LSM6DSV16X

https://github.com/stm32duino/lsm6dsv16x
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An Arduino library that provides support for the LSM6DSV16X 3D accelerometer and 3D gyroscope,...
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### I2C and SPI instantiation examples

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-sensor.md

Shows how to create a TwoWire instance and an SPIClass instance, then construct the sensor with each. The I2C example uses the default address; the SPI example passes a chip-select pin and a custom SPI speed of 4000000 Hz. Both require the bus to be begin()-ed before constructing the sensor.

```cpp
TwoWire dev_i2c(I2C_SDA, I2C_SCL);
dev_i2c.begin();
LSM6DSV16XSensor AccGyr(&dev_i2c);

// SPI variant:
SPIClass dev_spi(SPI_MOSI, SPI_MISO, SPI_SCK);
dev_spi.begin();
LSM6DSV16XSensor AccGyrSpi(&dev_spi, CS_PIN, 4000000);
```

--------------------------------

### Pedometer Usage Example

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-events.md

Example of enabling the pedometer, reading step count, and resetting when threshold reached.

```cpp
if (AccGyr.Enable_Pedometer(LSM6DSV16X_INT1_PIN) != LSM6DSV16X_OK) { /* handle */ }
uint16_t steps = 0;
AccGyr.Get_Step_Count(&steps);
if (steps >= 100) AccGyr.Step_Counter_Reset();
```

--------------------------------

### Enable_G usage example

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-gyroscope-temperature.md

Example of enabling the gyroscope and handling failure. If Enable_G returns non-OK, prints an error and enters an infinite loop.

```cpp
if (AccGyr.Enable_G() != LSM6DSV16X_OK) {
  Serial.println("cannot enable gyroscope");
  while (1);
}
```

--------------------------------

### Tap Detection Usage Example

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-events.md

Example of enabling single tap detection on INT1, increasing sensitivity, and setting shock time. Tap flags are also available via Get_X_Event_Status().

```cpp
AccGyr.Enable_Single_Tap_Detection(LSM6DSV16X_INT1_PIN);   // then wait for INT1
AccGyr.Set_Tap_Threshold(70);        // increase sensitivity
AccGyr.Set_Tap_Shock_Time(2);        // max shock window
```

--------------------------------

### begin() usage example

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-sensor.md

Calls begin() and checks the return status. If initialization fails, prints an error message and enters an infinite loop.

```cpp
int st = sensor.begin();
if (st != LSM6DSV16X_OK) {
  Serial.println("sensor.begin() failed");
  while (1) {}
}
```

--------------------------------

### Set_X_FS and Get_X_Sensitivity usage

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-accelerometer.md

Example of setting full scale to 4g, getting the full scale, and getting sensitivity. After Set_X_FS(4), sensitivity is 0.122f.

```cpp
int32_t fs = 0; float sens = 0.0f;
if (AccGyr.Set_X_FS(4) == LSM6DSV16X_OK)           // 4 g full scale
  AccGyr.Get_X_FS(&fs);
AccGyr.Get_X_Sensitivity(&sens);                    // sens == 0.122f
```

--------------------------------

### Example: remove static offset and handle out-of-range

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-accelerometer.md

Shows how to set a 50 mg Z-offset and enable it, and how to check for rejection of values above ~2 g. The example uses the AccGyr object and prints a message when the offset is out of range.

```cpp
// Remove a static 50 mg Z-offset.
if (AccGyr.Set_X_User_Offset(0.0f, 0.0f, 0.05f) == LSM6DSV16X_OK)
  AccGyr.Enable_X_User_Offset();
// Values above ~2 g are rejected:
if (AccGyr.Set_X_User_Offset(3.0f, 0.0f, 0.0f) != LSM6DSV16X_OK)
  Serial.println("offset out of range");
```

--------------------------------

### FIFO configuration example with BDR and stream mode

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-fifo.md

Example from examples/LSM6DSV16X_FIFO_Polling_I2C.ino showing how to set the batch data rate (BDR) for accelerometer and gyroscope, then set the FIFO to stream mode. If the mode setting fails, it prints an error and enters an infinite loop.

```cpp
AccGyr.FIFO_Set_X_BDR(104.0f);
AccGyr.FIFO_Set_G_BDR(104.0f);
if (AccGyr.FIFO_Set_Mode(LSM6DSV16X_STREAM_MODE) != LSM6DSV16X_OK) {
  Serial.println("FIFO mode failed");
  while (1);
}
```

--------------------------------

### Set_G_FS and Get_G_FS usage example

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-gyroscope-temperature.md

Example of setting the gyroscope full scale to 2000 dps and then reading it back. The comment notes that 2000 dps is the default used by begin().

```cpp
int32_t dps = 0;
AccGyr.Set_G_FS(2000);           // 2000 dps default used by begin()
AccGyr.Get_G_FS(&dps);           // dps == 2000
```

--------------------------------

### Read gyroscope axes example

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-gyroscope-temperature.md

Example of reading gyroscope data into an int32 array and printing the X-axis angular rate in mdps if the call succeeds.

```cpp
int32_t gyroscope[3];
if (AccGyr.Get_G_Axes(gyroscope) == LSM6DSV16X_OK) {
  Serial.print("AngRate-X[mdps]:"); Serial.println(gyroscope[0]);
}
```

