Sense.I.6P6

uint8_t tile_sense_i_6p6_find(tiles_pal_t *hal, uint8_t instance)

Check if a Sense.I.6P6 is present on the bus (address probe only).

void tile_sense_i_6p6_init(tiles_pal_t *hal, uint8_t instance, tile_t *tile, const sense_i_6p6_cfg_t *cfg)

Performs soft reset, verifies WHO_AM_I, configures sensor ranges and ODR. Pass cfg=NULL for defaults (±8g, ±1000dps, 100Hz, polled).

• Blocks for ~2 ms (reset). Call once at startup.

void tile_sense_i_6p6_sleep(tile_t *tile)

Enter sleep mode (accel + gyro off). ~7.5 µA.

void tile_sense_i_6p6_wake(tile_t *tile)

Wake from sleep, restore low-noise mode. Range/ODR preserved.

void tile_sense_i_6p6_reset(tile_t *tile)

Software reset. Blocks ~2 ms. Must call init() again after.

void tile_sense_i_6p6_set_accel_range(tile_t *tile, sense_i_6p6_accel_range_t range)

Set accelerometer full-scale range.

void tile_sense_i_6p6_set_gyro_range(tile_t *tile, sense_i_6p6_gyro_range_t range)

Set gyroscope full-scale range.

void tile_sense_i_6p6_set_accel_odr(tile_t *tile, sense_i_6p6_odr_t odr)

Set accelerometer output data rate.

void tile_sense_i_6p6_set_gyro_odr(tile_t *tile, sense_i_6p6_odr_t odr)

Set gyroscope output data rate.

void tile_sense_i_6p6_set_power_mode(tile_t *tile, sense_i_6p6_power_mode_t accel, sense_i_6p6_power_mode_t gyro)

Set power mode independently for accel and gyro.

• Wait 200 µs after changing mode before accessing other registers.

uint8_t tile_sense_i_6p6_data_ready(tile_t *tile)

Check if new sensor data is available.

void tile_sense_i_6p6_get_raw_accels(tile_t *tile, int16_t *buffer)

Read raw accelerometer [X, Y, Z]. Convert: g = raw / sensitivity.

void tile_sense_i_6p6_get_raw_gyros(tile_t *tile, int16_t *buffer)

Read raw gyroscope [X, Y, Z]. Convert: dps = raw / sensitivity.

void tile_sense_i_6p6_get_raw_6dof(tile_t *tile, int16_t *buffer)

Burst read accel + gyro [AX, AY, AZ, GX, GY, GZ]. One transaction.

int16_t tile_sense_i_6p6_get_temperature(tile_t *tile)

Read temperature. Convert: degC = raw / 132.48 + 25.0

void tile_sense_i_6p6_get_raw_all(tile_t *tile, int16_t *buffer)

Read all 7 channels [Temp, AX, AY, AZ, GX, GY, GZ] in one burst.

uint8_t tile_sense_i_6p6_is_face_up(tile_t *tile)

Reads the accelerometer once and returns 1 when Z is within ±200 mg of +1 g and X/Y are within ±300 mg of 0. Uses the current ACCEL_CONFIG0 full-scale range to compute thresholds at runtime, so the helper stays correct after `set_accel_range`. Integer math only.

Returns 1 if face-up, 0 otherwise.

uint8_t tile_sense_i_6p6_is_face_down(tile_t *tile)

Mirror of `is_face_up` with an inverted Z target. Same ±200 mg / ±300 mg tolerance bands; same range-aware thresholding.

Returns 1 if face-down, 0 otherwise.

uint8_t tile_sense_i_6p6_is_moving(tile_t *tile, uint16_t threshold_mg)

Reads the accelerometer, computes the squared magnitude in raw counts, and compares against the squared 1-g + threshold band. Squared-form keeps the math integer (no sqrt). Threshold is symmetric around 1 g so the helper triggers on both lift and drop. Range-aware.

threshold_mg

Deviation threshold in milli-g (typical: 50–200).

Returns 1 if moving, 0 otherwise.

uint8_t tile_sense_i_6p6_read_tilt_centi_degrees(tile_t *tile, uint8_t axis, int16_t *out_centi_deg)

Computes `atan2(axis, sqrt(other_a^2 + other_b^2))` for the requested axis using a small integer atan2 approximation. Output range: −18000..+18000 (i.e. −180.00°..+180.00°). Returns 0 and writes 0 to `*out_centi_deg` if the device is in free-fall or the accelerometer is off. Range-aware.

axis

0 = X, 1 = Y, 2 = Z.

out_centi_deg

Output tilt in 0.01° (signed, −18000..+18000).

