIG                0x07
+#define LSM6DS3_ACC_GYRO_SLV2_ADD                     0x08
+#define LSM6DS3_ACC_GYRO_SLV2_SUBADD                  0x09
+#define LSM6DS3_ACC_GYRO_SLAVE2_CONFIG                0x0A
+#define LSM6DS3_ACC_GYRO_SLV3_ADD                     0x0B
+#define LSM6DS3_ACC_GYRO_SLV3_SUBADD                  0x0C
+#define LSM6DS3_ACC_GYRO_SLAVE3_CONFIG                0x0D
+#define LSM6DS3_ACC_GYRO_DATAWRITE_SRC_MODE_SUB_SLV0  0x0E
+#define LSM6DS3_ACC_GYRO_CONFIG_PEDO_THS_MIN          0x0F
+#define LSM6DS3_ACC_GYRO_CONFIG_TILT_IIR              0x10
+#define LSM6DS3_ACC_GYRO_CONFIG_TILT_ACOS             0x11
+#define LSM6DS3_ACC_GYRO_CONFIG_TILT_WTIME            0x12
+#define LSM6DS3_ACC_GYRO_SM_STEP_THS                  0x13
+#define LSM6DS3_ACC_GYRO_MAG_SI_XX                    0x24
+#define LSM6DS3_ACC_GYRO_MAG_SI_XY                    0x25
+#define LSM6DS3_ACC_GYRO_MAG_SI_XZ                    0x26
+#define LSM6DS3_ACC_GYRO_MAG_SI_YX                    0x27
+#define LSM6DS3_ACC_GYRO_MAG_SI_YY                    0x28
+#define LSM6DS3_ACC_GYRO_MAG_SI_YZ                    0x29
+#define LSM6DS3_ACC_GYRO_MAG_SI_ZX                    0x2A
+#define LSM6DS3_ACC_GYRO_MAG_SI_ZY                    0x2B
+#define LSM6DS3_ACC_GYRO_MAG_SI_ZZ                    0x2C
+#define LSM6DS3_ACC_GYRO_MAG_OFFX_L                   0x2D
+#define LSM6DS3_ACC_GYRO_MAG_OFFX_H                   0x2E
+#define LSM6DS3_ACC_GYRO_MAG_OFFY_L                   0x2F
+#define LSM6DS3_ACC_GYRO_MAG_OFFY_H                   0x30
+#define LSM6DS3_ACC_GYRO_MAG_OFFZ_L                   0x31
+#define LSM6DS3_ACC_GYRO_MAG_OFFZ_H                   0x32
+
+/*******************************************************************************
+* Register      : TEST_PAGE
+* Address       : 0X00
+* Bit Group Name: FLASH_PAGE
+* Permission    : RW
+*******************************************************************************/
+#define FLASH_PAGE    0x40
+
+/*******************************************************************************
+* Register      : RAM_ACCESS
+* Address       : 0X01
+* Bit Group Name: PROG_RAM1
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_PROG_RAM1_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_PROG_RAM1_ENABLED 		 = 0x01,
+} LSM6DS3_ACC_GYRO_PROG_RAM1_t;
+
+/*******************************************************************************
+* Register      : RAM_ACCESS
+* Address       : 0X01
+* Bit Group Name: CUSTOMROM1
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_CUSTOMROM1_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_CUSTOMROM1_ENABLED 		 = 0x04,
+} LSM6DS3_ACC_GYRO_CUSTOMROM1_t;
+
+/*******************************************************************************
+* Register      : RAM_ACCESS
+* Address       : 0X01
+* Bit Group Name: RAM_PAGE
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_RAM_PAGE_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_RAM_PAGE_ENABLED 		 = 0x80,
+} LSM6DS3_ACC_GYRO_RAM_PAGE_t;
+
+/*******************************************************************************
+* Register      : SENSOR_SYNC_TIME
+* Address       : 0X04
+* Bit Group Name: TPH
+* Permission    : RW
+*******************************************************************************/
+#define  	LSM6DS3_ACC_GYRO_TPH_MASK  	0xFF
+#define  	LSM6DS3_ACC_GYRO_TPH_POSITION  	0
+
+/*******************************************************************************
+* Register      : SENSOR_SYNC_EN
+* Address       : 0X05
+* Bit Group Name: SYNC_EN
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_SYNC_EN_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_SYNC_EN_ENABLED 		 = 0x01,
+} LSM6DS3_ACC_GYRO_SYNC_EN_t;
+
+/*******************************************************************************
+* Register      : SENSOR_SYNC_EN
+* Address       : 0X05
+* Bit Group Name: HP_RST
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_HP_RST_RST_OFF 		 = 0x00,
+	LSM6DS3_ACC_GYRO_HP_RST_RST_ON 		 = 0x02,
+} LSM6DS3_ACC_GYRO_HP_RST_t;
+
+/*******************************************************************************
+* Register      : FIFO_CTRL1
+* Address       : 0X06
+* Bit Group Name: WTM_FIFO
+* Permission    : RW
+*******************************************************************************/
+#define  	LSM6DS3_ACC_GYRO_WTM_FIFO_CTRL1_MASK  	0xFF
+#define  	LSM6DS3_ACC_GYRO_WTM_FIFO_CTRL1_POSITION  	0
+#define  	LSM6DS3_ACC_GYRO_WTM_FIFO_CTRL2_MASK  	0x0F
+#define  	LSM6DS3_ACC_GYRO_WTM_FIFO_CTRL2_POSITION  	0
+
+/*******************************************************************************
+* Register      : FIFO_CTRL2
+* Address       : 0X07
+* Bit Group Name: TIM_PEDO_FIFO_DRDY
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_TIM_PEDO_FIFO_DRDY_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_TIM_PEDO_FIFO_DRDY_ENABLED 		 = 0x40,
+} LSM6DS3_ACC_GYRO_TIM_PEDO_FIFO_DRDY_t;
+
+/*******************************************************************************
+* Register      : FIFO_CTRL2
+* Address       : 0X07
+* Bit Group Name: TIM_PEDO_FIFO_EN
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_TIM_PEDO_FIFO_EN_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_TIM_PEDO_FIFO_EN_ENABLED 		 = 0x80,
+} LSM6DS3_ACC_GYRO_TIM_PEDO_FIFO_EN_t;
+
+/*******************************************************************************
+* Register      : FIFO_CTRL3
+* Address       : 0X08
+* Bit Group Name: DEC_FIFO_XL
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_DEC_FIFO_XL_DATA_NOT_IN_FIFO 		 = 0x00,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_XL_NO_DECIMATION 		 = 0x01,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_XL_DECIMATION_BY_2 		 = 0x02,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_XL_DECIMATION_BY_3 		 = 0x03,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_XL_DECIMATION_BY_4 		 = 0x04,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_XL_DECIMATION_BY_8 		 = 0x05,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_XL_DECIMATION_BY_16 		 = 0x06,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_XL_DECIMATION_BY_32 		 = 0x07,
+} LSM6DS3_ACC_GYRO_DEC_FIFO_XL_t;
+
+/*******************************************************************************
+* Register      : FIFO_CTRL3
+* Address       : 0X08
+* Bit Group Name: DEC_FIFO_G
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_DEC_FIFO_G_DATA_NOT_IN_FIFO 		 = 0x00,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_G_NO_DECIMATION 		 = 0x08,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_G_DECIMATION_BY_2 		 = 0x10,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_G_DECIMATION_BY_3 		 = 0x18,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_G_DECIMATION_BY_4 		 = 0x20,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_G_DECIMATION_BY_8 		 = 0x28,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_G_DECIMATION_BY_16 		 = 0x30,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_G_DECIMATION_BY_32 		 = 0x38,
+} LSM6DS3_ACC_GYRO_DEC_FIFO_G_t;
+
+/*******************************************************************************
+* Register      : FIFO_CTRL4
+* Address       : 0X09
+* Bit Group Name: DEC_FIFO_SLV0
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_DEC_FIFO_SLV0_DATA_NOT_IN_FIFO 		 = 0x00,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_SLV0_NO_DECIMATION 		 = 0x01,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_SLV0_DECIMATION_BY_2 		 = 0x02,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_SLV0_DECIMATION_BY_3 		 = 0x03,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_SLV0_DECIMATION_BY_4 		 = 0x04,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_SLV0_DECIMATION_BY_8 		 = 0x05,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_SLV0_DECIMATION_BY_16 		 = 0x06,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_SLV0_DECIMATION_BY_32 		 = 0x07,
+} LSM6DS3_ACC_GYRO_DEC_FIFO_SLV0_t;
+
+/*******************************************************************************
+* Register      : FIFO_CTRL4
+* Address       : 0X09
+* Bit Group Name: DEC_FIFO_SLV1
