diff --git a/.gitmodules b/.gitmodules
index 5712486..f086a30 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,6 @@
 [submodule "Drivers/STM32H7xx_HAL_Driver"]
 	path = Drivers/STM32H7xx_HAL_Driver
 	url = https://github.com/STMicroelectronics/stm32h7xx-hal-driver.git
+[submodule "lsm6dsv320x-pid"]
+	path = lsm6dsv320x-pid
+	url = https://github.com/STMicroelectronics/lsm6dsv320x-pid.git
diff --git a/NOTICE b/NOTICE
index 32ade30..09ecaec 100644
--- a/NOTICE
+++ b/NOTICE
@@ -4,4 +4,6 @@ STM32H7xx_HAL_Driver (Drivers/STM32H7xx_HAL_Driver): Copyright (c) 2017 STMicroe
 
 CMSIS (Drivers/CMSIS): Copyright (c) 2009-2019 Arm Limited. Apache-2.0 License. www.apache.org/licenses/LICENSE-2.0
 
-STM32_USB_Device_Library: Copyright (c) STMicroelectronics. SLA0044 Rev5/February 2018. Full license text is provided with the library in question.
\ No newline at end of file
+STM32_USB_Device_Library: Copyright (c) STMicroelectronics. SLA0044 Rev5/February 2018. Full license text is provided with the library in question.
+
+lsm6dsv320x-pid (lib/lsm6dsv320x-pid): Copyright (c) STMicroelectronics. BSD-3-Clause License. https://opensource.org/licenses/BSD-3-Clause
\ No newline at end of file
diff --git a/lsm6dsv320x-pid b/lsm6dsv320x-pid
new file mode 160000
index 0000000..d5affc2
--- /dev/null
+++ b/lsm6dsv320x-pid
@@ -0,0 +1 @@
+Subproject commit d5affc2bf2ba835f630bfeb7e4eea9a747aac38b