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typedef void (*I2C_WriteFuncPtr)(int device_addr, int reg_addr, int data);
typedef int (*I2C_ReadFuncPtr)(int device_addr, int reg_addr);

static I2C_WriteFuncPtr local_I2C_Write = NULL;
static I2C_ReadFuncPtr local_I2C_Read = NULL;

void lsm6dso_init(I2C_WriteFuncPtr write_func, I2C_ReadFuncPtr read_func)
{
    local_I2C_Write = write_func;
    local_I2C_Read = read_func;
}

int lsmdso_read_reg(uint8_t reg)
{
  return local_I2C_Read(...);
}


(main.c)

lsm6dso_init(HAL_i2c_MemWrite, HAL_i2c_MemRead);