add Low Power Sensor Fusion (SFLP) support in lsm6dsv16x sensor driver

[avisconti]

Add the Sensor Fusion Low Power (SFLP) FIFO streaming capability, using RTIO. The decode function is now aware of parsing following FIFO tags:

    - LSM6DSV16X_SFLP_GAME_ROTATION_VECTOR_TAG
    - LSM6DSV16X_SFLP_GYROSCOPE_BIAS_TAG
    - LSM6DSV16X_SFLP_GRAVITY_VECTOR_TAG

To activate SFLP the user should put in DT the proper configuration. For example, to activate a 60Hz SFLP FIFO batching rate of game rotation vector, gravity vector and gbias components, the user should add in DT the following:

      sflp-odr = <LSM6DSV16X_DT_SFLP_ODR_AT_60Hz>;
      sflp-fifo-enable = <LSM6DSV16X_DT_SFLP_FIFO_GAME_ROTATION_GRAVITY_GBIAS>;

The data are accessed thru three new sensor channels:

    - SENSOR_CHAN_GAME_ROTATION_VECTOR

      The "game rotation vector" reports the four components x/y/z/w
      (quaternions) of the unit vector representing a 3D spatial
      rotation or orientation.

    - SENSOR_CHAN_GRAVITY_VECTOR

      The "gravity vector" reports the three axis x/y/z of the gravity
      vector separated from the linear acceleration components.
      The measurement unit is m/s^2.

    - SENSOR_CHAN_GBIAS_XYZ

      The "gbias" reports the gyroscope offset x/y/z components.
      The measurement unit is radians/s.

Tested on a nucleo_h503rb board plus a x_nucleo_iks4a1 shield, and an improved version of the sample in the #82342

[avisconti]

Added DNM, because I reminded that this PR is dependent to stmemsc module which has not been modified yet.

[zephyrbot]

The following west manifest projects have changed revision in this Pull Request:

Name	Old Revision	New Revision	Diff
hal_st	zephyrproject-rtos/hal_st@b2f548f	zephyrproject-rtos/hal_st@05fd453 (master)	zephyrproject-rtos/[email protected]

✅ All manifest checks OK

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[avisconti]

@teburd @XenuIsWatching
After zephyrproject-rtos/hal_st#24 merge, I rebased this PR and submitted again. Please take a look again if you have time.

@XenuIsWatching
Pls note that I added a patch to #79346, because after rebasing my application was not streaming the FIFO anymore. The patch is in e40f1bd. Take a look at it and maybe try it also at your end, thx!

[XenuIsWatching]

This was working for me, but I am using I3C with the IBI payload which will read out the status register in to the IBI TIR payload (possibly already clearing the interrupt event with that payload?)

This change will make it perform a redunant read of the status_reg if it gets the interrupt through I3C. This probably could use some additional if checks to make it work for both

[avisconti]

This was working for me, but I am using I3C with the IBI payload which will read out the status register in to the IBI TIR payload (possibly already clearing the interrupt event with that payload?)

Yes, when the status register gets read by any mean, the interrupt event is cleared out. So in I3C seems this is not required. I would try to remove it with some better conditions...

[XenuIsWatching]

LGTM, just only 1 comment

[avisconti]

I addressed the comment...

[XenuIsWatching]

This will not work if it is using IBI due to the wrong check on I3C_INT_PIN. I3C_INT_PIN is true if it is using a gpio, false if it is using the i3c ibi. Should be

if (ON_I3C_BUS(cfg) && !I3C_INT_PIN(cfg) && IS_ENABLED(CONFIG_LSM6DSV16X_STREAM)) {

[avisconti]

ok, my bad. :(

[XenuIsWatching]

see comment

[avisconti]

CI fixed by #83429
rebased and relaunched!

EDIT:
Fixed also #83094 (comment)