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_DEC_FIFO_SLV1_DATA_NOT_IN_FIFO 		 = 0x00,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_SLV1_NO_DECIMATION 		 = 0x08,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_SLV1_DECIMATION_BY_2 		 = 0x10,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_SLV1_DECIMATION_BY_3 		 = 0x18,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_SLV1_DECIMATION_BY_4 		 = 0x20,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_SLV1_DECIMATION_BY_8 		 = 0x28,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_SLV1_DECIMATION_BY_16 		 = 0x30,
+	LSM6DS3_ACC_GYRO_DEC_FIFO_SLV1_DECIMATION_BY_32 		 = 0x38,
+} LSM6DS3_ACC_GYRO_DEC_FIFO_SLV1_t;
+
+/*******************************************************************************
+* Register      : FIFO_CTRL4
+* Address       : 0X09
+* Bit Group Name: HI_DATA_ONLY
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_HI_DATA_ONLY_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_HI_DATA_ONLY_ENABLED 		 = 0x40,
+} LSM6DS3_ACC_GYRO_HI_DATA_ONLY_t;
+
+/*******************************************************************************
+* Register      : FIFO_CTRL5
+* Address       : 0X0A
+* Bit Group Name: FIFO_MODE
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_FIFO_MODE_BYPASS 		 = 0x00,
+	LSM6DS3_ACC_GYRO_FIFO_MODE_FIFO 		 = 0x01,
+	LSM6DS3_ACC_GYRO_FIFO_MODE_STREAM 		 = 0x02,
+	LSM6DS3_ACC_GYRO_FIFO_MODE_STF 		 = 0x03,
+	LSM6DS3_ACC_GYRO_FIFO_MODE_BTS 		 = 0x04,
+	LSM6DS3_ACC_GYRO_FIFO_MODE_DYN_STREAM 		 = 0x05,
+	LSM6DS3_ACC_GYRO_FIFO_MODE_DYN_STREAM_2 		 = 0x06,
+	LSM6DS3_ACC_GYRO_FIFO_MODE_BTF 		 = 0x07,
+} LSM6DS3_ACC_GYRO_FIFO_MODE_t;
+
+/*******************************************************************************
+* Register      : FIFO_CTRL5
+* Address       : 0X0A
+* Bit Group Name: ODR_FIFO
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_ODR_FIFO_10Hz 		 = 0x08,
+	LSM6DS3_ACC_GYRO_ODR_FIFO_25Hz 		 = 0x10,
+	LSM6DS3_ACC_GYRO_ODR_FIFO_50Hz 		 = 0x18,
+	LSM6DS3_ACC_GYRO_ODR_FIFO_100Hz 		 = 0x20,
+	LSM6DS3_ACC_GYRO_ODR_FIFO_200Hz 		 = 0x28,
+	LSM6DS3_ACC_GYRO_ODR_FIFO_400Hz 		 = 0x30,
+	LSM6DS3_ACC_GYRO_ODR_FIFO_800Hz 		 = 0x38,
+	LSM6DS3_ACC_GYRO_ODR_FIFO_1600Hz 		 = 0x40,
+	LSM6DS3_ACC_GYRO_ODR_FIFO_3300Hz 		 = 0x48,
+	LSM6DS3_ACC_GYRO_ODR_FIFO_6600Hz 		 = 0x50,
+	LSM6DS3_ACC_GYRO_ODR_FIFO_13300Hz 		 = 0x58,
+} LSM6DS3_ACC_GYRO_ODR_FIFO_t;
+
+/*******************************************************************************
+* Register      : ORIENT_CFG_G
+* Address       : 0X0B
+* Bit Group Name: ORIENT
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_ORIENT_XYZ 		 = 0x00,
+	LSM6DS3_ACC_GYRO_ORIENT_XZY 		 = 0x01,
+	LSM6DS3_ACC_GYRO_ORIENT_YXZ 		 = 0x02,
+	LSM6DS3_ACC_GYRO_ORIENT_YZX 		 = 0x03,
+	LSM6DS3_ACC_GYRO_ORIENT_ZXY 		 = 0x04,
+	LSM6DS3_ACC_GYRO_ORIENT_ZYX 		 = 0x05,
+} LSM6DS3_ACC_GYRO_ORIENT_t;
+
+/*******************************************************************************
+* Register      : ORIENT_CFG_G
+* Address       : 0X0B
+* Bit Group Name: SIGN_Z_G
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_SIGN_Z_G_POSITIVE 		 = 0x00,
+	LSM6DS3_ACC_GYRO_SIGN_Z_G_NEGATIVE 		 = 0x08,
+} LSM6DS3_ACC_GYRO_SIGN_Z_G_t;
+
+/*******************************************************************************
+* Register      : ORIENT_CFG_G
+* Address       : 0X0B
+* Bit Group Name: SIGN_Y_G
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_SIGN_Y_G_POSITIVE 		 = 0x00,
+	LSM6DS3_ACC_GYRO_SIGN_Y_G_NEGATIVE 		 = 0x10,
+} LSM6DS3_ACC_GYRO_SIGN_Y_G_t;
+
+/*******************************************************************************
+* Register      : ORIENT_CFG_G
+* Address       : 0X0B
+* Bit Group Name: SIGN_X_G
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_SIGN_X_G_POSITIVE 		 = 0x00,
+	LSM6DS3_ACC_GYRO_SIGN_X_G_NEGATIVE 		 = 0x20,
+} LSM6DS3_ACC_GYRO_SIGN_X_G_t;
+
+/*******************************************************************************
+* Register      : REFERENCE_G
+* Address       : 0X0C
+* Bit Group Name: REF_G
+* Permission    : RW
+*******************************************************************************/
+#define  	LSM6DS3_ACC_GYRO_REF_G_MASK  	0xFF
+#define  	LSM6DS3_ACC_GYRO_REF_G_POSITION  	0
+
+/*******************************************************************************
+* Register      : INT1_CTRL
+* Address       : 0X0D
+* Bit Group Name: INT1_DRDY_XL
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT1_DRDY_XL_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT1_DRDY_XL_ENABLED 		 = 0x01,
+} LSM6DS3_ACC_GYRO_INT1_DRDY_XL_t;
+
+/*******************************************************************************
+* Register      : INT1_CTRL
+* Address       : 0X0D
+* Bit Group Name: INT1_DRDY_G
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT1_DRDY_G_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT1_DRDY_G_ENABLED 		 = 0x02,
+} LSM6DS3_ACC_GYRO_INT1_DRDY_G_t;
+
+/*******************************************************************************
+* Register      : INT1_CTRL
+* Address       : 0X0D
+* Bit Group Name: INT1_BOOT
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT1_BOOT_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT1_BOOT_ENABLED 		 = 0x04,
+} LSM6DS3_ACC_GYRO_INT1_BOOT_t;
+
+/*******************************************************************************
+* Register      : INT1_CTRL
+* Address       : 0X0D
+* Bit Group Name: INT1_FTH
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT1_FTH_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT1_FTH_ENABLED 		 = 0x08,
+} LSM6DS3_ACC_GYRO_INT1_FTH_t;
+
+/*******************************************************************************
+* Register      : INT1_CTRL
+* Address       : 0X0D
+* Bit Group Name: INT1_OVR
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT1_OVR_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT1_OVR_ENABLED 		 = 0x10,
+} LSM6DS3_ACC_GYRO_INT1_OVR_t;
+
+/*******************************************************************************
+* Register      : INT1_CTRL
+* Address       : 0X0D
+* Bit Group Name: INT1_FSS5
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT1_FSS5_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT1_FSS5_ENABLED 		 = 0x20,
+} LSM6DS3_ACC_GYRO_INT1_FSS5_t;
+
+/*******************************************************************************
+* Register      : INT1_CTRL
+* Address       : 0X0D
+* Bit Group Name: INT1_SIGN_MOT
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT1_SIGN_MOT_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT1_SIGN_MOT_ENABLED 		 = 0x40,
+} LSM6DS3_ACC_GYRO_INT1_SIGN_MOT_t;
+
+/*******************************************************************************
+* Register      : INT1_CTRL
+* Address       : 0X0D
+* Bit Group Name: INT1_PEDO
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT1_PEDO_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT1_PEDO_ENABLED 		 = 0x80,
+} LSM6DS3_ACC_GYRO_INT1_PEDO_t;
+
+/*******************************************************************************
+* Register      : INT2_CTRL
+* Address       : 0X0E
+* Bit Group Name: INT2_DRDY_XL
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT2_DRDY_XL_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT2_DRDY_XL_ENABLED 		 = 0x01,
+} LSM6DS3_ACC_GYRO_INT2_DRDY_XL_t;
+
+/*******************************************************************************
+* Register      : INT2_CTRL
+* Address       : 0X0E
+* Bit Group Name: INT2_DRDY_G
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT2_DRDY_G_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT2_DRDY_G_ENABLED 		 = 0x02,
+} LSM6DS3_ACC_GYRO_INT2_DRDY_G_t;
+
+/*******************************************************************************
+* Register      : INT2_CTRL
+* Address       : 0X0E
+* Bit Group Name: INT2_FTH
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT2_FTH_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT2_FTH_ENABLED 		 = 0x08,
+} LSM6DS3_ACC_GYRO_INT2_FTH_t;
+
+/*******************************************************************************
+* Register      : INT2_CTRL
+* Address       : 0X0E
+* Bit Group Name: INT2_OVR
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT2_OVR_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT2_OVR_ENABLED 		 = 0x10,
+} LSM6DS3_ACC_GYRO_INT2_OVR_t;
+
+/*******************************************************************************
+* Register      : INT2_CTRL