--------------------------------

### Enable_X usage with error handling

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-accelerometer.md

Example of calling Enable_X and handling failure by printing a message and entering an infinite loop.

```cpp
if (AccGyr.Enable_X() != LSM6DSV16X_OK) {           // or: AccGyr.Enable_X();
  Serial.println("cannot enable accelerometer");
  while (1);
}
```

--------------------------------

### Get_X_Sensitivity, Get_X_FS, Set_X_FS declarations

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-accelerometer.md

Declarations for getting sensitivity, getting full scale, and setting full scale. Sensitivity is in mg/LSB, full scale in g.

```cpp
LSM6DSV16XStatusTypeDef Get_X_Sensitivity(float *Sensitivity);
LSM6DSV16XStatusTypeDef Get_X_FS(int32_t *FullScale);
LSM6DSV16XStatusTypeDef Set_X_FS(int32_t FullScale);
```

--------------------------------

### Set gyroscope power and filter mode example

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-gyroscope-temperature.md

Example of setting the gyroscope to low power mode and medium filter bandwidth using the LSM6DSV16X_GY_LOW_POWER_MD and LSM6DSV16X_GY_MEDIUM constants.

```cpp
AccGyr.Set_G_Power_Mode(LSM6DSV16X_GY_LOW_POWER_MD);
AccGyr.Set_G_Filter_Mode(0, LSM6DSV16X_GY_MEDIUM);
```

--------------------------------

### Create and begin I2C interface for LSM6DSV16X

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/README.md

Required before accessing the sensor over I2C. Creates a TwoWire interface on the given pins and starts it.

```cpp
TwoWire dev_i2c(I2C_SDA, I2C_SCL);  
dev_i2c.begin();
```

--------------------------------

### I3C dynamic address assignment example

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-sensor.md

Shows how to assign a dynamic I3C address to the sensor using the static address and begin(new_address) with SETDASA.

```cpp
LSM6DSV16XSensor AccGyr(&I3C, LSM6DSV16X_I3C_ADD_H);
I3C.resetDynamicAddresses();
I3C.assignDynamicAddress(AccGyr.getStaticAddress(), LSM6DSV16X_DYNAMIC_ADDRESS);
AccGyr.begin(LSM6DSV16X_DYNAMIC_ADDRESS);   // begin(new_address) with SETDASA
```

--------------------------------

### Device reset usage example

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-sensor.md

Wakes the sensor from an uninitialized state and re-applies defaults by resetting control registers. Prints 'reset failed' and halts if the reset returns an error.

```cpp
// Wake the sensor up from an uninitialized state and re-apply defaults.
if (sensor.Device_Reset(LSM6DSV16X_RESET_CTRL_REGS) != LSM6DSV16X_OK) {
  Serial.println("reset failed");
  while (1);
}
```

--------------------------------

### Create and begin SPI interface for LSM6DSV16X

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/README.md

Required before accessing the sensor over SPI. Creates an SPIClass interface on the given pins and starts it.

```cpp
SPIClass dev_spi(SPI_MOSI, SPI_MISO, SPI_SCK);  
dev_spi.begin();
```

--------------------------------

### Get_G_Sensitivity, Get_G_FS, Set_G_FS declarations

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-gyroscope-temperature.md

Declarations for getting sensitivity (mdps/LSB), getting full scale (dps), and setting full scale. Set_G_FS maps the argument into lsm6dsv16x_gy_full_scale_t.

```cpp
LSM6DSV16XStatusTypeDef Get_G_Sensitivity(float *Sensitivity);
LSM6DSV16XStatusTypeDef Get_G_FS(int32_t *FullScale);
LSM6DSV16XStatusTypeDef Set_G_FS(int32_t FullScale);
```

--------------------------------

### Enable and read 6D orientation example

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-events.md

Shows how to enable 6D orientation on INT1 and later read the orientation bits. Enable_6D_Orientation forces ODR to 480 Hz, full scale to 2g, and threshold to 60°, and sets the interrupt on the chosen pin. The getters read the corresponding bits from the D6D_SRC register.

```cpp
if (AccGyr.Enable_6D_Orientation(LSM6DSV16X_INT1_PIN) == LSM6DSV16X_OK) {
  // later: event fired on INT1; read orientation bits
  uint8_t xl, xh, yl, yh, zl, zh;
  AccGyr.Get_6D_Orientation_XL(&xl); AccGyr.Get_6D_Orientation_XH(&xh);
  AccGyr.Get_6D_Orientation_YL(&yl); AccGyr.Get_6D_Orientation_YH(&yh);
  AccGyr.Get_6D_Orientation_ZL(&zl); AccGyr.Get_6D_Orientation_ZH(&zh);
}
```

--------------------------------

### Set Gyroscope ODR to 104 Hz Example

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-gyroscope-temperature.md

Example call to Set_G_ODR with 104.0 Hz in high performance mode. Returns LSM6DSV16X_OK on success and prints a confirmation message.

```cpp
if (AccGyr.Set_G_ODR(104.0f) == LSM6DSV16X_OK)     // high performance, 104 Hz
  Serial.println("gyro ODR set");
```

--------------------------------

### Basic I2C usage: begin, enable accelerometer and gyroscope

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-sensor.md

Shows the standard sequence after constructing an LSM6DSV16XSensor over I2C: call begin(), then Enable_X() and Enable_G() to enable accelerometer and gyroscope. This is the typical setup before reading data with Get_X_Axes() or Get_G_Axes().

```cpp
LSM6DSV16XSensor AccGyr(&Wire);   // I2C — see README code blocks for SPI/I3C
AccGyr.begin();
AccGyr.Enable_X();
AccGyr.Enable_G();
```

