Add: Lsm6dsv16x high end smartphone IMU with qvar support. (#396)

This adds Lsm6dsv16x high end smartphone IMU. 
Very similar and electrically compatible with
[Imu_Lsm6ds3trc](https://github.com/BerkeleyHCI/PolymorphicBlocks/blob/561da36d69b866f58d5fc6faa8a48c919b618e36/edg/parts/Imu_Lsm6ds3trc.py),
but this chip has extended voltage range and lower power consumptions.

Additional two pins are for qvar sensing.

## Datasheet
- https://www.st.com/en/mems-and-sensors/lsm6dsv16x.html

Author: Suke0811

edg/parts/Lsm6dsv16x.py

@@ -0,0 +1,83 @@
+from .JlcPart import JlcPart
+from ..abstract_parts import *
+
+
+class Lsm6dsv16x_Device(InternalSubcircuit, FootprintBlock, JlcPart):
+    def __init__(self) -> None:
+        super().__init__()
+        self.vdd = self.Port(VoltageSink(
+            voltage_limits=(1.71, 3.6) * Volt,
+            current_draw=(2.6 * uAmp, 0.65 * mAmp)  # Values for low-power and high-performance modes
+        ))
+        self.vddio = self.Port(VoltageSink(
+            voltage_limits=(1.08, 3.6) * Volt  # Extended range
+        ))
+        self.gnd = self.Port(Ground())
+
+        dio_model = DigitalBidir.from_supply(
+            self.gnd, self.vddio,
+            voltage_limit_abs=(-0.3 * Volt, self.vddio.voltage_limits.upper() + 0.3),
+            # datasheet states abs volt to be [0.3, VDD_IO+0.3], likely a typo
+            current_limits=(-4, 4) * mAmp,
+            input_threshold_factor=(0.3, 0.7)
+        )
+        self.i2c = self.Port(I2cTarget(dio_model))
+
+        dout_model = DigitalSource.low_from_supply(self.gnd)
+        self.int1 = self.Port(dout_model, optional=True)
+        self.int2 = self.Port(dout_model, optional=True)
+
+        self.qvar1 = self.Port(Passive(), optional=True)
+        self.qvar2 = self.Port(Passive(), optional=True)
+
+    def contents(self) -> None:
+        self.footprint(
+            'U', 'Package_LGA:Bosch_LGA-14_3x2.5mm_P0.5mm',
+            {
+                '1': self.gnd,  # sa0
+                '2': self.qvar1,  # not used in mode 1
+                '3': self.qvar2,  # not used in mode 1
+                '4': self.int1,
+                '5': self.vddio,
+                '6': self.gnd,
+                '7': self.gnd,
+                '8': self.vdd,
+                '9': self.int2,
+                # '10': self.nc,  # leave unconnected
+                # '11': self.nc,  # leave unconnected
+                '12': self.vddio,  # cs pin
+                '13': self.i2c.scl,
+                '14': self.i2c.sda,
+            },
+            mfr='STMicroelectronics', part='LSM6DSV16X',
+            datasheet='https://www.st.com/resource/en/datasheet/lsm6dsv16x.pdf'
+        )
+        self.assign(self.lcsc_part, 'C5267406')
+        self.assign(self.actual_basic_part, False)
+
+
+class Lsm6dsv16x(Accelerometer, Gyroscope, DefaultExportBlock):
+    """Integrated High-edn smartphone 3d accelerometer (ranging over +/- 2/4/8/16 g) and 3d gyroscope
+    (ranging over +/- 125/250/500/1000/2000 dps). Onboard sensor fusion for quaternion calculation.
+    Supports external qvar for tap detections, etc."""
+
+    def __init__(self):
+        super().__init__()
+        self.ic = self.Block(Lsm6dsv16x_Device())
+        self.gnd = self.Export(self.ic.gnd, [Common])
+        self.pwr = self.Export(self.ic.vdd, [Power])
+        self.pwr_io = self.Export(self.ic.vddio, default=self.pwr, doc="IO supply voltage")
+
+        self.i2c = self.Export(self.ic.i2c)
+        self.int1 = self.Export(self.ic.int1, optional=True,
+                                doc="Programmable interrupt. This can be configured as push-pull / open-drain.")
+        self.int2 = self.Export(self.ic.int2, optional=True,
+                                doc="Programmable interrupt. This can be configured as push-pull / open-drain.")
+
+        self.qvar1 = self.Export(self.ic.qvar1, optional=True, doc="qvar input pin 1")
+        self.qvar2 = self.Export(self.ic.qvar2, optional=True, doc="qvar input pin 2")
+
+    def contents(self):
+        super().contents()
+        self.vdd_cap = self.Block(DecouplingCapacitor(100 * nFarad(tol=0.2))).connected(self.gnd, self.ic.vdd)
+        self.vddio_cap = self.Block(DecouplingCapacitor(100 * nFarad(tol=0.2))).connected(self.gnd, self.ic.vddio)

edg/parts/__init__.py

@@ -160,6 +160,7 @@
 from .StepperDriver_A4988 import A4988, PololuA4988
 
 from .Imu_Lsm6ds3trc import Lsm6ds3trc
+from .Lsm6dsv16x import Lsm6dsv16x
 from .Mag_Qmc5883l import Qmc5883l
 from .EnvironmentalSensor_Sensirion import Shtc3
 from .EnvironmentalSensor_Bme680 import Bme680