+* Address       : 0X0E
+* Bit Group Name: INT2_FSS5
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT2_FSS5_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT2_FSS5_ENABLED 		 = 0x20,
+} LSM6DS3_ACC_GYRO_INT2_FSS5_t;
+
+/*******************************************************************************
+* Register      : INT2_CTRL
+* Address       : 0X0E
+* Bit Group Name: INT2_SIGN_MOT
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT2_SIGN_MOT_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT2_SIGN_MOT_ENABLED 		 = 0x40,
+} LSM6DS3_ACC_GYRO_INT2_SIGN_MOT_t;
+
+/*******************************************************************************
+* Register      : INT2_CTRL
+* Address       : 0X0E
+* Bit Group Name: INT2_PEDO
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT2_PEDO_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT2_PEDO_ENABLED 		 = 0x80,
+} LSM6DS3_ACC_GYRO_INT2_PEDO_t;
+
+/*******************************************************************************
+* Register      : WHO_AM_I
+* Address       : 0X0F
+* Bit Group Name: WHO_AM_I_BIT
+* Permission    : RO
+*******************************************************************************/
+#define  	LSM6DS3_ACC_GYRO_WHO_AM_I_BIT_MASK  	0xFF
+#define  	LSM6DS3_ACC_GYRO_WHO_AM_I_BIT_POSITION  	0
+
+/*******************************************************************************
+* Register      : CTRL1_XL
+* Address       : 0X10
+* Bit Group Name: BW_XL
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_BW_XL_400Hz 		 = 0x00,
+	LSM6DS3_ACC_GYRO_BW_XL_200Hz 		 = 0x01,
+	LSM6DS3_ACC_GYRO_BW_XL_100Hz 		 = 0x02,
+	LSM6DS3_ACC_GYRO_BW_XL_50Hz 		 = 0x03,
+} LSM6DS3_ACC_GYRO_BW_XL_t;
+
+/*******************************************************************************
+* Register      : CTRL1_XL
+* Address       : 0X10
+* Bit Group Name: FS_XL
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_FS_XL_2g 		 = 0x00,
+	LSM6DS3_ACC_GYRO_FS_XL_16g 		 = 0x04,
+	LSM6DS3_ACC_GYRO_FS_XL_4g 		 = 0x08,
+	LSM6DS3_ACC_GYRO_FS_XL_8g 		 = 0x0C,
+} LSM6DS3_ACC_GYRO_FS_XL_t;
+
+/*******************************************************************************
+* Register      : CTRL1_XL
+* Address       : 0X10
+* Bit Group Name: ODR_XL
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_ODR_XL_POWER_DOWN 		 = 0x00,
+	LSM6DS3_ACC_GYRO_ODR_XL_13Hz 		         = 0x10,
+	LSM6DS3_ACC_GYRO_ODR_XL_26Hz 		         = 0x20,
+	LSM6DS3_ACC_GYRO_ODR_XL_52Hz 		         = 0x30,
+	LSM6DS3_ACC_GYRO_ODR_XL_104Hz 		 = 0x40,
+	LSM6DS3_ACC_GYRO_ODR_XL_208Hz 		 = 0x50,
+	LSM6DS3_ACC_GYRO_ODR_XL_416Hz 		 = 0x60,
+	LSM6DS3_ACC_GYRO_ODR_XL_833Hz 		 = 0x70,
+	LSM6DS3_ACC_GYRO_ODR_XL_1660Hz 		 = 0x80,
+	LSM6DS3_ACC_GYRO_ODR_XL_3330Hz 		 = 0x90,
+	LSM6DS3_ACC_GYRO_ODR_XL_6660Hz 		 = 0xA0,
+	LSM6DS3_ACC_GYRO_ODR_XL_13330Hz 		 = 0xB0,
+} LSM6DS3_ACC_GYRO_ODR_XL_t;
+
+/*******************************************************************************
+* Register      : CTRL2_G
+* Address       : 0X11
+* Bit Group Name: FS_125
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_FS_125_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_FS_125_ENABLED 		 = 0x02,
+} LSM6DS3_ACC_GYRO_FS_125_t;
+
+/*******************************************************************************
+* Register      : CTRL2_G
+* Address       : 0X11
+* Bit Group Name: FS_G
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_FS_G_245dps 		 = 0x00,
+	LSM6DS3_ACC_GYRO_FS_G_500dps 		 = 0x04,
+	LSM6DS3_ACC_GYRO_FS_G_1000dps 		 = 0x08,
+	LSM6DS3_ACC_GYRO_FS_G_2000dps 		 = 0x0C,
+} LSM6DS3_ACC_GYRO_FS_G_t;
+
+/*******************************************************************************
+* Register      : CTRL2_G
+* Address       : 0X11
+* Bit Group Name: ODR_G
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_ODR_G_POWER_DOWN 		 = 0x00,
+	LSM6DS3_ACC_GYRO_ODR_G_13Hz 		 = 0x10,
+	LSM6DS3_ACC_GYRO_ODR_G_26Hz 		 = 0x20,
+	LSM6DS3_ACC_GYRO_ODR_G_52Hz 		 = 0x30,
+	LSM6DS3_ACC_GYRO_ODR_G_104Hz 		 = 0x40,
+	LSM6DS3_ACC_GYRO_ODR_G_208Hz 		 = 0x50,
+	LSM6DS3_ACC_GYRO_ODR_G_416Hz 		 = 0x60,
+	LSM6DS3_ACC_GYRO_ODR_G_833Hz 		 = 0x70,
+	LSM6DS3_ACC_GYRO_ODR_G_1660Hz 		 = 0x80,
+} LSM6DS3_ACC_GYRO_ODR_G_t;
+
+/*******************************************************************************
+* Register      : CTRL3_C
+* Address       : 0X12
+* Bit Group Name: SW_RESET
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_SW_RESET_NORMAL_MODE 		 = 0x00,
+	LSM6DS3_ACC_GYRO_SW_RESET_RESET_DEVICE 		 = 0x01,
+} LSM6DS3_ACC_GYRO_SW_RESET_t;
+
+/*******************************************************************************
+* Register      : CTRL3_C
+* Address       : 0X12
+* Bit Group Name: BLE
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_BLE_LSB 		 = 0x00,
+	LSM6DS3_ACC_GYRO_BLE_MSB 		 = 0x02,
+} LSM6DS3_ACC_GYRO_BLE_t;
+
+/*******************************************************************************
+* Register      : CTRL3_C
+* Address       : 0X12
+* Bit Group Name: IF_INC
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_IF_INC_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_IF_INC_ENABLED 		 = 0x04,
+} LSM6DS3_ACC_GYRO_IF_INC_t;
+
+/*******************************************************************************
+* Register      : CTRL3_C
+* Address       : 0X12
+* Bit Group Name: SIM
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_SIM_4_WIRE 		 = 0x00,
+	LSM6DS3_ACC_GYRO_SIM_3_WIRE 		 = 0x08,
+} LSM6DS3_ACC_GYRO_SIM_t;
+
+/*******************************************************************************
+* Register      : CTRL3_C
+* Address       : 0X12
+* Bit Group Name: PP_OD
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_PP_OD_PUSH_PULL 		 = 0x00,
+	LSM6DS3_ACC_GYRO_PP_OD_OPEN_DRAIN 		 = 0x10,
+} LSM6DS3_ACC_GYRO_PP_OD_t;
+
+/*******************************************************************************
+* Register      : CTRL3_C
+* Address       : 0X12
+* Bit Group Name: INT_ACT_LEVEL
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT_ACT_LEVEL_ACTIVE_HI 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT_ACT_LEVEL_ACTIVE_LO 		 = 0x20,
+} LSM6DS3_ACC_GYRO_INT_ACT_LEVEL_t;
+
+/*******************************************************************************
+* Register      : CTRL3_C
+* Address       : 0X12
+* Bit Group Name: BDU
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_BDU_CONTINUOS 		 = 0x00,
+	LSM6DS3_ACC_GYRO_BDU_BLOCK_UPDATE 		 = 0x40,
+} LSM6DS3_ACC_GYRO_BDU_t;
+
+/*******************************************************************************
+* Register      : CTRL3_C
+* Address       : 0X12
+* Bit Group Name: BOOT
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_BOOT_NORMAL_MODE 		 = 0x00,
+	LSM6DS3_ACC_GYRO_BOOT_REBOOT_MODE 		 = 0x80,
+} LSM6DS3_ACC_GYRO_BOOT_t;
+
+/*******************************************************************************
+* Register      : CTRL4_C
+* Address       : 0X13
+* Bit Group Name: STOP_ON_FTH
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_STOP_ON_FTH_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_STOP_ON_FTH_ENABLED 		 = 0x01,
+} LSM6DS3_ACC_GYRO_STOP_ON_FTH_t;
+
+/*******************************************************************************
+* Register      : CTRL4_C
+* Address       : 0X13
+* Bit Group Name: MODE3_EN
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_MODE3_EN_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_MODE3_EN_ENABLED 		 = 0x02,
+} LSM6DS3_ACC_GYRO_MODE3_EN_t;
+
+/*******************************************************************************
+* Register      : CTRL4_C
+* Address       : 0X13
+* Bit Group Name: I2C_DISABLE
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_I2C_DISABLE_I2C_AND_SPI 		 = 0x00,
+	LSM6DS3_ACC_GYRO_I2C_DISABLE_SPI_ONLY 		 = 0x04,
+} LSM6DS3_ACC_GYRO_I2C_DISABLE_t;
+
+/*******************************************************************************
+* Register      : CTRL4_C
+* Address       : 0X13
+* Bit Group Name: DRDY_MSK
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_DRDY_MSK_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_DRDY_MSK_ENABLED 		 = 0x08,
+} LSM6DS3_ACC_GYRO_DRDY_MSK_t;
+
+/*******************************************************************************
+* Register      : CTRL4_C
+* Address       : 0X13
