diff --git a/.github/workflows/Continuous-integration.yml b/.github/workflows/Continuous-integration.yml
index bfb1db3..5708e70 100644
--- a/.github/workflows/Continuous-integration.yml
+++ b/.github/workflows/Continuous-integration.yml
@@ -59,8 +59,10 @@ jobs:
id: compile
uses: stm32duino/actions/compile-examples@main
with:
- board-pattern: "NUCLEO_L476RG"
-
+ custom-config: "./extras/build_config.json"
+ board-pattern: "NUCLEO_L476RG|NUCLEO_H503RB|NUCLEO_C562RE"
+ env:
+ GITHUB_TOKEN: ${{secrets.GITHUB_TOKEN}}
# Use the output from the `Compilation` step
- name: Compilation Errors
if: failure()
diff --git a/README.md b/README.md
index 2121a23..74e0b58 100644
--- a/README.md
+++ b/README.md
@@ -3,7 +3,7 @@ Arduino library to support the LSM6DSV16X 3D accelerometer and 3D gyroscope
## API
-This sensor uses I2C or SPI to communicate.
+This sensor uses I2C, I3C or SPI to communicate.
For I2C it is then required to create a TwoWire interface before accessing to the sensors:
TwoWire dev_i2c(I2C_SDA, I2C_SCL);
@@ -14,6 +14,10 @@ For SPI it is then required to create a SPI interface before accessing to the se
SPIClass dev_spi(SPI_MOSI, SPI_MISO, SPI_SCK);
dev_spi.begin();
+For I3C it is then required to create an I3C interface before accessing to the sensors:
+
+ I3C.begin(I3C_SDA, I3C_SCL, 1000000U);
+
An instance can be created and enabled when the I2C bus is used following the procedure below:
LSM6DSV16XSensor AccGyr(&dev_i2c);
@@ -28,6 +32,27 @@ An instance can be created and enabled when the SPI bus is used following the pr
AccGyr.Enable_X();
AccGyr.Enable_G();
+
+An instance can be created and enabled when the I3C bus is used with SETDASA (static-to-dynamic address assignment):
+ LSM6DSV16XSensor AccGyr(&I3C, LSM6DSV16X_I3C_ADD_H);
+ I3C.resetDynamicAddresses();
+ I3C.assignDynamicAddress(AccGyr.getStaticAddress(), LSM6DSV16X_DYNAMIC_ADDRESS);
+ AccGyr.begin(LSM6DSV16X_DYNAMIC_ADDRESS);
+ I3C.setClock(12500000);
+ AccGyr.Enable_X();
+ AccGyr.Enable_G();
+
+An instance can be created and enabled when the I3C bus is used with ENTDAA (dynamic address discovery):
+
+ LSM6DSV16XSensor AccGyr(&I3C);
+ I3C.begin(I3C_SDA, I3C_SCL, 1000000U);
+ I3C.discover(devices, 8, &found);
+ // find dynAddr by matching LSM6DSV16X_I3C_PID_H in discovered devices
+ AccGyr.begin(dynAddr);
+ I3C.setClock(12500000);
+ AccGyr.Enable_X();
+ AccGyr.Enable_G();
+
The access to the sensor values is done as explained below:
Read accelerometer and gyroscope.
@@ -39,31 +64,35 @@ The access to the sensor values is done as explained below:
## Examples
-* LSM6DSV16X_DataLog_Terminal: This application shows how to get data from LSM6DSV16X accelerometer and gyroscope and print them on terminal.
+* LSM6DSV16X_DataLog_Terminal_I2C: This application shows how to get data from LSM6DSV16X accelerometer and gyroscope and print them on terminal over I2C.
+
+* LSM6DSV16X_6D_Orientation_I2C: This application shows how to use LSM6DSV16X accelerometer to find out the 6D orientation and display data on a hyperterminal over I2C.
+
+* LSM6DSV16X_Datalog_Terminal_I3C: This application shows how to use LSM6DSV16X accelerometer and gyroscope over I3C using SETDASA.
-* LSM6DSV16X_6D_Orientation: This application shows how to use LSM6DSV16X accelerometer to find out the 6D orientation and display data on a hyperterminal.
+* LSM6DSV16X_Datalog_Terminal_I3C_ENTDAA: This application shows how to discover and use LSM6DSV16X dynamic address over I3C.
-* LSM6DSV16X_Double_Tap_Detection: This application shows how to detect the double tap event using the LSM6DSV16X accelerometer.
+* LSM6DSV16X_Double_Tap_Detection_I2C: This application shows how to detect the double tap event using the LSM6DSV16X accelerometer over I2C.
-* LSM6DSV16X_Free_Fall_Detection: This application shows how to detect the free fall event using the LSM6DSV16X accelerometer.
+* LSM6DSV16X_Free_Fall_Detection_I2C: This application shows how to detect the free fall event using the LSM6DSV16X accelerometer over I2C.
-* LSM6DSV16X_MLC: This application shows how to detect the activity using the LSM6DSV16X Machine Learning Core.
+* LSM6DSV16X_MLC_I2C: This application shows how to detect the activity using the LSM6DSV16X Machine Learning Core over I2C.
-* LSM6DSV16X_Pedometer: This application shows how to use LSM6DSV16X accelerometer to count steps.
+* LSM6DSV16X_Pedometer_I2C: This application shows how to use LSM6DSV16X accelerometer to count steps over I2C.