--------------------------------

### Read accelerometer data in mg

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-accelerometer.md

Example of reading X, Y, Z acceleration in mg using Get_X_Axes and printing each axis. Requires an AccGyr object.

```cpp
int32_t accelerometer[3];
if (AccGyr.Get_X_Axes(accelerometer) == LSM6DSV16X_OK) {
  Serial.println(accelerometer[0]);   // X in mg
  Serial.println(accelerometer[1]);   // Y in mg
  Serial.println(accelerometer[2]);   // Z in mg
}
```

--------------------------------

### Read temperature in Celsius

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-gyroscope-temperature.md

Example of reading the raw temperature and converting it to Celsius using the driver helper lsm6dsv16x_from_lsb_to_celsius, which computes (lsb / 256.0f) + 25.0f.

```cpp
int16_t raw_temp = 0;
AccGyr.Get_Temp_Raw(&raw_temp);
float celsius = lsm6dsv16x_from_lsb_to_celsius(raw_temp);
```

--------------------------------

### Set_X_ODR usage example in low-power mode

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-accelerometer.md

Example of setting the accelerometer ODR to 30 Hz in low-power 8-average mode. Returns an error if the operation fails.

```cpp
// Low-power 8-average mode, 30 Hz.
if (AccGyr.Set_X_ODR(30.0f, LSM6DSV16X_ACC_LOW_POWER_MODE3) != LSM6DSV16X_OK) {
  Serial.println("Set_X_ODR failed");
}
```

--------------------------------

### Set low-pass filter with medium bandwidth

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-accelerometer.md

Example of enabling low-pass filter with medium bandwidth using Set_X_Filter_Mode.

```cpp
AccGyr.Set_X_Filter_Mode(0, LSM6DSV16X_XL_MEDIUM);   // low-pass, medium bandwidth
```

--------------------------------

### Check FIFO Sample Count and Drain FIFO

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-fifo.md

Example of using FIFO_Get_Num_Samples to check if the FIFO has more than 199 samples, then draining the FIFO by reading data until empty.

```cpp
uint16_t n = 0;
if (AccGyr.FIFO_Get_Num_Samples(&n) == LSM6DSV16X_OK && n > 199)
  drain_fifo();          // threshold reached -> read FIFO_Get_Data() until empty
```

--------------------------------

### Using Get_X_Event_Status to check double-tap event

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-events.md

Example of polling event status and checking the DoubleTapStatus flag. Prints a message when a double-tap is detected.

```cpp
LSM6DSV16X_Event_Status_t ev;
if (AccGyr.Get_X_Event_Status(&ev) != LSM6DSV16X_OK) { /* handle */ }
if (ev.DoubleTapStatus) Serial.println("double-tap!");
```

--------------------------------

### Run LSM6DSV16X hardware self-test with positive ST

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-advanced.md

Example usage of Test_IMU with positive self-test for both accelerometer and gyroscope. Prints a failure message if the return value is not LSM6DSV16X_OK, otherwise prints a success message.

```cpp
if (AccGyr.Test_IMU(LSM6DSV16X_XL_ST_POSITIVE, LSM6DSV16X_GY_ST_POSITIVE) != LSM6DSV16X_OK) {
  Serial.println("Self-test FAILED — sensor out of spec");
} else {
  Serial.println("Self-test PASSED");
}
```

--------------------------------

### Enabling and reading FIFO timestamp

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-fifo.md

Example of enabling timestamp capture and reading the timestamp value after draining the FIFO until a timestamp tag is encountered. The FIFO_Get_Timestamp function reads a 32-bit timestamp from the FIFO sample.

```cpp
AccGyr.FIFO_Enable_Timestamp();
// ... drain until tag == LSM6DSV16X_TIMESTAMP_TAG:
uint32_t ts = 0;
AccGyr.FIFO_Get_Timestamp(&ts);
```

--------------------------------

### Blocking wait for data-ready and read axes

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-accelerometer.md

Example of blocking until new accelerometer data is available, then reading the axes. Uses Get_X_DRDY_Status and Get_X_Axes.

```cpp
uint8_t drdy = 0;
do { AccGyr.Get_X_DRDY_Status(&drdy); } while (!drdy);   // blocking wait
AccGyr.Get_X_Axes(acc);
```

--------------------------------

### Pedometer API Declarations

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-events.md

Declarations for enabling/disabling the pedometer, getting step count, and resetting the step counter. Enable forces ODR 30 Hz / FS 2 g and routes step-detector interrupt to the chosen pin.

```cpp
LSM6DSV16XStatusTypeDef Enable_Pedometer(LSM6DSV16X_SensorIntPin_t IntPin);
LSM6DSV16XStatusTypeDef Disable_Pedometer();
LSM6DSV16XStatusTypeDef Get_Step_Count(uint16_t *StepCount);
LSM6DSV16XStatusTypeDef Step_Counter_Reset();
```

--------------------------------

### begin() method signature

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-sensor.md

Initializes the sensor with an optional I3C dynamic address. For SPI, sets the chip select pin; for I3C, validates the address range and checks the device ID. Returns LSM6DSV16X_OK on success, LSM6DSV16X_ERROR on failure.

```cpp
LSM6DSV16XStatusTypeDef begin(uint8_t new_address = 0);
```

