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). Applies the datasheet's per-bus driver settings (DS-000639 §12.3): on I2C it turns the chip's I3C slave off (INTF_CONFIG6 SDR/DDR = 0, which brings back its I2C glitch filter) and sets both slew rates to 1, retrying until they read back. If they never stick the tile still gets configured, but its state is TILE_STATE_ERROR and on_error is called. On I3C it sets the SDA slew to 3 (4-12 ns); on SPI, SPI_SLEW_RATE 5.

• Blocks for ~12 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.

range

Full-scale range (sense_i_6p6_accel_range_t).

void tile_sense_i_6p6_set_gyro_range(tile_t *tile, sense_i_6p6_gyro_range_t range)

Set gyroscope full-scale range.

range

Full-scale range (sense_i_6p6_gyro_range_t).

void tile_sense_i_6p6_set_accel_odr(tile_t *tile, sense_i_6p6_odr_t odr)

Set accelerometer output data rate.

odr

Output data rate (sense_i_6p6_odr_t).

void tile_sense_i_6p6_set_gyro_odr(tile_t *tile, sense_i_6p6_odr_t odr)

Set gyroscope output data rate.

odr

Output data rate (sense_i_6p6_odr_t).

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.

accel

Accel power mode (off, low-power or low-noise).

gyro

Gyro power mode (off, standby or low-noise).

• 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.

buffer

Output: 3 raw accel counts [X, Y, Z].

void tile_sense_i_6p6_get_raw_gyros(tile_t *tile, int16_t *buffer)

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

buffer

Output: 3 raw gyro counts [X, Y, Z].

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.

buffer

Output: 6 raw counts [AX, AY, AZ, GX, GY, GZ].

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.

buffer

Output: 7 raw counts [Temp, AX, AY, AZ, GX, GY, GZ].

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

[1..32000] Deviation threshold in milli-g (typical: 50–200).

Returns 1 if moving, 0 otherwise.

uint8_t tile_sense_i_6p6_read_tilt_centi_degrees_flat(tile_t *tile, uint8_t axis, int32_t *out_centi_deg)

Flat-output variant of read_tilt_centi_degrees(): same computation, but the angle is written through an int32_t so Studio's 32-bit out-scalar locals receive it without a width mismatch.

axis

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

out_centi_deg

Output: elevation of the axis in 0.01° (−9000..+9000).

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

void tile_sense_i_6p6_process(tile_t *tile)

Reads INT_STATUS, INT_STATUS2 and INT_STATUS3, composes the event word (SENSE_I_6P6_EV_*) and fires the callback when it is non-zero. In interrupt mode: returns immediately if no INT1 interrupt fired. In polled mode: reads the three registers every call. All three registers clear on read, so process() consumes the WOM, SMD, step, tilt and tap flags. Don't mix it with get_int_status2(), get_int_status3(), wait_for_tap() or wait_for_motion(): whichever reads first takes the flag.

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.

accel_bw

Accel UI filter bandwidth.

gyro_bw

Gyro UI filter bandwidth.

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).

accel_order

Accel UI filter order.

gyro_order

Gyro UI filter order.

void tile_sense_i_6p6_set_temp_filter(tile_t *tile, sense_i_6p6_temp_filter_t bw)

Set temperature sensor filter bandwidth.

bw

Temperature filter bandwidth.

void tile_sense_i_6p6_set_temp_enabled(tile_t *tile, uint8_t enabled)

Enable or disable the temperature sensor.

enabled

[0..1] 1 = on, 0 = off.

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)

Accel and gyro are enabled together: if either is requested, both go in, so every packet is the 16-byte accel + gyro + temp + timestamp format that fifo_read_packet() parses (an accel-only or gyro-only stream would be 8-byte packets, DS-000639 §6.4). Both 0 stops FIFO writes.

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

Reserved, ignored. 20-bit packets are not supported (see the "FIFO 20-bit hi-res mode" gap); FIFO_HIRES_EN stays 0.

void tile_sense_i_6p6_fifo_set_watermark(tile_t *tile, uint16_t records)

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

records

[1..4095] Records in the FIFO that raise the watermark interrupt.

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.

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 (`cap_param`) other FIFO drivers use.

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)

init() sets INTF_CONFIG0.FIFO_COUNT_REC, so FIFO_COUNT is in records.

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.

config

OR'd flags: ACTIVE_HIGH|PUSH_PULL|LATCHED etc. (same layout as int1_config; the driver shifts the bits into the INT2 positions internally).

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.

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

[1..60000] 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

[0..1000] X-axis threshold in mg (resolution ~3.9 mg; values above ~996 mg clamp to the register maximum 255)

y_mg

[0..1000] Y-axis threshold in mg

z_mg

[0..1000] 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)

Keeps the compare mode set by wom_config() and any SMD mode already set.

void tile_sense_i_6p6_wom_disable(tile_t *tile)

Thresholds are kept, so wom_enable() re-arms with the last config.

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.

mode

SMD mode (sense_i_6p6_smd_mode_t); disabled turns it off.

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)

• APEX_CONFIG0.DMP_POWER_SAVE resets to 1 and the driver leaves it set. Per DS-000639 §8.2 the APEX features then run only after a WOM event (WOM must be enabled). Not yet bench-verified.

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 Cadence in samples per step, u6.2 fixed point (divide by 4 for samples; DS-000639 §14.27). At 50 Hz ODR and 2 steps/s it reads 100 (25 samples). Steps per second = ODR × 4 / value.

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).

• APEX_CONFIG0.DMP_POWER_SAVE resets to 1 and the driver leaves it set. Per DS-000639 §8.2 the APEX features then run only after a WOM event (WOM must be enabled). Not yet bench-verified.

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

[1..60000] 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.

• APEX_CONFIG0.DMP_POWER_SAVE resets to 1 and the driver leaves it set. Per DS-000639 §8.2 the APEX features then run only after a WOM event (WOM must be enabled). Not yet bench-verified.

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.

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 bits. 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: DMP_MEM_RESET_EN, 1 ms, then DMP_INIT_EN (DS-000639 §8.3/§14.33); blocks ~51 ms. Clears the step count. Use after reconfiguring pedometer / tilt / tap features. - TEMP: does nothing. SIGNAL_PATH_RESET has no temperature bit on this part; kept only for source compatibility.

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_dps16

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

y_dps16

Y offset in dps × 16

z_dps16

Z offset in dps × 16

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. Switches to ±4 g, ±250 dps, 1 kHz and low-noise for the test (~0.6 s), then restores the previous ranges, data rates and power mode. Returns 0 (both outputs 0) if the sensor stops reporting data-ready for 20 ms.

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.