-* LSM6DSV16X_Qvar_Polling: This application shows how to use LSM6DSV16X Qvar features in polling mode.
+* LSM6DSV16X_Qvar_Polling_I2C: This application shows how to use LSM6DSV16X Qvar features in polling mode over I2C.
-* LSM6DSV16X_Sensor_Fusion: This application shows how to use LSM6DSV16X Sensor Fusion features for reading quaternions.
+* LSM6DSV16X_Sensor_Fusion_I2C: This application shows how to use LSM6DSV16X Sensor Fusion features for reading quaternions over I2C.
-* LSM6DSV16X_Single_Tap_Detection: This application shows how to detect the single tap event using the LSM6DSV16X accelerometer.
+* LSM6DSV16X_Single_Tap_Detection_I2C: This application shows how to detect the single tap event using the LSM6DSV16X accelerometer over I2C.
-* LSM6DSV16X_Tilt_Detection: This application shows how to detect the tilt event using the LSM6DSV16X accelerometer.
+* LSM6DSV16X_Tilt_Detection_I2C: This application shows how to detect the tilt event using the LSM6DSV16X accelerometer over I2C.
-* LSM6DSV16X_Wake_Up_Detection: This application shows how to detect the wake-up event using the LSM6DSV16X accelerometer.
+* LSM6DSV16X_Wake_Up_Detection_I2C: This application shows how to detect the wake-up event using the LSM6DSV16X accelerometer over I2C.
-* LSM6DSV16X_FIFO_Polling: This application shows how to get accelerometer and gyroscope data from FIFO in pooling mode and print them on terminal.
+* LSM6DSV16X_FIFO_Polling_I2C: This application shows how to get accelerometer and gyroscope data from FIFO in pooling mode and print them on terminal over I2C.
-* LSM6DSV16X_FIFO_Interrupt: This application shows how to get accelerometer and gyroscope data from FIFO using interrupt and print them on terminal.
+* LSM6DSV16X_FIFO_Interrupt_I2C: This application shows how to get accelerometer and gyroscope data from FIFO using interrupt and print them on terminal over I2C.
## Documentation
You can find the source files at
diff --git a/examples/LSM6DSV16X_6D_Orientation/LSM6DSV16X_6D_Orientation.ino b/examples/LSM6DSV16X_6D_Orientation_I2C/LSM6DSV16X_6D_Orientation_I2C.ino
similarity index 98%
rename from examples/LSM6DSV16X_6D_Orientation/LSM6DSV16X_6D_Orientation.ino
rename to examples/LSM6DSV16X_6D_Orientation_I2C/LSM6DSV16X_6D_Orientation_I2C.ino
index bd70b93..6182767 100644
--- a/examples/LSM6DSV16X_6D_Orientation/LSM6DSV16X_6D_Orientation.ino
+++ b/examples/LSM6DSV16X_6D_Orientation_I2C/LSM6DSV16X_6D_Orientation_I2C.ino
@@ -1,5 +1,5 @@
/*
- @file LSM6DSV16X_HelloWorld.ino
+ @file LSM6DSV16X_6D_Orientation_I2C.ino
@author STMicroelectronics
@brief Example to use the LSM6DSV16X 6D Orientation
*******************************************************************************
diff --git a/examples/LSM6DSV16X_DataLog_Terminal/LSM6DSV16X_DataLog_Terminal.ino b/examples/LSM6DSV16X_DataLog_Terminal_I2C/LSM6DSV16X_DataLog_Terminal_I2C.ino
similarity index 93%
rename from examples/LSM6DSV16X_DataLog_Terminal/LSM6DSV16X_DataLog_Terminal.ino
rename to examples/LSM6DSV16X_DataLog_Terminal_I2C/LSM6DSV16X_DataLog_Terminal_I2C.ino
index a6d1c13..753028b 100644
--- a/examples/LSM6DSV16X_DataLog_Terminal/LSM6DSV16X_DataLog_Terminal.ino
+++ b/examples/LSM6DSV16X_DataLog_Terminal_I2C/LSM6DSV16X_DataLog_Terminal_I2C.ino
@@ -1,9 +1,9 @@
/*
- @file LSM6DSV16X_DataLog_Terminal.ino
+ @file LSM6DSV16X_DataLog_Terminal_I2C.ino
@author STMicroelectronics
@brief Example to use the LSM6DSV16X inertial measurement sensor
*******************************************************************************
- Copyright (c) 2022, STMicroelectronics
+ Copyright (c) 2026, 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