--------------------------------

### begin(uint8_t new_address = 0)

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-sensor.md

Initializes the sensor. For I3C, sets the dynamic address; for SPI, configures the chip select pin. Performs device ID verification and configures sensor settings.

```APIDOC
## begin(uint8_t new_address = 0)

### Description
Initializes the sensor. For I3C, sets the dynamic address; for SPI, configures the chip select pin. Performs device ID verification and configures sensor settings.

### Method
begin

### Signature
```cpp
LSM6DSV16XStatusTypeDef begin(uint8_t new_address = 0);
```

### Parameters
- **new_address** (uint8_t) - Optional, default 0 - For I3C: the dynamic address to use (SETDASA or ENTDAA). Ignored for I2C/SPI.

### Returns
- `LSM6DSV16X_OK` (0) on success, `LSM6DSV16X_ERROR` (-1) otherwise.

### Details
Initialization steps: for SPI, sets `cs_pin` output and HIGH; for I3C, validates `0x08 <= new_address <= 0x77` (fails otherwise) and verifies `ReadID()` returns `LSM6DSV16X_ID` (`0x70`); then enables auto-increment, enables block data update, selects `LSM6DSV16X_BYPASS_MODE`, caches `acc_odr`/`gyro_odr` as `LSM6DSV16X_ODR_AT_120Hz`, powers both elements down (`LSM6DSV16X_ODR_OFF`), reads and caches `acc_fs`/`gyro_fs`, forces full scales to 2 g and 2000 dps, and sets `initialized = 1`. Any failing step returns `LSM6DSV16X_ERROR`.

### Example
```cpp
int st = sensor.begin();
if (st != LSM6DSV16X_OK) {
  Serial.println("sensor.begin() failed");
  while (1) {}
}
```
```

--------------------------------

### FIFO_Get_Status

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-fifo.md

Gets the FIFO status flags.

```APIDOC
## FIFO_Get_Status

### Description
Reports FIFO status flags (watermark, full, overflow).

### Method
FIFO_Get_Status

### Signature
```cpp
LSM6DSV16XStatusTypeDef FIFO_Get_Status(uint8_t *Status);
```

### Parameters
- **Status** (uint8_t*) - Required - Pointer to store the status flags.

### Returns
- **LSM6DSV16XStatusTypeDef** - 0 on success, -1 on error.
```

--------------------------------

### FIFO_Get_Num_Samples

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-fifo.md

Gets the number of samples in the FIFO.

```APIDOC
## FIFO_Get_Num_Samples

### Description
Returns the number of samples currently in the FIFO.

### Method
FIFO_Get_Num_Samples

### Signature
```cpp
uint16_t FIFO_Get_Num_Samples();
```

### Returns
- **uint16_t** - Number of samples in the FIFO.
```

--------------------------------

### QVAR_Enable

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-advanced.md

Enables the QVAR (quasi-static acceleration) feature and routes data-ready to INT2.

```APIDOC
## QVAR_Enable

### Description
Enables the QVAR (quasi-static acceleration) feature by setting `LSM6DSV16X_CTRL7.ah_qvar_en = 1` and `int2_drdy_ah_qvar = 1` (data-ready routed to INT2).

### Method
QVAR_Enable

### Parameters
None

### Return Value
- `LSM6DSV16XStatusTypeDef` - `LSM6DSV16X_OK` (0) on success, `LSM6DSV16X_ERROR` (-1) on failure.

```

--------------------------------

### Create and enable LSM6DSV16XSensor instance over I2C

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/README.md

Creates an LSM6DSV16XSensor instance on the I2C bus, then begins it and enables the accelerometer (Enable_X) and gyroscope (Enable_G).

```cpp
LSM6DSV16XSensor AccGyr(&dev_i2c);
AccGyr.begin();
AccGyr.Enable_X();  
AccGyr.Enable_G();
```

--------------------------------

### Create and begin I3C interface for LSM6DSV16X

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/README.md

Required before accessing the sensor over I3C. Calls I3C.begin with the SDA and SCL pins and a 1000000U clock frequency.

```cpp
I3C.begin(I3C_SDA, I3C_SCL, 1000000U);
```

--------------------------------

### LSM6DSV16XSensor(I3CBus *i3c, uint8_t static_addr7)

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-sensor.md

Constructs an LSM6DSV16XSensor instance for I3C communication. This constructor is only available when I3C_SUPPORTED is defined.

```APIDOC
## LSM6DSV16XSensor(I3CBus *i3c, uint8_t static_addr7)

### Description
Constructs an LSM6DSV16XSensor instance for I3C communication. This constructor is only available when I3C_SUPPORTED is defined.

### Method
Constructor

### Signature
```cpp
#if defined(I3C_SUPPORTED)
LSM6DSV16XSensor(I3CBus *i3c, uint8_t static_addr7 = 0);
#endif
```

### Parameters
- **i3c** (I3CBus *) - Required - I3C bus instance (e.g. &I3C)
- **static_addr7** (uint8_t) - Optional - Static 7-bit address for SETDASA; LSM6DSV16X_I3C_ADD_L = 0x6A, LSM6DSV16X_I3C_ADD_H = 0x6B; default is 0
```