+* Bit Group Name: FIFO_TEMP_EN
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_FIFO_TEMP_EN_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_FIFO_TEMP_EN_ENABLED 		 = 0x10,
+} LSM6DS3_ACC_GYRO_FIFO_TEMP_EN_t;
+
+/*******************************************************************************
+* Register      : CTRL4_C
+* Address       : 0X13
+* Bit Group Name: INT2_ON_INT1
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT2_ON_INT1_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT2_ON_INT1_ENABLED 		 = 0x20,
+} LSM6DS3_ACC_GYRO_INT2_ON_INT1_t;
+
+/*******************************************************************************
+* Register      : CTRL4_C
+* Address       : 0X13
+* Bit Group Name: SLEEP_G
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_SLEEP_G_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_SLEEP_G_ENABLED 		 = 0x40,
+} LSM6DS3_ACC_GYRO_SLEEP_G_t;
+
+/*******************************************************************************
+* Register      : CTRL4_C
+* Address       : 0X13
+* Bit Group Name: BW_SCAL_ODR
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_BW_SCAL_ODR_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_BW_SCAL_ODR_ENABLED 		 = 0x80,
+} LSM6DS3_ACC_GYRO_BW_SCAL_ODR_t;
+
+/*******************************************************************************
+* Register      : CTRL5_C
+* Address       : 0X14
+* Bit Group Name: ST_XL
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_ST_XL_NORMAL_MODE 		 = 0x00,
+	LSM6DS3_ACC_GYRO_ST_XL_POS_SIGN_TEST 		 = 0x01,
+	LSM6DS3_ACC_GYRO_ST_XL_NEG_SIGN_TEST 		 = 0x02,
+	LSM6DS3_ACC_GYRO_ST_XL_NA 		 = 0x03,
+} LSM6DS3_ACC_GYRO_ST_XL_t;
+
+/*******************************************************************************
+* Register      : CTRL5_C
+* Address       : 0X14
+* Bit Group Name: ST_G
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_ST_G_NORMAL_MODE 		 = 0x00,
+	LSM6DS3_ACC_GYRO_ST_G_POS_SIGN_TEST 		 = 0x04,
+	LSM6DS3_ACC_GYRO_ST_G_NA 		 = 0x08,
+	LSM6DS3_ACC_GYRO_ST_G_NEG_SIGN_TEST 		 = 0x0C,
+} LSM6DS3_ACC_GYRO_ST_G_t;
+
+/*******************************************************************************
+* Register      : CTRL6_G
+* Address       : 0X15
+* Bit Group Name: LP_XL
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_LP_XL_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_LP_XL_ENABLED 		 = 0x10,
+} LSM6DS3_ACC_GYRO_LP_XL_t;
+
+/*******************************************************************************
+* Register      : CTRL6_G
+* Address       : 0X15
+* Bit Group Name: DEN_LVL2_EN
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_DEN_LVL2_EN_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_DEN_LVL2_EN_ENABLED 		 = 0x20,
+} LSM6DS3_ACC_GYRO_DEN_LVL2_EN_t;
+
+/*******************************************************************************
+* Register      : CTRL6_G
+* Address       : 0X15
+* Bit Group Name: DEN_LVL_EN
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_DEN_LVL_EN_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_DEN_LVL_EN_ENABLED 		 = 0x40,
+} LSM6DS3_ACC_GYRO_DEN_LVL_EN_t;
+
+/*******************************************************************************
+* Register      : CTRL6_G
+* Address       : 0X15
+* Bit Group Name: DEN_EDGE_EN
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_DEN_EDGE_EN_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_DEN_EDGE_EN_ENABLED 		 = 0x80,
+} LSM6DS3_ACC_GYRO_DEN_EDGE_EN_t;
+
+/*******************************************************************************
+* Register      : CTRL7_G
+* Address       : 0X16
+* Bit Group Name: HPM_G
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_HPM_G_NORMAL_MODE 		 = 0x00,
+	LSM6DS3_ACC_GYRO_HPM_G_REF_SIGNAL 		 = 0x10,
+	LSM6DS3_ACC_GYRO_HPM_G_NORMAL_MODE_2 		 = 0x20,
+	LSM6DS3_ACC_GYRO_HPM_G_AUTO_RESET_ON_INT 		 = 0x30,
+} LSM6DS3_ACC_GYRO_HPM_G_t;
+
+/*******************************************************************************
+* Register      : CTRL7_G
+* Address       : 0X16
+* Bit Group Name: HP_EN
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_HP_EN_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_HP_EN_ENABLED 		 = 0x40,
+} LSM6DS3_ACC_GYRO_HP_EN_t;
+
+/*******************************************************************************
+* Register      : CTRL7_G
+* Address       : 0X16
+* Bit Group Name: LP_EN
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_LP_EN_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_LP_EN_ENABLED 		 = 0x80,
+} LSM6DS3_ACC_GYRO_LP_EN_t;
+
+/*******************************************************************************
+* Register      : CTRL8_XL
+* Address       : 0X17
+* Bit Group Name: FDS
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_FDS_FILTER_OFF 		 = 0x00,
+	LSM6DS3_ACC_GYRO_FDS_FILTER_ON 		 = 0x04,
+} LSM6DS3_ACC_GYRO_FDS_t;
+
+/*******************************************************************************
+* Register      : CTRL9_XL
+* Address       : 0X18
+* Bit Group Name: XEN_XL
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_XEN_XL_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_XEN_XL_ENABLED 		 = 0x08,
+} LSM6DS3_ACC_GYRO_XEN_XL_t;
+
+/*******************************************************************************
+* Register      : CTRL9_XL
+* Address       : 0X18
+* Bit Group Name: YEN_XL
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_YEN_XL_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_YEN_XL_ENABLED 		 = 0x10,
+} LSM6DS3_ACC_GYRO_YEN_XL_t;
+
+/*******************************************************************************
+* Register      : CTRL9_XL
+* Address       : 0X18
+* Bit Group Name: ZEN_XL
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_ZEN_XL_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_ZEN_XL_ENABLED 		 = 0x20,
+} LSM6DS3_ACC_GYRO_ZEN_XL_t;
+
+/*******************************************************************************
+* Register      : CTRL10_C
+* Address       : 0X19
+* Bit Group Name: SIGN_MOTION_EN
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_SIGN_MOTION_EN_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_SIGN_MOTION_EN_ENABLED 		 = 0x01,
+} LSM6DS3_ACC_GYRO_SIGN_MOTION_EN_t;
+
+/*******************************************************************************
+* Register      : CTRL10_C
+* Address       : 0X19
+* Bit Group Name: PEDO_RST_STEP
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_PEDO_RST_STEP_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_PEDO_RST_STEP_ENABLED 		 = 0x02,
+} LSM6DS3_ACC_GYRO_PEDO_RST_STEP_t;
+
+/*******************************************************************************
+* Register      : CTRL10_C
+* Address       : 0X19
+* Bit Group Name: XEN_G
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_XEN_G_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_XEN_G_ENABLED 		 = 0x08,
+} LSM6DS3_ACC_GYRO_XEN_G_t;
+
+/*******************************************************************************
+* Register      : CTRL10_C
+* Address       : 0X19
+* Bit Group Name: YEN_G
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_YEN_G_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_YEN_G_ENABLED 		 = 0x10,
+} LSM6DS3_ACC_GYRO_YEN_G_t;
+
+/*******************************************************************************
+* Register      : CTRL10_C
+* Address       : 0X19
+* Bit Group Name: ZEN_G
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_ZEN_G_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_ZEN_G_ENABLED 		 = 0x20,
+} LSM6DS3_ACC_GYRO_ZEN_G_t;
+
+/*******************************************************************************
+* Register      : CTRL10_C
+* Address       : 0X19
+* Bit Group Name: FUNC_EN
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_FUNC_EN_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_FUNC_EN_ENABLED 		 = 0x04,
+} LSM6DS3_ACC_GYRO_FUNC_EN_t;
+
+/*******************************************************************************
+* Register      : MASTER_CONFIG
+* Address       : 0X1A
+* Bit Group Name: MASTER_ON
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_MASTER_ON_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_MASTER_ON_ENABLED 		 = 0x01,
+} LSM6DS3_ACC_GYRO_MASTER_ON_t;
+
