i3c support

.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()

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  

examples/LSM6DSV16X_6D_Orientation/LSM6DSV16X_6D_Orientation.ino → 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
  *******************************************************************************

examples/LSM6DSV16X_DataLog_Terminal/LSM6DSV16X_DataLog_Terminal.ino → 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

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);
+}

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);
+}

examples/LSM6DSV16X_Double_Tap_Detection/LSM6DSV16X_Double_Tap_Detection.ino → 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
  *******************************************************************************

examples/LSM6DSV16X_FIFO_Interrupt/LSM6DSV16X_FIFO_Interrupt.ino → 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.
  *******************************************************************************

examples/LSM6DSV16X_FIFO_Polling/LSM6DSV16X_FIFO_Polling.ino → 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.
  *******************************************************************************

examples/LSM6DSV16X_Free_Fall_Detection/LSM6DSV16X_Free_Fall_Detection.ino → 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
  *******************************************************************************

examples/LSM6DSV16X_MLC/LSM6DSV16X_MLC.ino → 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
  *******************************************************************************

examples/LSM6DSV16X_Pedometer/LSM6DSV16X_Pedometer.ino → 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
  *******************************************************************************

examples/LSM6DSV16X_Qvar_Polling/LSM6DSV16X_Qvar_Polling.ino → 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
  *******************************************************************************

examples/LSM6DSV16X_Sensor_Fusion/LSM6DSV16X_Sensor_Fusion.ino → 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.
  *******************************************************************************

examples/LSM6DSV16X_Single_Tap_Detection/LSM6DSV16X_Single_Tap_Detection.ino → 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
  *******************************************************************************