diff --git a/examples/LSM6DSV16X_Datalog_Terminal_I3C/LSM6DSV16X_Datalog_Terminal_I3C.ino b/examples/LSM6DSV16X_Datalog_Terminal_I3C/LSM6DSV16X_Datalog_Terminal_I3C.ino
new file mode 100644
index 0000000..680e05c
--- /dev/null
+++ b/examples/LSM6DSV16X_Datalog_Terminal_I3C/LSM6DSV16X_Datalog_Terminal_I3C.ino
@@ -0,0 +1,92 @@
+/*
+ @file LSM6DSV16X_DataLog_Terminal_I3C.ino
+ @author STMicroelectronics
+ @brief Example to use the LSM6DSV16X sensor with I3C and SETDASA command
+ *******************************************************************************
+ Copyright (c) 2026, 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 LSM6DSV16X_DYNAMIC_ADDRESS 0x30
+
+LSM6DSV16XSensor sensor(&I3C, LSM6DSV16X_I3C_ADD_H);
+
+void setup()
+{
+ Serial.begin(115200);
+ while (!Serial) {}
+ delay(1000);
+
+ Serial.println("=== LSM6DSV16X SETDASA ===");
+
+ if (!I3C.begin(I3C_SDA, I3C_SCL, 1000000U)) {
+ Serial.println("begin() failed");
+ while (1) {}
+ }
+
+ if (!I3C.resetDynamicAddresses()) {
+ Serial.println("resetDynamicAddresses() failed");
+ while (1) {}
+ }
+
+ if (!I3C.assignDynamicAddress(sensor.getStaticAddress(), LSM6DSV16X_DYNAMIC_ADDRESS)) {
+ Serial.println("assignDynamicAddress() failed");
+ while (1) {}
+ }
+
+ if (sensor.begin(LSM6DSV16X_DYNAMIC_ADDRESS) != LSM6DSV16X_OK) {
+ Serial.println("sensor.begin() failed");
+ while (1) {}
+ }
+
+ if (!I3C.setClock(12500000)) {
+ Serial.println("setClock() failed");
+ while (1) {}
+ }
+
+ if (sensor.Enable_X() != LSM6DSV16X_OK) {
+ Serial.println("sensor.Enable_X() failed");
+ while (1) {}
+ }
+
+ if (sensor.Enable_G() != LSM6DSV16X_OK) {
+ Serial.println("sensor.Enable_G() failed");
+ while (1) {}
+ }
+
+ Serial.println("LSM6DSV16X ready");
+}
+
+void loop()
+{
+ int32_t accel[3] = {0};
+ int32_t angrate[3] = {0};
+
+ if (sensor.Get_X_Axes(accel) == LSM6DSV16X_OK && sensor.Get_G_Axes(angrate) == LSM6DSV16X_OK) {
+ Serial.print("Accel-X[mg]:");
+ Serial.print(accel[0]);
+ Serial.print(",Accel-Y[mg]:");
+ Serial.print(accel[1]);
+ Serial.print(",Accel-Z[mg]:");
+ Serial.println(accel[2]);
+
+ Serial.print("AngRate-X[mdps]:");
+ Serial.print(angrate[0]);
+ Serial.print(",AngRate-Y[mdps]:");
+ Serial.print(angrate[1]);
+ Serial.print(",AngRate-Z[mdps]:");
+ Serial.println(angrate[2]);
+ } else {
+ Serial.println("Read failed");
+ }
+
+ delay(500);
+}
diff --git a/examples/LSM6DSV16X_Datalog_Terminal_I3C_ENTDAA/LSM6DSV16X_Datalog_Terminal_I3C_ENTDAA.ino b/examples/LSM6DSV16X_Datalog_Terminal_I3C_ENTDAA/LSM6DSV16X_Datalog_Terminal_I3C_ENTDAA.ino
new file mode 100644
index 0000000..fe50e1f
--- /dev/null
+++ b/examples/LSM6DSV16X_Datalog_Terminal_I3C_ENTDAA/LSM6DSV16X_Datalog_Terminal_I3C_ENTDAA.ino
@@ -0,0 +1,111 @@
+/*
+ @file LSM6DSV16X_DataLog_Terminal_I3C_ENTDAA.ino
+ @author STMicroelectronics
+ @brief Example to use the LSM6DSV16X sensor with I3C dynamic address assignment
+ *******************************************************************************
+ Copyright (c) 2026, 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"
+
+LSM6DSV16XSensor sensor(&I3C);
+
+void setup()
+{
+ Serial.begin(115200);
+ while (!Serial) {}
+ delay(1000);
+
+ Serial.println("=== LSM6DSV16X DAA ===");
+
+ if (!I3C.begin(I3C_SDA, I3C_SCL, 1000000U)) {
+ Serial.println("begin() failed");
+ while (1) {}
+ }
+
+ if (!I3C.resetDynamicAddresses()) {
+ Serial.println("resetDynamicAddresses() failed");
+ while (1) {}
+ }
+
+ I3CDiscoveredDevice devices[8] = {};
+ size_t found = 0;
+
+ if (I3C.discover(devices, 8, &found)) {
+ Serial.println("discover() failed");
+ while (1) {}
+ }
+
+ uint8_t lsmDynAddr = 0U;
+
+ for (size_t i = 0; i < found; ++i) {
+ Serial.println(devices[i].pid, HEX);