+/*******************************************************************************
+* Register      : MASTER_CONFIG
+* Address       : 0X1A
+* Bit Group Name: IRON_EN
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_IRON_EN_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_IRON_EN_ENABLED 		 = 0x02,
+} LSM6DS3_ACC_GYRO_IRON_EN_t;
+
+/*******************************************************************************
+* Register      : MASTER_CONFIG
+* Address       : 0X1A
+* Bit Group Name: PASS_THRU_MODE
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_PASS_THRU_MODE_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_PASS_THRU_MODE_ENABLED 		 = 0x04,
+} LSM6DS3_ACC_GYRO_PASS_THRU_MODE_t;
+
+/*******************************************************************************
+* Register      : MASTER_CONFIG
+* Address       : 0X1A
+* Bit Group Name: PULL_UP_EN
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_PULL_UP_EN_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_PULL_UP_EN_ENABLED 		 = 0x08,
+} LSM6DS3_ACC_GYRO_PULL_UP_EN_t;
+
+/*******************************************************************************
+* Register      : MASTER_CONFIG
+* Address       : 0X1A
+* Bit Group Name: START_CONFIG
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_START_CONFIG_XL_G_DRDY 		 = 0x00,
+	LSM6DS3_ACC_GYRO_START_CONFIG_EXT_INT2 		 = 0x10,
+} LSM6DS3_ACC_GYRO_START_CONFIG_t;
+
+/*******************************************************************************
+* Register      : MASTER_CONFIG
+* Address       : 0X1A
+* Bit Group Name: DATA_VAL_SEL_FIFO
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_DATA_VAL_SEL_FIFO_XL_G_DRDY 		 = 0x00,
+	LSM6DS3_ACC_GYRO_DATA_VAL_SEL_FIFO_SHUB_DRDY 		 = 0x40,
+} LSM6DS3_ACC_GYRO_DATA_VAL_SEL_FIFO_t;
+
+/*******************************************************************************
+* Register      : MASTER_CONFIG
+* Address       : 0X1A
+* Bit Group Name: DRDY_ON_INT1
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_DRDY_ON_INT1_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_DRDY_ON_INT1_ENABLED 		 = 0x80,
+} LSM6DS3_ACC_GYRO_DRDY_ON_INT1_t;
+
+/*******************************************************************************
+* Register      : WAKE_UP_SRC
+* Address       : 0X1B
+* Bit Group Name: Z_WU
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_Z_WU_NOT_DETECTED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_Z_WU_DETECTED 		 = 0x01,
+} LSM6DS3_ACC_GYRO_Z_WU_t;
+
+/*******************************************************************************
+* Register      : WAKE_UP_SRC
+* Address       : 0X1B
+* Bit Group Name: Y_WU
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_Y_WU_NOT_DETECTED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_Y_WU_DETECTED 		 = 0x02,
+} LSM6DS3_ACC_GYRO_Y_WU_t;
+
+/*******************************************************************************
+* Register      : WAKE_UP_SRC
+* Address       : 0X1B
+* Bit Group Name: X_WU
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_X_WU_NOT_DETECTED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_X_WU_DETECTED 		 = 0x04,
+} LSM6DS3_ACC_GYRO_X_WU_t;
+
+/*******************************************************************************
+* Register      : WAKE_UP_SRC
+* Address       : 0X1B
+* Bit Group Name: WU_EV_STATUS
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_WU_EV_STATUS_NOT_DETECTED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_WU_EV_STATUS_DETECTED 		 = 0x08,
+} LSM6DS3_ACC_GYRO_WU_EV_STATUS_t;
+
+/*******************************************************************************
+* Register      : WAKE_UP_SRC
+* Address       : 0X1B
+* Bit Group Name: SLEEP_EV_STATUS
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_SLEEP_EV_STATUS_NOT_DETECTED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_SLEEP_EV_STATUS_DETECTED 		 = 0x10,
+} LSM6DS3_ACC_GYRO_SLEEP_EV_STATUS_t;
+
+/*******************************************************************************
+* Register      : WAKE_UP_SRC
+* Address       : 0X1B
+* Bit Group Name: FF_EV_STATUS
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_FF_EV_STATUS_NOT_DETECTED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_FF_EV_STATUS_DETECTED 		 = 0x20,
+} LSM6DS3_ACC_GYRO_FF_EV_STATUS_t;
+
+/*******************************************************************************
+* Register      : TAP_SRC
+* Address       : 0X1C
+* Bit Group Name: Z_TAP
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_Z_TAP_NOT_DETECTED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_Z_TAP_DETECTED 		 = 0x01,
+} LSM6DS3_ACC_GYRO_Z_TAP_t;
+
+/*******************************************************************************
+* Register      : TAP_SRC
+* Address       : 0X1C
+* Bit Group Name: Y_TAP
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_Y_TAP_NOT_DETECTED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_Y_TAP_DETECTED 		 = 0x02,
+} LSM6DS3_ACC_GYRO_Y_TAP_t;
+
+/*******************************************************************************
+* Register      : TAP_SRC
+* Address       : 0X1C
+* Bit Group Name: X_TAP
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_X_TAP_NOT_DETECTED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_X_TAP_DETECTED 		 = 0x04,
+} LSM6DS3_ACC_GYRO_X_TAP_t;
+
+/*******************************************************************************
+* Register      : TAP_SRC
+* Address       : 0X1C
+* Bit Group Name: TAP_SIGN
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_TAP_SIGN_POS_SIGN 		 = 0x00,
+	LSM6DS3_ACC_GYRO_TAP_SIGN_NEG_SIGN 		 = 0x08,
+} LSM6DS3_ACC_GYRO_TAP_SIGN_t;
+
+/*******************************************************************************
+* Register      : TAP_SRC
+* Address       : 0X1C
+* Bit Group Name: DOUBLE_TAP_EV_STATUS
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_DOUBLE_TAP_EV_STATUS_NOT_DETECTED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_DOUBLE_TAP_EV_STATUS_DETECTED 		 = 0x10,
+} LSM6DS3_ACC_GYRO_DOUBLE_TAP_EV_STATUS_t;
+
+/*******************************************************************************
+* Register      : TAP_SRC
+* Address       : 0X1C
+* Bit Group Name: SINGLE_TAP_EV_STATUS
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_SINGLE_TAP_EV_STATUS_NOT_DETECTED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_SINGLE_TAP_EV_STATUS_DETECTED 		 = 0x20,
+} LSM6DS3_ACC_GYRO_SINGLE_TAP_EV_STATUS_t;
+
+/*******************************************************************************
+* Register      : TAP_SRC
+* Address       : 0X1C
+* Bit Group Name: TAP_EV_STATUS
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_TAP_EV_STATUS_NOT_DETECTED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_TAP_EV_STATUS_DETECTED 		 = 0x40,
+} LSM6DS3_ACC_GYRO_TAP_EV_STATUS_t;
+
+/*******************************************************************************
+* Register      : D6D_SRC
+* Address       : 0X1D
+* Bit Group Name: DSD_XL
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_DSD_XL_NOT_DETECTED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_DSD_XL_DETECTED 		 = 0x01,
+} LSM6DS3_ACC_GYRO_DSD_XL_t;
+
+/*******************************************************************************
+* Register      : D6D_SRC
+* Address       : 0X1D
+* Bit Group Name: DSD_XH
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_DSD_XH_NOT_DETECTED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_DSD_XH_DETECTED 		 = 0x02,
+} LSM6DS3_ACC_GYRO_DSD_XH_t;
+
+/*******************************************************************************
+* Register      : D6D_SRC
+* Address       : 0X1D
+* Bit Group Name: DSD_YL
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_DSD_YL_NOT_DETECTED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_DSD_YL_DETECTED 		 = 0x04,
+} LSM6DS3_ACC_GYRO_DSD_YL_t;
+
+/*******************************************************************************
+* Register      : D6D_SRC
+* Address       : 0X1D
+* Bit Group Name: DSD_YH
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_DSD_YH_NOT_DETECTED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_DSD_YH_DETECTED 		 = 0x08,
+} LSM6DS3_ACC_GYRO_DSD_YH_t;
+
+/*******************************************************************************