Returns 1 on success, 0 on bad axis or zero vector.

void tile_sense_i_6p6_process(tile_t *tile)

In interrupt mode: returns immediately if no INT1 interrupt fired; reads INT_STATUS and fires callback only when events are pending. In polled mode: reads INT_STATUS every call, fires callback if set.

void tile_sense_i_6p6_on_event(tile_t *tile, sense_i_6p6_event_cb_t cb, void *ctx)

Register or change the event callback.

cb

Callback to fire on interrupt events. NULL to clear.

ctx

Opaque user pointer passed to the callback.

void tile_sense_i_6p6_set_filter_bw(tile_t *tile, sense_i_6p6_filter_bw_t accel_bw, sense_i_6p6_filter_bw_t gyro_bw)

Set UI filter bandwidth for both accel and gyro.

void tile_sense_i_6p6_set_filter_order(tile_t *tile, sense_i_6p6_filter_order_t accel_order, sense_i_6p6_filter_order_t gyro_order)

Set UI filter order for accel and gyro (1st, 2nd, or 3rd).

void tile_sense_i_6p6_set_temp_filter(tile_t *tile, sense_i_6p6_temp_filter_t bw)

Set temperature sensor filter bandwidth.

void tile_sense_i_6p6_set_temp_enabled(tile_t *tile, uint8_t enabled)

Enable or disable the temperature sensor.

void tile_sense_i_6p6_fifo_config(tile_t *tile, sense_i_6p6_fifo_mode_t mode, uint8_t accel, uint8_t gyro, uint8_t temp, uint8_t hires)

Configure the FIFO.

mode

FIFO operating mode (bypass/stream/stop-on-full)

accel

Include accel data in FIFO packets

gyro

Include gyro data in FIFO packets

temp

Include temperature in FIFO packets

hires

Enable 20-bit high-resolution mode (forces ±32g/±4000dps)

void tile_sense_i_6p6_fifo_set_watermark(tile_t *tile, uint16_t records)

Set the FIFO watermark threshold in records (1–4095).

void tile_sense_i_6p6_fifo_flush(tile_t *tile)

Flush the FIFO (discard all data).

void tile_sense_i_6p6_fifo_read_packet_flat(tile_t *tile, int32_t *out)

Drops the struct in favor of a positional int[8] array — the DSL doesn't have a struct ABI yet, so the per-field outputs come back indexed. Layout: out[0..2] = accel x,y,z (raw int16 widened to int32) out[3..5] = gyro x,y,z (raw int16 widened to int32) out[6] = temp (raw int8 widened to int32) out[7] = timestamp (raw uint16) Drops the success bool — call fifo_count() first to know whether there's data. On an empty FIFO, the slots are left untouched.

tile

Initialised tile handle.

out

Output buffer (8 int32_t slots).

uint16_t tile_sense_i_6p6_fifo_read_packets_flat(tile_t *tile, int32_t *out, uint16_t cap_ints)

Drains up to N packets from the FIFO into the caller's int32 buffer, 8 ints per packet (same layout as fifo_read_packet_flat). Returns the number of *packets* read (not ints), so callers can iterate with `for i in 0..n { let ax = buf[i*8 + 0]; ... }`. The caller's array length is the int-cap (N packets × 8 ints), not the packet count — `cap_ints / 8` packets are attempted. Mirrors the cap-mode array-OUT convention used by Sense.BP read_fifo_batch.

tile

Initialised tile handle.

out

Output buffer; must be sized N × 8 ints.

cap_ints

Buffer capacity in int slots (= packets × 8).