+ if (devices[i].pid == LSM6DSV16X_I3C_PID_H) {
+ lsmDynAddr = devices[i].dynAddr;
+ Serial.print("lsmDynAddr=");
+ Serial.println(lsmDynAddr, HEX);
+ break;
+ }
+ }
+
+ if (lsmDynAddr == 0U) {
+ Serial.println("Sensor not found");
+ while (1) {}
+ }
+
+ if (sensor.begin(lsmDynAddr) != LSM6DSV16X_OK) {
+ Serial.println("sensor.begin() failed");
+ while (1) {}
+ }
+
+ if (!I3C.setClock(12500000)) {
+ Serial.println("setClock() failed");
+ while (1) {}
+ }
+
+ if (sensor.Enable_X() != LSM6DSV16X_OK) {
+ Serial.println("sensor.Enable_X() failed");
+ while (1) {}
+ }
+
+ if (sensor.Enable_G() != LSM6DSV16X_OK) {
+ Serial.println("sensor.Enable_G() failed");
+ while (1) {}
+ }
+
+ Serial.println("LSM6DSV16X ready");
+}
+
+void loop()
+{
+ int32_t accel[3] = {0};
+ int32_t angrate[3] = {0};
+
+ if (sensor.Get_X_Axes(accel) == LSM6DSV16X_OK && sensor.Get_G_Axes(angrate) == LSM6DSV16X_OK) {
+ Serial.print("Accel-X[mg]:");
+ Serial.print(accel[0]);
+ Serial.print(",Accel-Y[mg]:");
+ Serial.print(accel[1]);
+ Serial.print(",Accel-Z[mg]:");
+ Serial.println(accel[2]);
+
+ Serial.print("AngRate-X[mdps]:");
+ Serial.print(angrate[0]);
+ Serial.print(",AngRate-Y[mdps]:");
+ Serial.print(angrate[1]);
+ Serial.print(",AngRate-Z[mdps]:");
+ Serial.println(angrate[2]);
+ } else {
+ Serial.println("Read failed");
+ }
+
+ delay(500);
+}
diff --git a/examples/LSM6DSV16X_Double_Tap_Detection/LSM6DSV16X_Double_Tap_Detection.ino b/examples/LSM6DSV16X_Double_Tap_Detection_I2C/LSM6DSV16X_Double_Tap_Detection_I2C.ino
similarity index 96%
rename from examples/LSM6DSV16X_Double_Tap_Detection/LSM6DSV16X_Double_Tap_Detection.ino
rename to examples/LSM6DSV16X_Double_Tap_Detection_I2C/LSM6DSV16X_Double_Tap_Detection_I2C.ino
index fcadae1..df406df 100644
--- a/examples/LSM6DSV16X_Double_Tap_Detection/LSM6DSV16X_Double_Tap_Detection.ino
+++ b/examples/LSM6DSV16X_Double_Tap_Detection_I2C/LSM6DSV16X_Double_Tap_Detection_I2C.ino
@@ -1,5 +1,5 @@
/*
- @file LSM6DSV16X_Double_Tap_Detection.ino
+ @file LSM6DSV16X_Double_Tap_Detection_I2C.ino
@author STMicroelectronics
@brief Example to use the LSM6DSV16X Double Tap Detection
*******************************************************************************
diff --git a/examples/LSM6DSV16X_FIFO_Interrupt/LSM6DSV16X_FIFO_Interrupt.ino b/examples/LSM6DSV16X_FIFO_Interrupt_I2C/LSM6DSV16X_FIFO_Interrupt_I2C.ino
similarity index 99%
rename from examples/LSM6DSV16X_FIFO_Interrupt/LSM6DSV16X_FIFO_Interrupt.ino
rename to examples/LSM6DSV16X_FIFO_Interrupt_I2C/LSM6DSV16X_FIFO_Interrupt_I2C.ino
index 8a30eda..ed2864f 100644
--- a/examples/LSM6DSV16X_FIFO_Interrupt/LSM6DSV16X_FIFO_Interrupt.ino
+++ b/examples/LSM6DSV16X_FIFO_Interrupt_I2C/LSM6DSV16X_FIFO_Interrupt_I2C.ino
@@ -1,5 +1,5 @@
/*
- @file STEVAL_MEMS_FIFO_Interrupt.ino
+ @file LSM6DSV16X_FIFO_Interrupt_I2C.ino
@author STMicroelectronics
@brief Example to use the LSM6DSV16X library with FIFO status interrupts.
*******************************************************************************
diff --git a/examples/LSM6DSV16X_FIFO_Polling/LSM6DSV16X_FIFO_Polling.ino b/examples/LSM6DSV16X_FIFO_Polling_I2C/LSM6DSV16X_FIFO_Polling_I2C.ino
similarity index 99%
rename from examples/LSM6DSV16X_FIFO_Polling/LSM6DSV16X_FIFO_Polling.ino
rename to examples/LSM6DSV16X_FIFO_Polling_I2C/LSM6DSV16X_FIFO_Polling_I2C.ino
index d3697d3..f487b6d 100644
--- a/examples/LSM6DSV16X_FIFO_Polling/LSM6DSV16X_FIFO_Polling.ino
+++ b/examples/LSM6DSV16X_FIFO_Polling_I2C/LSM6DSV16X_FIFO_Polling_I2C.ino
@@ -1,5 +1,5 @@
/*
- @file STEVAL_MEMS_FIFO_Interrupt.ino
+ @file LSM6DSV16X_FIFO_Polling_I2C.ino
@author STMicroelectronics
@brief Example to use the LSM6DSV16X library with FIFO status interrupts.