--------------------------------

### Create and enable LSM6DSV16XSensor over SPI

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/README.md

Creates an LSM6DSV16XSensor instance on the SPI bus with a chip-select pin, then enables accelerometer and gyroscope. Requires a SPIClass interface initialized beforehand.

```cpp
LSM6DSV16XSensor AccGyr(&dev_spi, CS_PIN);
AccGyr.begin();	
AccGyr.Enable_X();  
AccGyr.Enable_G();
```

--------------------------------

### QVAR API declarations in LSM6DSV16XSensor.h

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-advanced.md

Declarations for the QVAR (quasi-static acceleration) feature. QVAR_Enable sets LSM6DSV16X_CTRL7.ah_qvar_en = 1 and int2_drdy_qvar_en = 1. All methods return LSM6DSV16XStatusTypeDef (LSM6DSV16X_OK = 0, LSM6DSV16X_ERROR = -1).

```cpp
LSM6DSV16XStatusTypeDef QVAR_Enable();
LSM6DSV16XStatusTypeDef QVAR_Disable();
LSM6DSV16XStatusTypeDef QVAR_GetStatus(uint8_t *val);
LSM6DSV16XStatusTypeDef QVAR_GetImpedance(uint16_t *val);
LSM6DSV16XStatusTypeDef QVAR_SetImpedance(uint16_t val);
LSM6DSV16XStatusTypeDef QVAR_GetData(float *Data);
```

--------------------------------

### I3C address getters signatures

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-sensor.md

Returns the static I3C address from the constructor and the dynamic address assigned in begin(). Only available when I3C_SUPPORTED is defined.

```cpp
uint8_t getStaticAddress() const;
uint8_t getDynAddress() const;
```

--------------------------------

### Setting XL BDR with FIFO_Set_X_BDR

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-fifo.md

Example of setting the accelerometer batched data rate using FIFO_Set_X_BDR. It checks the return status and prints an error message if the operation fails. The constant SENSOR_ODR is 104.0f.

```cpp
if (AccGyr.FIFO_Set_X_BDR(SENSOR_ODR) != LSM6DSV16X_OK)  // SENSOR_ODR = 104.0f
  Serial.println("XL BDR failed");
```

--------------------------------

### Load UCF program into MLC using Write_Reg

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-sensor.md

Loads a UCF (Unico) program into the MLC by iterating over the program array and writing each register. On error, prints the line number and enters an infinite loop. Pattern from examples/LSM6DSV16X_MLC_I2C/LSM6DSV16X_MLC_I2C.ino.

```cpp
ucf_line_t *ProgramPointer = (ucf_line_t *)lsm6dsv16x_activity_recognition_for_mobile;
for (int i = 0; i < sizeof(lsm6dsv16x_activity_recognition_for_mobile) / sizeof(ucf_line_t); i++) {
  if (sensor.Write_Reg(ProgramPointer[i].address, ProgramPointer[i].data)) {
    Serial.print("Error loading the Program at line: "); Serial.println(i);
    while (1) {}
  }
}
```

--------------------------------

### Get and Set Gyroscope ODR Function Signatures

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-gyroscope-temperature.md

Declarations for Get_G_ODR and Set_G_ODR. Get_G_ODR converts the device ODR code to Hz using the same table as the accelerometer, failing on HA01/HA02 codes. Set_G_ODR selects the operating mode first, then maps the ODR to the nearest code; valid ranges depend on the mode.

```cpp
LSM6DSV16XStatusTypeDef Get_G_ODR(float *Odr);
LSM6DSV16XStatusTypeDef Set_G_ODR(float Odr, LSM6DSV16X_GYRO_Operating_Mode_t Mode = LSM6DSV16X_GYRO_HIGH_PERFORMANCE_MODE);
```

--------------------------------

### LSM6DSV16XSensor(TwoWire *i2c, uint8_t address)

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-sensor.md

Constructs an LSM6DSV16XSensor instance for I2C communication. The I2C interface must be initialized with begin() before use.

```APIDOC
## LSM6DSV16XSensor(TwoWire *i2c, uint8_t address)

### Description
Constructs an LSM6DSV16XSensor instance for I2C communication. The I2C interface must be initialized with begin() before use.

### Method
Constructor

### Signature
```cpp
LSM6DSV16XSensor(TwoWire *i2c, uint8_t address = LSM6DSV16X_I2C_ADD_H);
```

### Parameters
- **i2c** (TwoWire *) - Required - Arduino I2C interface instance (must be begin()-ed first)
- **address** (uint8_t) - Optional - I2C device address, 8-bit format; default is LSM6DSV16X_I2C_ADD_H (0xD7), LSM6DSV16X_I2C_ADD_L = 0xD5

### Example
```cpp
TwoWire dev_i2c(I2C_SDA, I2C_SCL);
dev_i2c.begin();
LSM6DSV16XSensor AccGyr(&dev_i2c);
```
```

--------------------------------

### Set_SFLP_Batch

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-advanced.md

Bulk sets the SFLP flags for game rotation, gravity, and gyroscope bias in one register write, and enables or disables SFLP accordingly.

```APIDOC
## Set_SFLP_Batch

### Description
Bulk sets the SFLP flags for game rotation, gravity, and gyroscope bias in one register write, and enables or disables SFLP accordingly.

### Method
Set_SFLP_Batch

### Parameters
- **GameRotation** (bool) - Required - Enable/disable game rotation vector.
- **Gravity** (bool) - Required - Enable/disable gravity vector.
- **gBias** (bool) - Required - Enable/disable gyroscope bias.

### Returns
- **LSM6DSV16XStatusTypeDef** - Status of the operation (e.g., LSM6DSV16X_OK).

### Example
```cpp
AccGyr.Set_SFLP_Batch(true, false, true);
```
```