Returns Number of packets actually drained from the FIFO.

uint16_t tile_sense_i_6p6_fifo_count(tile_t *tile)

Read the FIFO record count.

uint16_t tile_sense_i_6p6_fifo_lost_count(tile_t *tile)

Get the number of lost FIFO packets since last check.

void tile_sense_i_6p6_int1_config(tile_t *tile, uint8_t config)

Configure INT1 pin behavior.

config

OR'd flags: ACTIVE_HIGH|PUSH_PULL|LATCHED etc.

void tile_sense_i_6p6_int1_data_ready(tile_t *tile, uint8_t enabled)

Route data-ready interrupt to INT1.

enabled

1 to enable, 0 to disable

void tile_sense_i_6p6_int1_fifo_ths(tile_t *tile, uint8_t enabled)

Route FIFO watermark interrupt to INT1.

enabled

1 to enable, 0 to disable

void tile_sense_i_6p6_int1_wom(tile_t *tile, uint8_t enabled)

Route WOM (wake-on-motion) interrupt to INT1.

enabled

1 to enable, 0 to disable

void tile_sense_i_6p6_int2_config(tile_t *tile, uint8_t config)

Mirrors int1_config for the chip's second interrupt pin (tile pad 8). INT_CONFIG bits [5:3] hold INT2's polarity / drive / mode bits. layout as int1_config; the driver shifts the bits into the INT2 positions internally).

config

OR'd flags: ACTIVE_HIGH|PUSH_PULL|LATCHED etc. (same

void tile_sense_i_6p6_int2_data_ready(tile_t *tile, uint8_t enabled)

Route data-ready interrupt to INT2.

enabled

1 to enable, 0 to disable

void tile_sense_i_6p6_int2_fifo_ths(tile_t *tile, uint8_t enabled)

Route FIFO watermark interrupt to INT2.

enabled

1 to enable, 0 to disable

void tile_sense_i_6p6_int2_wom(tile_t *tile, uint8_t enabled)

Route WOM (wake-on-motion) interrupt to INT2.

enabled

1 to enable, 0 to disable

void tile_sense_i_6p6_set_int_pulse_duration(tile_t *tile, sense_i_6p6_int_pulse_t pulse)

Applies to both INT1 and INT2 (it's a chip-wide setting in INT_CONFIG1 bit 6). Only affects pulse-mode interrupts; in latched mode the line stays asserted until the status register is read.

tile

Initialised tile handle

pulse

Pulse-width selector

uint8_t tile_sense_i_6p6_get_int_status(tile_t *tile)

Read and clear INT_STATUS register.

uint8_t tile_sense_i_6p6_get_int_status2(tile_t *tile)

Read and clear INT_STATUS2 (WOM/SMD flags).

uint8_t tile_sense_i_6p6_get_int_status3(tile_t *tile)

Read and clear INT_STATUS3 (APEX: step/tilt/tap flags).

uint8_t tile_sense_i_6p6_wait_for_motion(tile_t *tile, uint32_t timeout_ms)

Polls INT_STATUS2 at ~1 ms cadence. WOM must be configured (thresholds + enable) first. Returns on any-axis WOM. The status read clears the latch.

timeout_ms

Max time to wait, in ms. Use 0 for a single-shot poll.

Returns 1 if motion was detected, 0 on timeout.

void tile_sense_i_6p6_wom_config(tile_t *tile, uint16_t x_mg, uint16_t y_mg, uint16_t z_mg, sense_i_6p6_wom_mode_t mode)

Configure Wake-on-Motion thresholds.

x_mg

X-axis threshold in mg (0–1000, resolution ~3.9 mg)

y_mg

Y-axis threshold in mg

z_mg

Z-axis threshold in mg

mode

Compare against initial or previous sample

• Requires accel to be running (LN or LP mode).

void tile_sense_i_6p6_wom_enable(tile_t *tile)

Enable WOM. Must configure thresholds first.

void tile_sense_i_6p6_wom_disable(tile_t *tile)

Disable WOM.

void tile_sense_i_6p6_smd_config(tile_t *tile, sense_i_6p6_smd_mode_t mode)

Configure and enable SMD. WOM thresholds must be set first.

void tile_sense_i_6p6_pedometer_enable(tile_t *tile, sense_i_6p6_dmp_odr_t dmp_odr)

Requires accel at ≥25 Hz. Initializes the DMP if not already running.

dmp_odr

DMP processing rate (25 or 50 Hz)

void tile_sense_i_6p6_pedometer_disable(tile_t *tile)

Disable the pedometer.

uint16_t tile_sense_i_6p6_get_step_count(tile_t *tile)

Read the step count.

Returns 16-bit step count (resets on power cycle or DMP reset)

uint8_t tile_sense_i_6p6_get_step_cadence(tile_t *tile)

Read the step cadence.