*******************************************************************************
diff --git a/examples/LSM6DSV16X_Free_Fall_Detection/LSM6DSV16X_Free_Fall_Detection.ino b/examples/LSM6DSV16X_Free_Fall_Detection_I2C/LSM6DSV16X_Free_Fall_Detection_I2C.ino
similarity index 96%
rename from examples/LSM6DSV16X_Free_Fall_Detection/LSM6DSV16X_Free_Fall_Detection.ino
rename to examples/LSM6DSV16X_Free_Fall_Detection_I2C/LSM6DSV16X_Free_Fall_Detection_I2C.ino
index 7beae01..aa24236 100644
--- a/examples/LSM6DSV16X_Free_Fall_Detection/LSM6DSV16X_Free_Fall_Detection.ino
+++ b/examples/LSM6DSV16X_Free_Fall_Detection_I2C/LSM6DSV16X_Free_Fall_Detection_I2C.ino
@@ -1,5 +1,5 @@
/*
- @file LSM6DSV16X_Free_Fall_Detection.ino
+ @file LSM6DSV16X_Free_Fall_Detection_I2C.ino
@author STMicroelectronics
@brief Example to use the LSM6DSV16X Free Fall Detection
*******************************************************************************
diff --git a/examples/LSM6DSV16X_MLC/LSM6DSV16X_MLC.ino b/examples/LSM6DSV16X_MLC_I2C/LSM6DSV16X_MLC_I2C.ino
similarity index 98%
rename from examples/LSM6DSV16X_MLC/LSM6DSV16X_MLC.ino
rename to examples/LSM6DSV16X_MLC_I2C/LSM6DSV16X_MLC_I2C.ino
index 5bc61e8..0e3189d 100644
--- a/examples/LSM6DSV16X_MLC/LSM6DSV16X_MLC.ino
+++ b/examples/LSM6DSV16X_MLC_I2C/LSM6DSV16X_MLC_I2C.ino
@@ -1,5 +1,5 @@
/*
- @file LSM6DSV16X_MLC.ino
+ @file LSM6DSV16X_MLC_I2C.ino
@author STMicroelectronics
@brief Example to use the LSM6DSV16X Machine Learning Core
*******************************************************************************
diff --git a/examples/LSM6DSV16X_MLC/lsm6dsv16x_activity_recognition_for_mobile.h b/examples/LSM6DSV16X_MLC_I2C/lsm6dsv16x_activity_recognition_for_mobile.h
similarity index 100%
rename from examples/LSM6DSV16X_MLC/lsm6dsv16x_activity_recognition_for_mobile.h
rename to examples/LSM6DSV16X_MLC_I2C/lsm6dsv16x_activity_recognition_for_mobile.h
diff --git a/examples/LSM6DSV16X_Pedometer/LSM6DSV16X_Pedometer.ino b/examples/LSM6DSV16X_Pedometer_I2C/LSM6DSV16X_Pedometer_I2C.ino
similarity index 98%
rename from examples/LSM6DSV16X_Pedometer/LSM6DSV16X_Pedometer.ino
rename to examples/LSM6DSV16X_Pedometer_I2C/LSM6DSV16X_Pedometer_I2C.ino
index b2a4f52..eacd9ba 100644
--- a/examples/LSM6DSV16X_Pedometer/LSM6DSV16X_Pedometer.ino
+++ b/examples/LSM6DSV16X_Pedometer_I2C/LSM6DSV16X_Pedometer_I2C.ino
@@ -1,5 +1,5 @@
/*
- @file LSM6DSV16X_Pedometer.ino
+ @file LSM6DSV16X_Pedometer_I2C.ino
@author STMicroelectronics
@brief Example to use the LSM6DSV16X Pedometer
*******************************************************************************
diff --git a/examples/LSM6DSV16X_Qvar_Polling/LSM6DSV16X_Qvar_Polling.ino b/examples/LSM6DSV16X_Qvar_Polling_I2C/LSM6DSV16X_Qvar_Polling_I2C.ino
similarity index 96%
rename from examples/LSM6DSV16X_Qvar_Polling/LSM6DSV16X_Qvar_Polling.ino
rename to examples/LSM6DSV16X_Qvar_Polling_I2C/LSM6DSV16X_Qvar_Polling_I2C.ino
index a159242..8ddd208 100644
--- a/examples/LSM6DSV16X_Qvar_Polling/LSM6DSV16X_Qvar_Polling.ino
+++ b/examples/LSM6DSV16X_Qvar_Polling_I2C/LSM6DSV16X_Qvar_Polling_I2C.ino
@@ -1,5 +1,5 @@
/*
- @file LSM6DSV16X_Qvar.ino
+ @file LSM6DSV16X_Qvar_Polling_I2C.ino
@author STMicroelectronics
@brief Example to use LSM6DSV16X Qvar features
*******************************************************************************
diff --git a/examples/LSM6DSV16X_Sensor_Fusion/LSM6DSV16X_Sensor_Fusion.ino b/examples/LSM6DSV16X_Sensor_Fusion_I2C/LSM6DSV16X_Sensor_Fusion_I2C.ino
similarity index 98%
rename from examples/LSM6DSV16X_Sensor_Fusion/LSM6DSV16X_Sensor_Fusion.ino
rename to examples/LSM6DSV16X_Sensor_Fusion_I2C/LSM6DSV16X_Sensor_Fusion_I2C.ino
index c6d7d45..173810e 100644
--- a/examples/LSM6DSV16X_Sensor_Fusion/LSM6DSV16X_Sensor_Fusion.ino
+++ b/examples/LSM6DSV16X_Sensor_Fusion_I2C/LSM6DSV16X_Sensor_Fusion_I2C.ino
@@ -1,5 +1,5 @@
/*
- @file LSM6DSV16X_Sensor_Fusion.ino
+ @file LSM6DSV16X_Sensor_Fusion_I2C.ino
@author STMicroelectronics
@brief Example to use the LSM6DSV16X library with Sensor Fusion Low Power.
