Support LSM6DSV IMU

README.md

@@ -34,8 +34,15 @@ The following IMUs and their corresponding `IMU` values are supported by the fir
 * ICM-20948 (IMU_ICM20948)
   * Using fusion in internal DMP for 6Dof or 9DoF, 9DoF mode requires good magnetic environment.
   * Comment out `USE_6DOF` in `debug.h` for 9DoF mode.
+  * Experimental support!\
+* LSM6DSV (IMU_LSM6DSV)
+  * Supports the LSM6DSV, LSM6DSV16X, LSM6DSV16B, LSM6DSV16XB
+  * Using fusion in internal DMP for 6Dof or support for VQF fusion on the esp using accelerometer and gyroscope data.
+  * **See Sensor calibration** below for info on calibrating this sensor in VQF fusion mode.
+  * Calibration for DMP is to let the tracker sit for a few seconds on hard surface.
   * Experimental support!
 
+
 Firmware can work with both ESP8266 and ESP32. Please edit `defines.h` and set your pinout properly according to how you connected the IMU.
 
 ## Sensor calibration
@@ -50,9 +57,9 @@ Firmware can work with both ESP8266 and ESP32. Please edit `defines.h` and set y
   * LED will turn off when calibration is complete
   * You don't have to calibrate next time you power it on, calibration values will be saved for the next use
 
-### BMI160
+### BMI160 / LSMS6DSV
 
-  If you have any problems with this procedure, connect the device via USB and open the serial console to check for any warnings or errors that may indicate hardware problems.
+  If you have any problems with this procedure, connect the device via USB and open the serial console to check for any warnings or errors that may indicate hardware problems. The serial console will also display the calibration steps as they are needed.
 
   - **Step 0: Power up with the chip facing down.** Or press the reset/reboot button.
 
@@ -77,7 +84,26 @@ Firmware can work with both ESP8266 and ESP32. Please edit `defines.h` and set y
 
     Rotate the device 90 or 180 degrees in any direction. It should be on a different side each time. Continue to rotate until all 6 sides have been recorded.
 
-    The last position has a long flash when recorded, indicating exit from calibration mode.
+    The last position has a long flash when recorded, indicating exit from calibration mode. (BMI160 Only)
+
+- **Step 3: Gyroscope Sensitivity Calibration** (LSM6DSV Only, See Merge Request SlimeVR#281)
+
+    > Step 0: Let the tracker sit, the light will flash when you should reorient the tracker.
+
+    > Step 1: Move the tracker to a corner or edge that aligns the tracker to the same position every time.
+    > NOTE: You might also want to unplug the USB so it doesn't affect spins.
+
+    > Step 2: Let the tracker rest until the solid light turns on, you might need to hold it against a wall depending on the case and orientation.
+
+    > Step 3: Rotate the tracker in the yaw axis for **2** full rotations and align it with the previous edge.
+    > NOTE: The yaw axis is the direction of looking left or right with your head, perpendicular to gravity.
+    > NOTE: The light will turn off after you start moving it.
+
+    > Step 4: Wait for the flashing light then rotate the tracker 90 degrees to a new axis and align with an edge. Repeat steps 2 and 3.
+
+    > Step 5: Wait for the flashing light then rotate the tracker 90 degrees so the last axis is up and aligned with an edge. Repeat steps 2 and 3.
+
+    After letting sit the last time the calibration is complete and the tracker will flash 2 times.
 
   #### Additional info for BMI160
   - For best results, **calibrate when the trackers are warmed up** - put them on for a few minutes,