--------------------------------

### Constructor overloads for I2C, SPI, and I3C

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-sensor.md

Lists the three constructor signatures. The I2C and SPI constructors are always compiled; the I3C overload is only available when I3C_SUPPORTED is defined. The I2C constructor defaults the address to LSM6DSV16X_I2C_ADD_H (0xD7), and the SPI constructor defaults the speed to 2000000 Hz.

```cpp
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
```

--------------------------------

### Set_Tap_Shock_Time

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-events.md

Sets the tap shock time via read-modify-write on LSM6DSV16X_TAP_DUR field 'shock'.

```APIDOC
## Set_Tap_Shock_Time

### Description
Sets the tap shock time via read-modify-write on LSM6DSV16X_TAP_DUR field 'shock'.

### Method
Function call

### Signature
`LSM6DSV16XStatusTypeDef Set_Tap_Shock_Time(uint8_t Time);`

### Parameters
- **Time** (uint8_t) - Required - The shock time value.

### Return Value
- **LSM6DSV16XStatusTypeDef** - Status of the operation.

### Example
```cpp
AccGyr.Set_Tap_Shock_Time(2);
```
```

--------------------------------

### Enable_Tilt_Detection

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-events.md

Enables tilt detection by forcing ODR 30 Hz / FS 2 g, enabling the tilt algorithm, and routing the tilt interrupt to the specified pin.

```APIDOC
## Enable_Tilt_Detection

### Description
Enables tilt detection. Forces ODR 30 Hz / FS 2 g, enables the tilt algorithm (`LSM6DSV16X_EMB_FUNC_EN_A.tilt_en = 1`), and routes the tilt interrupt (`int1_tilt`/`int2_tilt`) to the chosen pin.

### Method
Function call

### Signature
`LSM6DSV16XStatusTypeDef Enable_Tilt_Detection(LSM6DSV16X_SensorIntPin_t IntPin);`

### Parameters
- **IntPin** (LSM6DSV16X_SensorIntPin_t) - Required - The interrupt pin to route the tilt interrupt to.

### Return Value
- **LSM6DSV16XStatusTypeDef** - Status of the operation.

### Notes
- Forces ODR 30 Hz and FS 2 g.
- Enables the tilt algorithm.
- Routes the tilt interrupt to the specified pin.
```

--------------------------------

### LSM6DSV16XSensor(SPIClass *spi, int cs_pin, uint32_t spi_speed)

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-sensor.md

Constructs an LSM6DSV16XSensor instance for SPI communication. The SPI interface must be initialized with begin() before use.

```APIDOC
## LSM6DSV16XSensor(SPIClass *spi, int cs_pin, uint32_t spi_speed)

### Description
Constructs an LSM6DSV16XSensor instance for SPI communication. The SPI interface must be initialized with begin() before use.

### Method
Constructor

### Signature
```cpp
LSM6DSV16XSensor(SPIClass *spi, int cs_pin, uint32_t spi_speed = 2000000);
```

### Parameters
- **spi** (SPIClass *) - Required - Arduino SPI interface instance
- **cs_pin** (int) - Required - Chip-select pin; IO_Read/IO_Write drive it low/high around each transaction
- **spi_speed** (uint32_t) - Optional - SPI clock in Hz, applied via SPISettings(spi_speed, MSBFIRST, SPI_MODE3); default is 2000000

### Example
```cpp
SPIClass dev_spi(SPI_MOSI, SPI_MISO, SPI_SCK);
dev_spi.begin();
LSM6DSV16XSensor AccGyrSpi(&dev_spi, CS_PIN, 4000000);
```
```

--------------------------------

### Enable_X

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-accelerometer.md

Enables the accelerometer. If already enabled, it does nothing and returns OK. Otherwise, it applies the cached ODR and sets the enabled flag.

```APIDOC
## Enable_X

### Description
Enables the accelerometer. If already enabled, it does nothing and returns OK. Otherwise, it applies the cached ODR and sets the enabled flag.

### Method
Enable_X

### Signature
`LSM6DSV16XStatusTypeDef Enable_X();`

### Parameters
None

### Return Value
- `LSM6DSV16XStatusTypeDef` - `LSM6DSV16X_OK` (0) on success, `LSM6DSV16X_ERROR` (-1) on failure.

### Example
```cpp
if (AccGyr.Enable_X() != LSM6DSV16X_OK) {
  Serial.println("cannot enable accelerometer");
  while (1);
}
```
```

--------------------------------

### Enable_Pedometer

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-events.md

Enables the step counter, forcing ODR 30 Hz / FS 2 g, enabling the step-counter algorithm, and routing the step-detector interrupt to the specified pin.

```APIDOC
## Enable_Pedometer

### Description
Enables the step counter, forcing ODR 30 Hz / FS 2 g, enabling the step-counter algorithm, and routing the step-detector interrupt to the specified pin.

### Method
Function call

### Signature
`LSM6DSV16XStatusTypeDef Enable_Pedometer(LSM6DSV16X_SensorIntPin_t IntPin);`

### Parameters
- **IntPin** (LSM6DSV16X_SensorIntPin_t) - Required - The interrupt pin to use.

### Return Value
- **LSM6DSV16XStatusTypeDef** - Status of the operation.

### Example
```cpp
if (AccGyr.Enable_Pedometer(LSM6DSV16X_INT1_PIN) != LSM6DSV16X_OK) { /* handle */ }
```
```