*******************************************************************************
diff --git a/examples/LSM6DSV16X_Single_Tap_Detection/LSM6DSV16X_Single_Tap_Detection.ino b/examples/LSM6DSV16X_Single_Tap_Detection_I2C/LSM6DSV16X_Single_Tap_Detection_I2C.ino
similarity index 96%
rename from examples/LSM6DSV16X_Single_Tap_Detection/LSM6DSV16X_Single_Tap_Detection.ino
rename to examples/LSM6DSV16X_Single_Tap_Detection_I2C/LSM6DSV16X_Single_Tap_Detection_I2C.ino
index 2039f25..7ffd66f 100644
--- a/examples/LSM6DSV16X_Single_Tap_Detection/LSM6DSV16X_Single_Tap_Detection.ino
+++ b/examples/LSM6DSV16X_Single_Tap_Detection_I2C/LSM6DSV16X_Single_Tap_Detection_I2C.ino
@@ -1,5 +1,5 @@
/*
- @file LSM6DSV16X_Single_Tap_Detection.ino
+ @file LSM6DSV16X_Single_Tap_Detection_I2C.ino
@author STMicroelectronics
@brief Example to use the LSM6DSV16X Single Tap Detection
*******************************************************************************
diff --git a/examples/LSM6DSV16X_Tilt_Detection/LSM6DSV16X_Tilt_Detection.ino b/examples/LSM6DSV16X_Tilt_Detection_I2C/LSM6DSV16X_Tilt_Detection_I2C.ino
similarity index 97%
rename from examples/LSM6DSV16X_Tilt_Detection/LSM6DSV16X_Tilt_Detection.ino
rename to examples/LSM6DSV16X_Tilt_Detection_I2C/LSM6DSV16X_Tilt_Detection_I2C.ino
index 9bbdd6b..7df3a96 100644
--- a/examples/LSM6DSV16X_Tilt_Detection/LSM6DSV16X_Tilt_Detection.ino
+++ b/examples/LSM6DSV16X_Tilt_Detection_I2C/LSM6DSV16X_Tilt_Detection_I2C.ino
@@ -1,5 +1,5 @@
/*
- @file LSM6DSV16X_Tilt_Detection.ino
+ @file LSM6DSV16X_Tilt_Detection_I2C.ino
@author STMicroelectronics
@brief Example to use the LSM6DSV16X Tilt Detection
*******************************************************************************
diff --git a/examples/LSM6DSV16X_Wake_Up_Detection/LSM6DSV16X_Wake_Up_Detection.ino b/examples/LSM6DSV16X_Wake_Up_Detection_I2C/LSM6DSV16X_Wake_Up_Detection_I2C.ino
similarity index 96%
rename from examples/LSM6DSV16X_Wake_Up_Detection/LSM6DSV16X_Wake_Up_Detection.ino
rename to examples/LSM6DSV16X_Wake_Up_Detection_I2C/LSM6DSV16X_Wake_Up_Detection_I2C.ino
index 23ea7c9..cf77fc3 100644
--- a/examples/LSM6DSV16X_Wake_Up_Detection/LSM6DSV16X_Wake_Up_Detection.ino
+++ b/examples/LSM6DSV16X_Wake_Up_Detection_I2C/LSM6DSV16X_Wake_Up_Detection_I2C.ino
@@ -1,5 +1,5 @@
/*
- @file LSM6DSV16X_Wake_Up_Detection.ino
+ @file LSM6DSV16X_Wake_Up_Detection_I2C.ino
@author STMicroelectronics
@brief Example to use the LSM6DSV16X Wake Up Detection
*******************************************************************************
diff --git a/extras/build_config.json b/extras/build_config.json
new file mode 100644
index 0000000..ca99740
--- /dev/null
+++ b/extras/build_config.json
@@ -0,0 +1,26 @@
+{
+ "cores": [
+ {
+ "maintainer": "STMicroelectronics",
+ "architecture": "stm32",
+ "boards": [
+ ],
+ "sketches": [
+ {
+ "pattern": "[^I][^3][^C]",
+ "applicable": true,
+ "boards": [
+ "NUCLEO_L476RG",
+ "NUCLEO_H503RB",
+ "NUCLEO_C562RE"
+ ]
+ },
+ {
+ "pattern": "I3C",
+ "applicable": true,
+ "boards": [ "NUCLEO_H503RB","NUCLEO_C562RE"]
+ }
+ ]
+ }
+ ]
+}
diff --git a/extras/codespell-ignore-words-list.txt b/extras/codespell-ignore-words-list.txt
index 146ac38..8a7e8a9 100644
--- a/extras/codespell-ignore-words-list.txt
+++ b/extras/codespell-ignore-words-list.txt
@@ -1 +1,2 @@
-ois
\ No newline at end of file
+ois
+daa
\ No newline at end of file
diff --git a/keywords.txt b/keywords.txt
index 738d01f..a7e7aaf 100644
--- a/keywords.txt
+++ b/keywords.txt
@@ -19,6 +19,8 @@ LSM6DSV16X_GYRO_Operating_Mode_t KEYWORD1
begin KEYWORD2
end KEYWORD2
ReadID KEYWORD2
+getStaticAddress KEYWORD2
+getDynAddress KEYWORD2
Enable_X KEYWORD2
Disable_X KEYWORD2
Get_X_Sensitivity KEYWORD2
@@ -139,6 +141,14 @@ LSM6DSV16X_OK LITERAL1
LSM6DSV16X_ERROR LITERAL1
LSM6DSV16X_INT1_PIN LITERAL1
LSM6DSV16X_INT2_PIN LITERAL1
+LSM6DSV16X_I2C_BUS LITERAL1
+LSM6DSV16X_SPI_4WIRES_BUS LITERAL1
+LSM6DSV16X_SPI_3WIRES_BUS LITERAL1
+LSM6DSV16X_I3C_BUS LITERAL1
+LSM6DSV16X_I3C_ADD_L LITERAL1
+LSM6DSV16X_I3C_ADD_H LITERAL1
+LSM6DSV16X_I3C_PID_L LITERAL1
+LSM6DSV16X_I3C_PID_H LITERAL1
LSM6DSV16X_ACC_SENSITIVITY_FS_2G LITERAL1
LSM6DSV16X_ACC_SENSITIVITY_FS_4G LITERAL1
LSM6DSV16X_ACC_SENSITIVITY_FS_8G LITERAL1
diff --git a/library.properties b/library.properties
index 8565b48..8c98ed8 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
name=STM32duino LSM6DSV16X
-version=2.0.3
+version=2.1.0
author=SRA
maintainer=stm32duino
sentence=Ultra Low Power inertial measurement unit.
