This fork was created to implement the LSM6DSV16X 6DoF IMU from STM. It implements acceleration and gyro data, as well as sensor fusion between the two. PRs to implement the remaining features are welcome.
Backwards compatability with other LSM6DS family sensors implemented in the original Adafruit library has not been tested, and is likely broken.
The LSM6DSV16X is not currently an Adafruit product.
Using pip3 install adafruit-circuitpython-lsm6ds will install the original Adafruit library, and which currently does not support the LSM6DSV16X. You must clone this repo as a submodule into your project.
git submodule add https://github.com/SpaceBarrr/Adafruit_CircuitPython_LSM6DS git submodule update --init
Dependencies are the same as the original Adafruit library. This driver depends on:
By default, sensor fusion is enabled. You can access the fused data through the quaternion property. However, you must set the values to be batched and then re-init.
import time
import board
from lsm6dsv16x import LSM6DSV16X
i2c = board.I2C() # uses board.SCL and board.SDA
sensor: LSM6DSV16X = LSM6DSV16X(i2c, sensor_fusion=True)
sensor.fifo_mode = FIFOMode.CONTINUOUS_WTM_TO_FULL_MODE
sensor.fifo_watermark = 1
sensor.sflp_game_vec_batch = True
sensor.sflp_gravity_vec_batch = False
sensor.sflp_g_bias_batch = False
sensor.sflp_init = True
while True:
print("Acceleration: X:%.2f, Y: %.2f, Z: %.2f m/s^2" % (sensor.acceleration))
print("Gyro X:%.2f, Y: %.2f, Z: %.2f radians/s" % (sensor.gyro))
print(f"Temp: {sensor.temperature}")
print(f"Quaternion: {sensor.quaternion}")
time.sleep(0.5)API documentation for the original library can be found on Read the Docs.
Additional features were implemented based off the LSM6DSV16X datasheet and the example C code repository.