--------------------------------

### Test_IMU

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-advanced.md

Runs both accelerometer and gyroscope self-tests sequentially. First verifies the device ID, then executes Test_X_IMU and Test_G_IMU.

```APIDOC
## Test_IMU

### Description
Runs both accelerometer and gyroscope self-tests sequentially. First verifies the device ID, then executes Test_X_IMU and Test_G_IMU.

### Method
Function call

### Signature
```cpp
LSM6DSV16XStatusTypeDef Test_IMU(uint8_t XTestType, uint8_t GTestType);
```

### Parameters
- **XTestType** (uint8_t) - Required - Accelerometer self-test type. Values: `LSM6DSV16X_XL_ST_DISABLE` = 0x0, `LSM6DSV16X_XL_ST_POSITIVE` = 0x1, `LSM6DSV16X_XL_ST_NEGATIVE` = 0x2.
- **GTestType** (uint8_t) - Required - Gyroscope self-test type. Values: `LSM6DSV16X_GY_ST_DISABLE` = 0x0, `LSM6DSV16X_GY_ST_POSITIVE` = 0x1, `LSM6DSV16X_GY_ST_NEGATIVE` = 0x2.

### Return Value
- **LSM6DSV16XStatusTypeDef** - Returns `LSM6DSV16X_OK` on success, `LSM6DSV16X_ERROR` on failure.

### Example
```cpp
if (AccGyr.Test_IMU(LSM6DSV16X_XL_ST_POSITIVE, LSM6DSV16X_GY_ST_POSITIVE) != LSM6DSV16X_OK) {
  Serial.println("Self-test FAILED — sensor out of spec");
} else {
  Serial.println("Self-test PASSED");
}
```
```

--------------------------------

### I3C address getters (getStaticAddress, getDynAddress)

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-sensor.md

Return the static and dynamic I3C addresses. Only available when I3C_SUPPORTED is defined.

```APIDOC
## I3C address getters (getStaticAddress, getDynAddress)

### Description
Return the static and dynamic I3C addresses. Only available when I3C_SUPPORTED is defined.

### Methods
- `uint8_t getStaticAddress() const;`
- `uint8_t getDynAddress() const;`

### Signatures
```cpp
uint8_t getStaticAddress() const;
uint8_t getDynAddress() const;
```

### Parameters
None.

### Returns
- `getStaticAddress()`: the constructor `static_addr7`.
- `getDynAddress()`: the `new_address` passed to `begin()` (the assigned dynamic address).

### Example
```cpp
LSM6DSV16XSensor AccGyr(&I3C, LSM6DSV16X_I3C_ADD_H);
I3C.resetDynamicAddresses();
I3C.assignDynamicAddress(AccGyr.getStaticAddress(), LSM6DSV16X_DYNAMIC_ADDRESS);
AccGyr.begin(LSM6DSV16X_DYNAMIC_ADDRESS);   // begin(new_address) with SETDASA
```
```

--------------------------------

### Enable_G()

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-gyroscope-temperature.md

Enables the gyroscope. Idempotent, applies cached gyro_odr.

```APIDOC
## Enable_G()

### Description
Enables the gyroscope. Idempotent, applies cached gyro_odr.

### Method
Enable_G

### Signature
`LSM6DSV16XStatusTypeDef Enable_G();`

### Parameters
None

### Return Value
`LSM6DSV16XStatusTypeDef` - `0` OK, `-1` error

### Example
```cpp
if (AccGyr.Enable_G() != LSM6DSV16X_OK) {
  Serial.println("cannot enable gyroscope");
  while (1);
}
```
```

--------------------------------

### Bus-level control method signatures

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-sensor.md

Declarations for enabling/disabling block data update (BDU), auto-increment, and performing a device reset. Device_Reset blocks until the reset completes. begin() enables BDU and auto-increment by default.

```cpp
LSM6DSV16XStatusTypeDef Enable_Block_Data_Update();
LSM6DSV16XStatusTypeDef Disable_Block_Data_Update();
LSM6DSV16XStatusTypeDef Enable_Auto_Increment();
LSM6DSV16XStatusTypeDef Disable_Auto_Increment();
LSM6DSV16XStatusTypeDef Device_Reset(LSM6DSV16X_Reset_t flags = LSM6DSV16X_RESET_GLOBAL);
```

--------------------------------

### Get_X_FS

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-accelerometer.md

Retrieves the current full-scale value in g. Fails on an unknown full-scale code.

```APIDOC
## Get_X_FS

### Description
Retrieves the current full-scale value in g. Fails on an unknown full-scale code.

### Method
Get_X_FS

### Signature
`LSM6DSV16XStatusTypeDef Get_X_FS(int32_t *FullScale);`

### Parameters
- `FullScale` (int32_t*) - Output parameter. The full-scale value in g (2, 4, 8, or 16).

### Return Value
- `LSM6DSV16XStatusTypeDef` - `LSM6DSV16X_OK` (0) on success, `LSM6DSV16X_ERROR` (-1) on failure.

### Example
```cpp
int32_t fs = 0;
AccGyr.Get_X_FS(&fs);
```
```