diff --git a/src/LSM6DSV16XSensor.cpp b/src/LSM6DSV16XSensor.cpp
index bc3fcc3..b568a76 100644
--- a/src/LSM6DSV16XSensor.cpp
+++ b/src/LSM6DSV16XSensor.cpp
@@ -2,13 +2,13 @@
******************************************************************************
* @file LSM6DSV16XSensor.cpp
* @author STMicroelectronics
- * @version V1.0.0
- * @date July 2022
+ * @version V2.1.0
+ * @date September 2026
* @brief Implementation of a LSM6DSV16X inertial measurement sensor.
******************************************************************************
* @attention
*
- * © COPYRIGHT(c) 2022 STMicroelectronics
+ * © COPYRIGHT(c) 2026 STMicroelectronics
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
@@ -53,8 +53,13 @@ LSM6DSV16XSensor::LSM6DSV16XSensor(TwoWire *i2c, uint8_t address) : dev_i2c(i2c)
reg_ctx.mdelay = LSM6DSV16X_sleep;
reg_ctx.handle = (void *)this;
dev_spi = NULL;
+#if defined(I3C_SUPPORTED)
+ dev_i3c = NULL;
+#endif
+ bus_type = LSM6DSV16X_I2C_BUS;
acc_is_enabled = 0L;
gyro_is_enabled = 0L;
+ initialized = 0U;
}
/** Constructor
@@ -69,23 +74,77 @@ LSM6DSV16XSensor::LSM6DSV16XSensor(SPIClass *spi, int cs_pin, uint32_t spi_speed
reg_ctx.mdelay = LSM6DSV16X_sleep;
reg_ctx.handle = (void *)this;
dev_i2c = NULL;
+#if defined(I3C_SUPPORTED)
+ dev_i3c = NULL;
+#endif
+ bus_type = LSM6DSV16X_SPI_4WIRES_BUS;
+ address = 0U;
+ acc_is_enabled = 0L;
+ gyro_is_enabled = 0L;
+ initialized = 0U;
+}
+
+#if defined(I3C_SUPPORTED)
+LSM6DSV16XSensor::LSM6DSV16XSensor(I3CBus *i3c, uint8_t static_addr7)
+{
+ reg_ctx.write_reg = LSM6DSV16X_io_write;
+ reg_ctx.read_reg = LSM6DSV16X_io_read;
+ reg_ctx.mdelay = LSM6DSV16X_sleep;
+ reg_ctx.handle = (void *)this;
+
+ dev_i2c = NULL;
+ dev_spi = NULL;
+ dev_i3c = i3c;
+
+ address = static_addr7;
+ i3c_static7 = static_addr7;
+ i3c_dyn7 = 0;
+
+ bus_type = LSM6DSV16X_I3C_BUS;
acc_is_enabled = 0L;
gyro_is_enabled = 0L;
+ initialized = 0U;
+}
+
+uint8_t LSM6DSV16XSensor::getStaticAddress() const
+{
+ return i3c_static7;
+}
+
+uint8_t LSM6DSV16XSensor::getDynAddress() const
+{
+ return i3c_dyn7;
}
+#endif
/**
* @brief Initialize the LSM6DSV16X sensor
* @retval 0 in case of success, an error code otherwise
*/
-LSM6DSV16XStatusTypeDef LSM6DSV16XSensor::begin()
+LSM6DSV16XStatusTypeDef LSM6DSV16XSensor::begin(uint8_t new_address)
{
int32_t fs = 0;
+ uint8_t id = 0;
if (dev_spi) {
// Configure CS pin
pinMode(cs_pin, OUTPUT);
digitalWrite(cs_pin, HIGH);
}
+#if defined(I3C_SUPPORTED)
+ if (dev_i3c != nullptr) {
+ if (new_address < 0x08 || new_address > 0x77) {
+ return LSM6DSV16X_ERROR;
+ } else {
+ address = new_address;
+ i3c_dyn7 = new_address;
+ }
+ uint8_t id = 0;
+ if (ReadID(&id) != LSM6DSV16X_OK || id != LSM6DSV16X_ID) {
+ return LSM6DSV16X_ERROR;
+ }
+ }
+#endif
/* Enable register address automatically incremented during a multiple byte
access with a serial interface. */
@@ -1374,7 +1433,7 @@ LSM6DSV16XStatusTypeDef LSM6DSV16XSensor::Enable_Wake_Up_Detection(LSM6DSV16X_Se
return LSM6DSV16X_ERROR;
}
- /* Set wake-up durantion */
+ /* Set wake-up duration */
if (Set_Wake_Up_Duration(0) != LSM6DSV16X_OK) {
return LSM6DSV16X_ERROR;
}
@@ -1469,7 +1528,7 @@ LSM6DSV16XStatusTypeDef LSM6DSV16XSensor::Disable_Wake_Up_Detection()
return LSM6DSV16X_ERROR;
}
- /* Reset wake-up durantion */
+ /* Reset wake-up duration */
if (Set_Wake_Up_Duration(0) != LSM6DSV16X_OK) {
return LSM6DSV16X_ERROR;
}
diff --git a/src/LSM6DSV16XSensor.h b/src/LSM6DSV16XSensor.h
index 42127d5..bece2c5 100644
--- a/src/LSM6DSV16XSensor.h
+++ b/src/LSM6DSV16XSensor.h
@@ -2,13 +2,13 @@
******************************************************************************
* @file LSM6DSV16XSensor.h
* @author STMicroelectronics
- * @version V1.0.0
- * @date July 2022
+ * @version V2.1.0
+ * @date September 2026
* @brief Abstract Class of a LSM6DSV16X inertial measurement sensor.