Returns Steps per second in u6.2 fixed-point (divide by 4.0 for float)

sense_i_6p6_activity_t tile_sense_i_6p6_get_activity(tile_t *tile)

Read the activity classification.

Returns 0=unknown, 1=walk, 2=run

void tile_sense_i_6p6_tilt_enable(tile_t *tile, uint8_t wait_seconds)

Triggers when device tilts >35° for the configured wait time. Requires accel at ≥25 Hz. Initializes DMP if needed.

wait_seconds

[0..6] s Time the tilt must be sustained (0, 2, 4, or 6).

void tile_sense_i_6p6_tilt_disable(tile_t *tile)

Disable tilt detection.

uint8_t tile_sense_i_6p6_wait_for_tap(tile_t *tile, uint32_t timeout_ms)

Polls INT_STATUS3 at ~1 ms cadence (delay_ms(1)). Tap detection must be enabled first via `tile_sense_i_6p6_tap_enable`. The status read is destructive (clear-on-read), so call `get_tap_result` immediately after a positive return to retrieve count/axis/direction.

timeout_ms

Max time to wait, in ms. Use 0 for a single-shot poll.

Returns 1 if a tap was detected, 0 on timeout.

void tile_sense_i_6p6_tap_enable(tile_t *tile)

Requires accel in LN mode at 200 Hz, 500 Hz, or 1 kHz. Initializes DMP if needed.

void tile_sense_i_6p6_tap_disable(tile_t *tile)

Disable tap detection.

void tile_sense_i_6p6_get_tap_result_flat(tile_t *tile, int32_t *count, int32_t *axis, int32_t *direction, int32_t *timing)

Same data, four positional out-scalars instead of a struct. Useful for polling-style flows; event-driven flows already get these values via the `Sense.I.6P6.tap` event payload.

tile

Initialised tile handle.

count

Output: 0 = none, 1 = single tap, 2 = double.

axis

Output: 0 = X, 1 = Y, 2 = Z.

direction

Output: 0 = positive, 1 = negative.

timing

Output: double-tap timing (chip-specific units).

void tile_sense_i_6p6_subsystem_reset(tile_t *tile, sense_i_6p6_subsystem_t which)

Issues the relevant SIGNAL_PATH_RESET bit. Distinct from the driver's full `reset()` (which re-initialises the whole chip) and from `fifo_flush()` (which targets just the FIFO, also a subsystem reset but already exposed). - APEX: clears DMP memory and re-runs the DMP init sequence. Use after reconfiguring pedometer / tilt / tap features. - TEMP: resets the temperature signal path. Useful if temp readings appear stuck after a power glitch.

tile

Initialised tile handle

which

Subsystem to reset

void tile_sense_i_6p6_set_gyro_offset(tile_t *tile, int16_t x_dps16, int16_t y_dps16, int16_t z_dps16)

Set user-programmable gyro offset.

x_dps

X offset in dps × 16 (12-bit signed, ±128 dps max, 0.0625 dps resolution)

y_dps

Y offset

z_dps

Z offset

void tile_sense_i_6p6_set_accel_offset(tile_t *tile, int16_t x_mg, int16_t y_mg, int16_t z_mg)

Set user-programmable accel offset.

x_mg

X offset in mg (12-bit signed, ±2000 mg max, 1 mg resolution)

y_mg

Y offset

z_mg

Z offset

uint8_t tile_sense_i_6p6_self_test(tile_t *tile, uint8_t *accel_pass, uint8_t *gyro_pass)

Runs the built-in self-test for both accel and gyro.

accel_pass

Output: 1 if accel self-test passed, 0 if failed (per-axis OR'd)

gyro_pass

Output: 1 if gyro self-test passed, 0 if failed

Returns 1 if both passed, 0 if either failed

uint8_t tile_sense_i_6p6_read_reg(tile_t *tile, uint8_t bank, uint8_t reg)

Automatically switches to the specified bank and back to bank 0. For advanced/debug use.

bank

Bank index (0, 1, 2, or 4).

reg

Register address within the bank.

void tile_sense_i_6p6_write_reg(tile_t *tile, uint8_t bank, uint8_t reg, uint8_t val)

Automatically switches to the specified bank and back to bank 0. For advanced/debug use.

bank

Bank index (0, 1, 2, or 4).

reg

Register address within the bank.

val

Byte to write.