--------------------------------

### Enable_Gravity_Vector

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-advanced.md

Enables the gravity vector sensor fusion output and activates SFLP low power mode.

```APIDOC
## Enable_Gravity_Vector

### Description
Enables the gravity vector sensor fusion output and activates SFLP low power mode.

### Method
Enable_Gravity_Vector

### Returns
- **LSM6DSV16XStatusTypeDef** - Status of the operation (e.g., LSM6DSV16X_OK).

### Example
```cpp
AccGyr.Enable_Gravity_Vector();
```
```

--------------------------------

### QVAR_GetData

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-advanced.md

Reads the QVAR data and normalizes it to acceleration in g.

```APIDOC
## QVAR_GetData

### Description
Reads the raw 16-bit QVAR code and normalizes it using the gain constant `LSM6DSV16X_QVAR_GAIN` (78.0f). The result is stored in the provided float pointer.

### Method
QVAR_GetData

### Parameters
- **Data** (float *) - Output parameter. Receives the QVAR data in g.

### Return Value
- `LSM6DSV16XStatusTypeDef` - `LSM6DSV16X_OK` (0) on success, `LSM6DSV16X_ERROR` (-1) on failure.

```

--------------------------------

### Get_X_Sensitivity

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-accelerometer.md

Retrieves the current sensitivity in mg/LSB for the active full-scale setting. Fails if the conversion yields 0.0f.

```APIDOC
## Get_X_Sensitivity

### Description
Retrieves the current sensitivity in mg/LSB for the active full-scale setting. Fails if the conversion yields 0.0f.

### Method
Get_X_Sensitivity

### Signature
`LSM6DSV16XStatusTypeDef Get_X_Sensitivity(float *Sensitivity);`

### Parameters
- `Sensitivity` (float*) - Output parameter. The sensitivity value in mg/LSB. Possible values: 0.061 (2g), 0.122 (4g), 0.244 (8g), 0.488 (16g).

### Return Value
- `LSM6DSV16XStatusTypeDef` - `LSM6DSV16X_OK` (0) on success, `LSM6DSV16X_ERROR` (-1) on failure.

### Example
```cpp
float sens = 0.0f;
AccGyr.Get_X_Sensitivity(&sens);
```
```

--------------------------------

### FIFO_Set_X_BDR and FIFO_Set_G_BDR prototypes

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-fifo.md

Function prototypes for setting the batched data rate for accelerometer (X) and gyroscope (G) FIFO batch modes. The BDR value in Hz is mapped to the corresponding batch mode using thresholds.

```cpp
LSM6DSV16XStatusTypeDef FIFO_Set_X_BDR(float Bdr);
LSM6DSV16XStatusTypeDef FIFO_Set_G_BDR(float Bdr);
```

--------------------------------

### 6D orientation detection API prototypes

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-events.md

Declares the functions for enabling/disabling 6D orientation detection, setting the threshold, and reading the orientation bits. The threshold values map to angles: 0→80°, 1→70°, 2→60°, 3→50°. The IntPin parameter must be LSM6DSV16X_INT1_PIN or LSM6DSV16X_INT2_PIN, otherwise LSM6DSV16X_ERROR is returned.

```cpp
LSM6DSV16XStatusTypeDef Enable_6D_Orientation(LSM6DSV16X_SensorIntPin_t IntPin);
LSM6DSV16XStatusTypeDef Disable_6D_Orientation();
LSM6DSV16XStatusTypeDef Set_6D_Orientation_Threshold(uint8_t Threshold);
LSM6DSV16XStatusTypeDef Get_6D_Orientation_XL(uint8_t *XLow);
LSM6DSV16XStatusTypeDef Get_6D_Orientation_XH(uint8_t *XHigh);
LSM6DSV16XStatusTypeDef Get_6D_Orientation_YL(uint8_t *YLow);
LSM6DSV16XStatusTypeDef Get_6D_Orientation_YH(uint8_t *YHigh);
LSM6DSV16XStatusTypeDef Get_6D_Orientation_ZL(uint8_t *ZLow);
LSM6DSV16XStatusTypeDef Get_6D_Orientation_ZH(uint8_t *ZHigh);
```

--------------------------------

### Cumulative status check for LSM6DSV16X initialization

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/errors.md

Check the cumulative status of initialization calls (Enable_X, Enable_G, FIFO_Set_Mode) and halt on failure. Use when configuring the LSM6DSV16X sensor and need a simple fail-fast pattern. Non-zero status triggers an infinite loop with a Serial message.

```cpp
status |= AccGyr.Enable_X();
status |= AccGyr.Enable_G();
status |= AccGyr.FIFO_Set_Mode(LSM6DSV16X_STREAM_MODE);
if (status != LSM6DSV16X_OK) {
  Serial.println("LSM6DSV16X Sensor failed to init/configure");
  while (1);
}
```

--------------------------------

### end() method signature

Source: https://github.com/stm32duino/lsm6dsv16x/blob/main/_autodocs/api-reference/lsm6dsv16x-sensor.md

Disables both accelerometer and gyroscope, resets ODR settings, and clears the initialized flag. Returns LSM6DSV16X_OK unless a disable fails.

```cpp
LSM6DSV16XStatusTypeDef end();
```
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