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* lsm self test v1 * add lsm6ds3 accel self test * add self test for lsm6ds3 gyro * add c variant self test * code CleanUp * address PR comments Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com> old-commit-hash: e4cd8a15db6b0e16e06485924395d725ecdc23df