Add SFLP HW feature and relative example

README.md

@@ -53,6 +53,8 @@ The access to the sensor values is done as explained below:
 
 * LSM6DSV16X_Qvar_Polling: This application shows how to use LSM6DSV16X Qvar features in polling mode.
 
+* LSM6DSV16X_Sensor_Fusion: This application shows how to use LSM6DSV16X Sensor Fusion features for reading quaternions.
+
 * LSM6DSV16X_Single_Tap_Detection: This application shows how to detect the single tap event using the LSM6DSV16X accelerometer.
 
 * LSM6DSV16X_Tilt_Detection: This application shows how to detect the tilt event using the LSM6DSV16X accelerometer.

examples/LSM6DSV16X_DataLog_Terminal/LSM6DSV16X_DataLog_Terminal.ino

@@ -1,6 +1,6 @@
 /*
    @file    LSM6DSV16X_DataLog_Terminal.ino
-   @author  Giuseppe Roberti <[email protected]>
+   @author  STMicroelectronics
    @brief   Example to use the LSM6DSV16X inertial measurement sensor
  *******************************************************************************
    Copyright (c) 2022, STMicroelectronics

examples/LSM6DSV16X_Sensor_Fusion/LSM6DSV16X_Sensor_Fusion.ino

@@ -0,0 +1,79 @@
+/*
+   @file    LSM6DSV16X_Sensor_Fusion.ino
+   @author  STMicroelectronics
+   @brief   Example to use the LSM6DSV16X library with Sensor Fusion Low Power.
+ *******************************************************************************
+   Copyright (c) 2022, STMicroelectronics
+   All rights reserved.
+
+   This software component is licensed by ST under BSD 3-Clause license,
+   the "License"; You may not use this file except in compliance with the
+   License. You may obtain a copy of the License at:
+                          opensource.org/licenses/BSD-3-Clause
+
+ *******************************************************************************
+*/
+#include <LSM6DSV16XSensor.h>
+
+#define ALGO_FREQ  120U /* Algorithm frequency 120Hz */
+#define ALGO_PERIOD  (1000U / ALGO_FREQ) /* Algorithm period [ms] */
+unsigned long startTime, elapsedTime; 
+
+LSM6DSV16XSensor AccGyr(&Wire);
+uint8_t status = 0;
+uint8_t tag = 0;
+float quaternions[4]={0};
+
+void setup() {
+
+  Serial.begin(115200);
+  while (!Serial) yield();
+
+  Wire.begin();
+  // Initialize LSM6DSV16X.
+  AccGyr.begin();
+
+  // Enable Sensor Fusion
+  status |= AccGyr.Enable_Rotation_Vector();
+
+  if(status != LSM6DSV16X_OK) {
+    Serial.println("LSM6DSV16X Sensor failed to init/configure");
+    while(1);
+  }
+  Serial.println("LSM6DSV16X SFLP Demo");
+}
+
+void loop() {
+  uint16_t fifo_samples;
+  // Get start time of loop cycle
+  startTime = millis(); 
+  // Check the number of samples inside FIFO
+  if(AccGyr.FIFO_Get_Num_Samples(&fifo_samples) != LSM6DSV16X_OK){
+      Serial.println("LSM6DSV16X Sensor failed to get number of samples inside FIFO");
+      while(1);
+  }
+
+  // Read the FIFO if there is one stored sample 
+  if (fifo_samples > 0) {
+      for (int i = 0; i < fifo_samples; i++) {
+          AccGyr.FIFO_Get_Tag(&tag);
+          if(tag==0x13u){
+            AccGyr.FIFO_Get_Rotation_Vector(&quaternions[0]);
+
+            // Print Quaternion data
+            Serial.print("Quaternion: ");
+            Serial.print(quaternions[3], 4);
+            Serial.print(", ");
+            Serial.print(-quaternions[1], 4);
+            Serial.print(", ");
+            Serial.print(quaternions[0], 4);
+            Serial.print(", ");
+            Serial.println(quaternions[2], 4);
+
+            // Compute the elapsed time within loop cycle and wait
+            elapsedTime = millis() - startTime;
+            delay(ALGO_PERIOD - elapsedTime);  
+         }
+      }
+  }
+}

keywords.txt

@@ -7,7 +7,7 @@
 #######################################
 
 LSM6DSV16XSensor	KEYWORD1
-LSM6DSV16XStatusTypeDef KEYWORD1
+LSM6DSV16XStatusTypeDef 	KEYWORD1
 LSM6DSV16X_Event_Status_t	KEYWORD1
 LSM6DSV16X_SensorIntPin_t	KEYWORD1
 LSM6DSV16X_ACC_Operating_Mode_t	KEYWORD1
@@ -90,12 +90,22 @@ FIFO_Set_X_BDR	KEYWORD2
 FIFO_Get_G_Axes	KEYWORD2
 FIFO_Set_G_BDR	KEYWORD2
 QVAR_Enable	KEYWORD2
+QVAR_Disable	KEYWORD2
 QVAR_GetStatus	KEYWORD2
+QVAR_GetImpedance	KEYWORD2
 QVAR_SetImpedance	KEYWORD2
 QVAR_GetData	KEYWORD2
 Get_MLC_Status	KEYWORD2
 Get_MLC_Output	KEYWORD2
-
+Enable_Rotation_Vector	KEYWORD2
+Disable_Rotation_Vector	KEYWORD2
+Enable_Gravity_Vector()	KEYWORD2
+Disable_Gravity_Vector	KEYWORD2
+Enable_Gyroscope_Bias	KEYWORD2
+Disable_Gyroscope_Bias	KEYWORD2
+FIFO_Get_Rotation_Vector	KEYWORD2
+FIFO_Get_Gravity_Vector	KEYWORD2
+FIFO_Get_Gyroscope_Bias	KEYWORD2
 #######################################
 # Constants (LITERAL1)
 #######################################

library.properties

@@ -1,5 +1,5 @@
 name=STM32duino LSM6DSV16X
-version=1.5.1
+version=1.6.1
 author=SRA
 maintainer=stm32duino
 sentence=Ultra Low Power inertial measurement unit.