+* Register      : D6D_SRC
+* Address       : 0X1D
+* Bit Group Name: DSD_ZL
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_DSD_ZL_NOT_DETECTED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_DSD_ZL_DETECTED 		 = 0x10,
+} LSM6DS3_ACC_GYRO_DSD_ZL_t;
+
+/*******************************************************************************
+* Register      : D6D_SRC
+* Address       : 0X1D
+* Bit Group Name: DSD_ZH
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_DSD_ZH_NOT_DETECTED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_DSD_ZH_DETECTED 		 = 0x20,
+} LSM6DS3_ACC_GYRO_DSD_ZH_t;
+
+/*******************************************************************************
+* Register      : D6D_SRC
+* Address       : 0X1D
+* Bit Group Name: D6D_EV_STATUS
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_D6D_EV_STATUS_NOT_DETECTED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_D6D_EV_STATUS_DETECTED 		 = 0x40,
+} LSM6DS3_ACC_GYRO_D6D_EV_STATUS_t;
+
+/*******************************************************************************
+* Register      : STATUS_REG
+* Address       : 0X1E
+* Bit Group Name: XLDA
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_XLDA_NO_DATA_AVAIL 		 = 0x00,
+	LSM6DS3_ACC_GYRO_XLDA_DATA_AVAIL 		 = 0x01,
+} LSM6DS3_ACC_GYRO_XLDA_t;
+
+/*******************************************************************************
+* Register      : STATUS_REG
+* Address       : 0X1E
+* Bit Group Name: GDA
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_GDA_NO_DATA_AVAIL 		 = 0x00,
+	LSM6DS3_ACC_GYRO_GDA_DATA_AVAIL 		 = 0x02,
+} LSM6DS3_ACC_GYRO_GDA_t;
+
+/*******************************************************************************
+* Register      : STATUS_REG
+* Address       : 0X1E
+* Bit Group Name: EV_BOOT
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_EV_BOOT_NO_BOOT_RUNNING 		 = 0x00,
+	LSM6DS3_ACC_GYRO_EV_BOOT_BOOT_IS_RUNNING 		 = 0x08,
+} LSM6DS3_ACC_GYRO_EV_BOOT_t;
+
+/*******************************************************************************
+* Register      : FIFO_STATUS1
+* Address       : 0X3A
+* Bit Group Name: DIFF_FIFO
+* Permission    : RO
+*******************************************************************************/
+#define  	LSM6DS3_ACC_GYRO_DIFF_FIFO_STATUS1_MASK  	0xFF
+#define  	LSM6DS3_ACC_GYRO_DIFF_FIFO_STATUS1_POSITION  	0
+#define  	LSM6DS3_ACC_GYRO_DIFF_FIFO_STATUS2_MASK  0xF
+#define  	LSM6DS3_ACC_GYRO_DIFF_FIFO_STATUS2_POSITION  	0
+
+/*******************************************************************************
+* Register      : FIFO_STATUS2
+* Address       : 0X3B
+* Bit Group Name: FIFO_EMPTY
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_FIFO_EMPTY_FIFO_NOT_EMPTY 		 = 0x00,
+	LSM6DS3_ACC_GYRO_FIFO_EMPTY_FIFO_EMPTY 		 = 0x10,
+} LSM6DS3_ACC_GYRO_FIFO_EMPTY_t;
+
+/*******************************************************************************
+* Register      : FIFO_STATUS2
+* Address       : 0X3B
+* Bit Group Name: FIFO_FULL
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_FIFO_FULL_FIFO_NOT_FULL 		 = 0x00,
+	LSM6DS3_ACC_GYRO_FIFO_FULL_FIFO_FULL 		 = 0x20,
+} LSM6DS3_ACC_GYRO_FIFO_FULL_t;
+
+/*******************************************************************************
+* Register      : FIFO_STATUS2
+* Address       : 0X3B
+* Bit Group Name: OVERRUN
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_OVERRUN_NO_OVERRUN 		 = 0x00,
+	LSM6DS3_ACC_GYRO_OVERRUN_OVERRUN 		 = 0x40,
+} LSM6DS3_ACC_GYRO_OVERRUN_t;
+
+/*******************************************************************************
+* Register      : FIFO_STATUS2
+* Address       : 0X3B
+* Bit Group Name: WTM
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_WTM_BELOW_WTM 		 = 0x00,
+	LSM6DS3_ACC_GYRO_WTM_ABOVE_OR_EQUAL_WTM 		 = 0x80,
+} LSM6DS3_ACC_GYRO_WTM_t;
+
+/*******************************************************************************
+* Register      : FIFO_STATUS3
+* Address       : 0X3C
+* Bit Group Name: FIFO_PATTERN
+* Permission    : RO
+*******************************************************************************/
+#define  	LSM6DS3_ACC_GYRO_FIFO_STATUS3_PATTERN_MASK  	0xFF
+#define  	LSM6DS3_ACC_GYRO_FIFO_STATUS3_PATTERN_POSITION  	0
+#define  	LSM6DS3_ACC_GYRO_FIFO_STATUS4_PATTERN_MASK  	0x03
+#define  	LSM6DS3_ACC_GYRO_FIFO_STATUS4_PATTERN_POSITION  	0
+
+/*******************************************************************************
+* Register      : FUNC_SRC
+* Address       : 0X53
+* Bit Group Name: SENS_HUB_END
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_SENS_HUB_END_STILL_ONGOING 		 = 0x00,
+	LSM6DS3_ACC_GYRO_SENS_HUB_END_OP_COMPLETED 		 = 0x01,
+} LSM6DS3_ACC_GYRO_SENS_HUB_END_t;
+
+/*******************************************************************************
+* Register      : FUNC_SRC
+* Address       : 0X53
+* Bit Group Name: SOFT_IRON_END
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_SOFT_IRON_END_NOT_COMPLETED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_SOFT_IRON_END_COMPLETED 		 = 0x02,
+} LSM6DS3_ACC_GYRO_SOFT_IRON_END_t;
+
+/*******************************************************************************
+* Register      : FUNC_SRC
+* Address       : 0X53
+* Bit Group Name: PEDO_EV_STATUS
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_PEDO_EV_STATUS_NOT_DETECTED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_PEDO_EV_STATUS_DETECTED 		 = 0x10,
+} LSM6DS3_ACC_GYRO_PEDO_EV_STATUS_t;
+
+/*******************************************************************************
+* Register      : FUNC_SRC
+* Address       : 0X53
+* Bit Group Name: TILT_EV_STATUS
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_TILT_EV_STATUS_NOT_DETECTED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_TILT_EV_STATUS_DETECTED 		 = 0x20,
+} LSM6DS3_ACC_GYRO_TILT_EV_STATUS_t;
+
+/*******************************************************************************
+* Register      : FUNC_SRC
+* Address       : 0X53
+* Bit Group Name: SIGN_MOT_EV_STATUS
+* Permission    : RO
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_SIGN_MOT_EV_STATUS_NOT_DETECTED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_SIGN_MOT_EV_STATUS_DETECTED 		 = 0x40,
+} LSM6DS3_ACC_GYRO_SIGN_MOT_EV_STATUS_t;
+
+/*******************************************************************************
+* Register      : TAP_CFG1
+* Address       : 0X58
+* Bit Group Name: LIR
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_LIR_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_LIR_ENABLED 		 = 0x01,
+} LSM6DS3_ACC_GYRO_LIR_t;
+
+/*******************************************************************************
+* Register      : TAP_CFG1
+* Address       : 0X58
+* Bit Group Name: TAP_Z_EN
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_TAP_Z_EN_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_TAP_Z_EN_ENABLED 		 = 0x02,
+} LSM6DS3_ACC_GYRO_TAP_Z_EN_t;
+
+/*******************************************************************************
+* Register      : TAP_CFG1
+* Address       : 0X58
+* Bit Group Name: TAP_Y_EN
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_TAP_Y_EN_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_TAP_Y_EN_ENABLED 		 = 0x04,
+} LSM6DS3_ACC_GYRO_TAP_Y_EN_t;
+
+/*******************************************************************************
+* Register      : TAP_CFG1
+* Address       : 0X58
+* Bit Group Name: TAP_X_EN
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_TAP_X_EN_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_TAP_X_EN_ENABLED 		 = 0x08,
+} LSM6DS3_ACC_GYRO_TAP_X_EN_t;
+
+/*******************************************************************************
+* Register      : TAP_CFG1
+* Address       : 0X58
+* Bit Group Name: TILT_EN
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_TILT_EN_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_TILT_EN_ENABLED 		 = 0x20,
+} LSM6DS3_ACC_GYRO_TILT_EN_t;
+
+/*******************************************************************************
+* Register      : TAP_CFG1
+* Address       : 0X58
+* Bit Group Name: PEDO_EN
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_PEDO_EN_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_PEDO_EN_ENABLED 		 = 0x40,
+} LSM6DS3_ACC_GYRO_PEDO_EN_t;
+
