[LSM6DSRX] Modified initInterrupts() in order to have 2 spi writes instead of 4.

src/shared/sensors/LSM6DSRX/LSM6DSRX.cpp

@@ -210,23 +210,21 @@ void LSM6DSRX::initFifo()
 
 void LSM6DSRX::initInterrupts()
 {
-    uint8_t ui8Value = 0;
+    uint8_t buf[] = {0, 0};
     SPITransaction spi{spiSlave};
 
-    // set interrupt on pin INT1
-    spi.writeRegister(LSM6DSRXDefs::REG_INT1_CTRL,
-                      static_cast<uint8_t>(config.int1InterruptSelection));
-    // set interrupt on pin INT2
-    spi.writeRegister(LSM6DSRXDefs::REG_INT2_CTRL,
-                      static_cast<uint8_t>(config.int2InterruptSelection));
+    buf[0] = static_cast<uint8_t>(
+        config.int1InterruptSelection);  // set interrupt on pin INT1
+    buf[1] = static_cast<uint8_t>(
+        config.int2InterruptSelection);  // set interrupt on pin INT2
+    spi.writeRegisters(LSM6DSRXDefs::REG_INT1_CTRL, buf, 2);
 
     // set watermark level
-    ui8Value = static_cast<uint8_t>(config.fifoWatermark &
+    buf[0] = static_cast<uint8_t>(config.fifoWatermark &
                                   255);  // the first 8bits of the number.
-    spi.writeRegister(LSM6DSRXDefs::REG_FIFO_CTRL1, ui8Value);
-    ui8Value = static_cast<uint8_t>((config.fifoWatermark >> 8) &
+    buf[1] = static_cast<uint8_t>((config.fifoWatermark >> 8) &
                                   0x01);  // the 9th bit of the number.
-    spi.writeRegister(LSM6DSRXDefs::REG_FIFO_CTRL2, ui8Value);
+    spi.writeRegisters(LSM6DSRXDefs::REG_FIFO_CTRL1, buf, 2);
 }
 
 bool LSM6DSRX::selfTestAcc()

src/shared/sensors/LSM6DSRX/LSM6DSRXConfig.h

@@ -200,8 +200,17 @@ struct LSM6DSRXConfig
     // interrupt
     INTERRUPT int1InterruptSelection;  ///< interrupts selected on INT1 pin.
     INTERRUPT int2InterruptSelection;  ///< interrupts selected on INT2 pin.
-    uint16_t fifoWatermark;  ///< fifo watermark level (expressed as number of
-                             ///< sample). Expressed as a 9 bits number.
+
+    /**
+     * @brief Fifo watermark level (expressed as a 9 bits number). Warning: this
+     * number represents the number of samples extracted from the sensor's fifo,
+     * not the actual number of samples that will be present inside the driver's
+     * fifo `lastFifo`.
+     *
+     * The sensor's fifo max size is 511 samples, and those samples can be
+     * accelerometer data, gyroscope data or timestamps.
+     */
+    uint16_t fifoWatermark;
 };
 
 }  // namespace Boardcore