******************************************************************************
* @attention
*
- * © COPYRIGHT(c) 2022 STMicroelectronics
+ * © COPYRIGHT(c) 2026 STMicroelectronics
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
@@ -48,6 +48,11 @@
#include "SPI.h"
#include "lsm6dsv16x_reg.h"
+#if (defined(I3C1_BASE) || defined(I3C2_BASE)) && !defined(I3C_SUPPORTED)
+ #define I3C_SUPPORTED
+ #include "I3C.h"
+#endif
+
/* Defines -------------------------------------------------------------------*/
/* For compatibility with ESP32 platforms */
@@ -57,6 +62,19 @@
#endif
#endif
+#define LSM6DSV16X_I2C_BUS 0U
+#define LSM6DSV16X_SPI_4WIRES_BUS 1U
+#define LSM6DSV16X_SPI_3WIRES_BUS 2U
+#define LSM6DSV16X_I3C_BUS 3U
+
+#if defined(I3C_SUPPORTED)
+ #define LSM6DSV16X_I3C_ADD_L 0x6AU
+ #define LSM6DSV16X_I3C_ADD_H 0x6BU
+
+ static const uint64_t LSM6DSV16X_I3C_PID_L = 0x02080070120BULL;
+ static const uint64_t LSM6DSV16X_I3C_PID_H = 0x02080070920BULL;
+#endif
+
#define LSM6DSV16X_ACC_SENSITIVITY_FS_2G 0.061f
#define LSM6DSV16X_ACC_SENSITIVITY_FS_4G 0.122f
#define LSM6DSV16X_ACC_SENSITIVITY_FS_8G 0.244f
@@ -146,11 +164,19 @@ class LSM6DSV16XSensor {
public:
LSM6DSV16XSensor(TwoWire *i2c, uint8_t address = LSM6DSV16X_I2C_ADD_H);
LSM6DSV16XSensor(SPIClass *spi, int cs_pin, uint32_t spi_speed = 2000000);
+#if defined(I3C_SUPPORTED)
+ LSM6DSV16XSensor(I3CBus *i3c, uint8_t static_addr7 = 0);
+#endif
- LSM6DSV16XStatusTypeDef begin();
+ LSM6DSV16XStatusTypeDef begin(uint8_t new_address = 0);
LSM6DSV16XStatusTypeDef end();
LSM6DSV16XStatusTypeDef ReadID(uint8_t *Id);
+#if defined(I3C_SUPPORTED)
+ uint8_t getStaticAddress() const;
+ uint8_t getDynAddress() const;
+#endif
+
LSM6DSV16XStatusTypeDef Enable_X();
LSM6DSV16XStatusTypeDef Disable_X();
LSM6DSV16XStatusTypeDef Get_X_Sensitivity(float *Sensitivity);
@@ -323,6 +349,14 @@ class LSM6DSV16XSensor {
return 0;
}
+#if defined(I3C_SUPPORTED)
+ if (dev_i3c) {
+ if (dev_i3c->readRegBuffer(address, RegisterAddr, pBuffer, NumByteToRead) == 0) {
+ return 0;
+ }
+ }
+#endif
+
return 1;
}
@@ -367,6 +401,14 @@ class LSM6DSV16XSensor {
return 0;
}
+#if defined(I3C_SUPPORTED)
+ if (dev_i3c) {
+ if (dev_i3c->writeRegBuffer(address, RegisterAddr, (uint8_t *)pBuffer, NumByteToWrite) == 0) {
+ return 0;
+ }
+ }
+#endif
+
return 1;
}
@@ -387,12 +429,22 @@ class LSM6DSV16XSensor {
/* Helper classes. */
TwoWire *dev_i2c;
SPIClass *dev_spi;
+#if defined(I3C_SUPPORTED)
+ I3CBus *dev_i3c;
+#endif
+
+ uint32_t bus_type; /*0 means I2C, 1 means SPI 4-Wires, 2 means SPI-3-Wires, 3 means I3C */
/* Configuration */
uint8_t address;
int cs_pin;
uint32_t spi_speed;
+#if defined(I3C_SUPPORTED)
+ uint8_t i3c_static7;
+ uint8_t i3c_dyn7;
+#endif
+
lsm6dsv16x_data_rate_t acc_odr;
lsm6dsv16x_data_rate_t gyro_odr;
lsm6dsv16x_xl_full_scale_t acc_fs;