+/*******************************************************************************
+* Register      : TAP_CFG1
+* Address       : 0X58
+* Bit Group Name: TIMER_EN
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_TIMER_EN_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_TIMER_EN_ENABLED 		 = 0x80,
+} LSM6DS3_ACC_GYRO_TIMER_EN_t;
+
+/*******************************************************************************
+* Register      : TAP_THS_6D
+* Address       : 0X59
+* Bit Group Name: TAP_THS
+* Permission    : RW
+*******************************************************************************/
+#define  	LSM6DS3_ACC_GYRO_TAP_THS_MASK  	0x1F
+#define  	LSM6DS3_ACC_GYRO_TAP_THS_POSITION  	0
+
+/*******************************************************************************
+* Register      : TAP_THS_6D
+* Address       : 0X59
+* Bit Group Name: SIXD_THS
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_SIXD_THS_80_degree 		 = 0x00,
+	LSM6DS3_ACC_GYRO_SIXD_THS_70_degree 		 = 0x20,
+	LSM6DS3_ACC_GYRO_SIXD_THS_60_degree 		 = 0x40,
+	LSM6DS3_ACC_GYRO_SIXD_THS_50_degree 		 = 0x60,
+} LSM6DS3_ACC_GYRO_SIXD_THS_t;
+
+/*******************************************************************************
+* Register      : INT_DUR2
+* Address       : 0X5A
+* Bit Group Name: SHOCK
+* Permission    : RW
+*******************************************************************************/
+#define  	LSM6DS3_ACC_GYRO_SHOCK_MASK  	0x03
+#define  	LSM6DS3_ACC_GYRO_SHOCK_POSITION  	0
+
+/*******************************************************************************
+* Register      : INT_DUR2
+* Address       : 0X5A
+* Bit Group Name: QUIET
+* Permission    : RW
+*******************************************************************************/
+#define  	LSM6DS3_ACC_GYRO_QUIET_MASK  	0x0C
+#define  	LSM6DS3_ACC_GYRO_QUIET_POSITION  	2
+
+/*******************************************************************************
+* Register      : INT_DUR2
+* Address       : 0X5A
+* Bit Group Name: DUR
+* Permission    : RW
+*******************************************************************************/
+#define  	LSM6DS3_ACC_GYRO_DUR_MASK  	0xF0
+#define  	LSM6DS3_ACC_GYRO_DUR_POSITION  	4
+
+/*******************************************************************************
+* Register      : WAKE_UP_THS
+* Address       : 0X5B
+* Bit Group Name: WK_THS
+* Permission    : RW
+*******************************************************************************/
+#define  	LSM6DS3_ACC_GYRO_WK_THS_MASK  	0x3F
+#define  	LSM6DS3_ACC_GYRO_WK_THS_POSITION  	0
+
+/*******************************************************************************
+* Register      : WAKE_UP_THS
+* Address       : 0X5B
+* Bit Group Name: INACTIVITY_ON
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INACTIVITY_ON_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INACTIVITY_ON_ENABLED 		 = 0x40,
+} LSM6DS3_ACC_GYRO_INACTIVITY_ON_t;
+
+/*******************************************************************************
+* Register      : WAKE_UP_THS
+* Address       : 0X5B
+* Bit Group Name: SINGLE_DOUBLE_TAP
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP 		 = 0x00,
+	LSM6DS3_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP 		 = 0x80,
+} LSM6DS3_ACC_GYRO_SINGLE_DOUBLE_TAP_t;
+
+/*******************************************************************************
+* Register      : WAKE_UP_DUR
+* Address       : 0X5C
+* Bit Group Name: SLEEP_DUR
+* Permission    : RW
+*******************************************************************************/
+#define  	LSM6DS3_ACC_GYRO_SLEEP_DUR_MASK  	0x0F
+#define  	LSM6DS3_ACC_GYRO_SLEEP_DUR_POSITION  	0
+
+/*******************************************************************************
+* Register      : WAKE_UP_DUR
+* Address       : 0X5C
+* Bit Group Name: TIMER_HR
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_TIMER_HR_6_4ms 		 = 0x00,
+	LSM6DS3_ACC_GYRO_TIMER_HR_25us 		 = 0x10,
+} LSM6DS3_ACC_GYRO_TIMER_HR_t;
+
+/*******************************************************************************
+* Register      : WAKE_UP_DUR
+* Address       : 0X5C
+* Bit Group Name: WAKE_DUR
+* Permission    : RW
+*******************************************************************************/
+#define  	LSM6DS3_ACC_GYRO_WAKE_DUR_MASK  	0x60
+#define  	LSM6DS3_ACC_GYRO_WAKE_DUR_POSITION  	5
+
+/*******************************************************************************
+* Register      : FREE_FALL
+* Address       : 0X5D
+* Bit Group Name: FF_DUR
+* Permission    : RW
+*******************************************************************************/
+#define  	LSM6DS3_ACC_GYRO_FF_FREE_FALL_DUR_MASK  	0xF8
+#define  	LSM6DS3_ACC_GYRO_FF_FREE_FALL_DUR_POSITION  	3
+#define  	LSM6DS3_ACC_GYRO_FF_WAKE_UP_DUR_MASK  	0x80
+#define  	LSM6DS3_ACC_GYRO_FF_WAKE_UP_DUR_POSITION  	7
+
+
+/*******************************************************************************
+* Register      : FREE_FALL
+* Address       : 0X5D
+* Bit Group Name: FF_THS
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_FF_THS_5 		 = 0x00,
+	LSM6DS3_ACC_GYRO_FF_THS_7 		 = 0x01,
+	LSM6DS3_ACC_GYRO_FF_THS_8 		 = 0x02,
+	LSM6DS3_ACC_GYRO_FF_THS_10 		 = 0x03,
+	LSM6DS3_ACC_GYRO_FF_THS_11 		 = 0x04,
+	LSM6DS3_ACC_GYRO_FF_THS_13 		 = 0x05,
+	LSM6DS3_ACC_GYRO_FF_THS_15 		 = 0x06,
+	LSM6DS3_ACC_GYRO_FF_THS_16 		 = 0x07,
+} LSM6DS3_ACC_GYRO_FF_THS_t;
+
+/*******************************************************************************
+* Register      : MD1_CFG
+* Address       : 0X5E
+* Bit Group Name: INT1_TIMER
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT1_TIMER_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT1_TIMER_ENABLED 		 = 0x01,
+} LSM6DS3_ACC_GYRO_INT1_TIMER_t;
+
+/*******************************************************************************
+* Register      : MD1_CFG
+* Address       : 0X5E
+* Bit Group Name: INT1_TILT
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT1_TILT_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT1_TILT_ENABLED 		 = 0x02,
+} LSM6DS3_ACC_GYRO_INT1_TILT_t;
+
+/*******************************************************************************
+* Register      : MD1_CFG
+* Address       : 0X5E
+* Bit Group Name: INT1_6D
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT1_6D_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT1_6D_ENABLED 		 = 0x04,
+} LSM6DS3_ACC_GYRO_INT1_6D_t;
+
+/*******************************************************************************
+* Register      : MD1_CFG
+* Address       : 0X5E
+* Bit Group Name: INT1_TAP
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT1_TAP_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT1_TAP_ENABLED 		 = 0x08,
+} LSM6DS3_ACC_GYRO_INT1_TAP_t;
+
+/*******************************************************************************
+* Register      : MD1_CFG
+* Address       : 0X5E
+* Bit Group Name: INT1_FF
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT1_FF_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT1_FF_ENABLED 		 = 0x10,
+} LSM6DS3_ACC_GYRO_INT1_FF_t;
+
+/*******************************************************************************
+* Register      : MD1_CFG
+* Address       : 0X5E
+* Bit Group Name: INT1_WU
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT1_WU_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT1_WU_ENABLED 		 = 0x20,
+} LSM6DS3_ACC_GYRO_INT1_WU_t;
+
+/*******************************************************************************
+* Register      : MD1_CFG
+* Address       : 0X5E
+* Bit Group Name: INT1_SINGLE_TAP
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT1_SINGLE_TAP_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT1_SINGLE_TAP_ENABLED 		 = 0x40,
+} LSM6DS3_ACC_GYRO_INT1_SINGLE_TAP_t;
+
+/*******************************************************************************
+* Register      : MD1_CFG
+* Address       : 0X5E
+* Bit Group Name: INT1_SLEEP
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT1_SLEEP_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT1_SLEEP_ENABLED 		 = 0x80,
+} LSM6DS3_ACC_GYRO_INT1_SLEEP_t;
+
+/*******************************************************************************
+* Register      : MD2_CFG
+* Address       : 0X5F
+* Bit Group Name: INT2_TIMER
