LSM6DSOX - getting quaternions

[BA_]

LSM6DSOX is a really powerful chip for detecting events, but i also wanted to get quaternions out of it without having to do any math on raw IMU data.

 

So this is what i found

1. Example 
2. IMU driver 

Register 59H - TAP_THS-6D,  You can enabled 4D/6D position.

 

This will trigger events from register D6D_SRC 1Dh

But this just give you a general direction on where your going.  It would be more useful if i had just a quat i could grab at a given frame rate.  Is that possible?