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT2_TIMER_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT2_TIMER_ENABLED 		 = 0x01,
+} LSM6DS3_ACC_GYRO_INT2_TIMER_t;
+
+/*******************************************************************************
+* Register      : MD2_CFG
+* Address       : 0X5F
+* Bit Group Name: INT2_TILT
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT2_TILT_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT2_TILT_ENABLED 		 = 0x02,
+} LSM6DS3_ACC_GYRO_INT2_TILT_t;
+
+/*******************************************************************************
+* Register      : MD2_CFG
+* Address       : 0X5F
+* Bit Group Name: INT2_6D
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT2_6D_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT2_6D_ENABLED 		 = 0x04,
+} LSM6DS3_ACC_GYRO_INT2_6D_t;
+
+/*******************************************************************************
+* Register      : MD2_CFG
+* Address       : 0X5F
+* Bit Group Name: INT2_TAP
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT2_TAP_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT2_TAP_ENABLED 		 = 0x08,
+} LSM6DS3_ACC_GYRO_INT2_TAP_t;
+
+/*******************************************************************************
+* Register      : MD2_CFG
+* Address       : 0X5F
+* Bit Group Name: INT2_FF
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT2_FF_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT2_FF_ENABLED 		 = 0x10,
+} LSM6DS3_ACC_GYRO_INT2_FF_t;
+
+/*******************************************************************************
+* Register      : MD2_CFG
+* Address       : 0X5F
+* Bit Group Name: INT2_WU
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT2_WU_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT2_WU_ENABLED 		 = 0x20,
+} LSM6DS3_ACC_GYRO_INT2_WU_t;
+
+/*******************************************************************************
+* Register      : MD2_CFG
+* Address       : 0X5F
+* Bit Group Name: INT2_SINGLE_TAP
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT2_SINGLE_TAP_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT2_SINGLE_TAP_ENABLED 		 = 0x40,
+} LSM6DS3_ACC_GYRO_INT2_SINGLE_TAP_t;
+
+/*******************************************************************************
+* Register      : MD2_CFG
+* Address       : 0X5F
+* Bit Group Name: INT2_SLEEP
+* Permission    : RW
+*******************************************************************************/
+typedef enum {
+	LSM6DS3_ACC_GYRO_INT2_SLEEP_DISABLED 		 = 0x00,
+	LSM6DS3_ACC_GYRO_INT2_SLEEP_ENABLED 		 = 0x80,
+} LSM6DS3_ACC_GYRO_INT2_SLEEP_t;
+
+#endif  // End of __LSM6DS3IMU_H__ definition check

examples/HighLevelExample/HighLevelExample.ino

@@ -0,0 +1,80 @@
+/*****************************************************************************/	
+//  BasicExample.ino
+//  Hardware:      Grove - 6-Axis Accelerometer&Gyroscope
+//	Arduino IDE:   Arduino-1.65
+//	Author:	       Lambor	
+//	Date: 	       Oct,2015
+//	Version:       v1.0
+//
+//  Modified by: 
+//  Data:        
+//  Description: 
+//
+//	by www.seeedstudio.com
+//
+//  This library is free software; you can redistribute it and/or
+//  modify it under the terms of the GNU Lesser General Public
+//  License as published by the Free Software Foundation; either
+//  version 2.1 of the License, or (at your option) any later version.
+//
+//  This library is distributed in the hope that it will be useful,
+//  but WITHOUT ANY WARRANTY; without even the implied warranty of
+//  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+//  Lesser General Public License for more details.
+//
+//  You should have received a copy of the GNU Lesser General Public
+//  License along with this library; if not, write to the Free Software
+//  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+//
+/*******************************************************************************/
+
+#include "SparkFunLSM6DS3.h"
+#include "Wire.h"
+#include "SPI.h"
+
+//Create a instance of class LSM6DS3
+LSM6DS3 myIMU( I2C_MODE, 0x6A );  //I2C device address 0x6A
+
+void setup() {
+  // put your setup code here, to run once:
+  Serial.begin(9600);  
+  //Call .begin() to configure the IMUs
+  if( myIMU.begin() != 0 )
+  {
+	  Serial.println("Device error");
+  }
+  else  
+  {
+      Serial.println("Device OK!");
+  }
+}
+
+void loop()
+{
+  //Accelerometer
+  Serial.print("\nAccelerometer:\n");
+  Serial.print(" X1 = ");
+  Serial.println(myIMU.readFloatAccelX(), 4);
+  Serial.print(" Y1 = ");
+  Serial.println(myIMU.readFloatAccelY(), 4);
+  Serial.print(" Z1 = ");
+  Serial.println(myIMU.readFloatAccelZ(), 4);
+  
+  //Gyroscope 
+  Serial.print("\nGyroscope:\n");
+  Serial.print(" X1 = ");
+  Serial.println(myIMU.readFloatGyroX(), 4);
+  Serial.print(" Y1 = ");
+  Serial.println(myIMU.readFloatGyroY(), 4);
+  Serial.print(" Z1 = ");
+  Serial.println(myIMU.readFloatGyroZ(), 4);
+
+  //Thermometer  
+  Serial.print("\nThermometer:\n");
+  Serial.print(" Degrees C1 = ");
+  Serial.println(myIMU.readTempC(), 4);
+  Serial.print(" Degrees F1 = ");
+  Serial.println(myIMU.readTempF(), 4);
+  
+  delay(1000);
+}

examples/LowLevelExample/LowLevelExample.ino

@@ -0,0 +1,106 @@
+/*****************************************************************************/	
+//  LowLevelExample.ino
+//  Hardware:      Grove - 6-Axis Accelerometer&Gyroscope
+//	Arduino IDE:   Arduino-1.65
+//	Author:	       Lambor	
+//	Date: 	       Oct,2015
+//	Version:       v1.0
+//
+//  Modified by: 
+//  Data:        
+//  Description: 
+//
+//	by www.seeedstudio.com
+//
+//  This library is free software; you can redistribute it and/or
+//  modify it under the terms of the GNU Lesser General Public
+//  License as published by the Free Software Foundation; either
+//  version 2.1 of the License, or (at your option) any later version.
+//
+//  This library is distributed in the hope that it will be useful,
+//  but WITHOUT ANY WARRANTY; without even the implied warranty of
+//  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+//  Lesser General Public License for more details.
+//
+//  You should have received a copy of the GNU Lesser General Public
+//  License along with this library; if not, write to the Free Software
+//  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+//
+/*******************************************************************************/
+
+#include "SparkFunLSM6DS3.h"
+#include "Wire.h"
+#include "SPI.h"
+
+uint16_t errorsAndWarnings = 0;
+
+//Create instance of LSM6DS3Core
+LSM6DS3Core myIMU( I2C_MODE, 0x6A );  //I2C device address 0x6A
+
+void setup() {
+  //Init Serial port
+  Serial.begin(9600);
+  
+  //Call .beginCore() to configure the IMU
+  if( myIMU.beginCore() != 0 )
+  {
+    Serial.print("\nDevice Error.\n");
+  }
+  else
+  {
+    Serial.print("\nDevice OK.\n");
+  }
+  
+  uint8_t dataToWrite = 0;  //Temporary variable
+
+  //Setup the accelerometer******************************
+  dataToWrite = 0; //Start Fresh!
+  dataToWrite |= LSM6DS3_ACC_GYRO_BW_XL_100Hz;
+  dataToWrite |= LSM6DS3_ACC_GYRO_FS_XL_8g;
+  dataToWrite |= LSM6DS3_ACC_GYRO_ODR_XL_104Hz;
+
+  //Now, write the patched together data
+  errorsAndWarnings += myIMU.writeRegister(LSM6DS3_ACC_GYRO_CTRL1_XL, dataToWrite);
+
+  //Set the ODR bit
+  errorsAndWarnings += myIMU.readRegister(&dataToWrite, LSM6DS3_ACC_GYRO_CTRL4_C);
+  dataToWrite &= ~((uint8_t)LSM6DS3_ACC_GYRO_BW_SCAL_ODR_ENABLED);
+
+}
+
+void loop()
+{
+  int16_t temp;
+  //Get all parameters
+  Serial.print("\nAccelerometer Counts:\n");  
+  
+  //Acelerometer axis X
+  if( myIMU.readRegisterInt16(&temp, LSM6DS3_ACC_GYRO_OUTX_L_XL) != 0 )
+  {
+    errorsAndWarnings++;
+  }
+  Serial.print(" X = ");
+  Serial.println(temp);  
+  
+  //Acelerometer axis Y 
+  if( myIMU.readRegisterInt16(&temp, LSM6DS3_ACC_GYRO_OUTY_L_XL) != 0 )
+  {
+    errorsAndWarnings++;
+  }
+  Serial.print(" Y = ");
+  Serial.println(temp);
+  
+  //Acelerometer axis Z  
+  if( myIMU.readRegisterInt16(&temp, LSM6DS3_ACC_GYRO_OUTZ_L_XL) != 0 )
+  {
+    errorsAndWarnings++;
+  }
+  Serial.print(" Z = ");  
+  Serial.println(temp);
+  
+  Serial.println();
+  Serial.print("Total reported Errors and Warnings: ");
+  Serial.println(errorsAndWarnings);
+  
+  delay(1000);
+}